Vehicle driving assistance device, vehicle driving assistance method, and program therefor

Abstract

The present invention relates to a vehicle driving assistance device, a vehicle driving assistance method, and a program therefor, the vehicle driving assistance device comprising: a target detection unit (10a, 11-14, 20a, 21F-26F, 21R-26R) that repeatedly acquires a detection point indicating the position of a target in the vicinity of a host vehicle; a target recognition unit (20b) that repeatedly updates peripheral target information including a target position recognition point that finally specifies the position of the target on the basis of a detection point acquired by the target detection unit at a past time point and a detection point detected by the target detection unit at a current time point; and a vehicle control unit (20c) that, when it is determined, on the basis of the surrounding object information, that a predetermined automatic braking condition that is established when the possibility of a collision between the host vehicle and the object is high is established, uses an automatic braking operation for avoiding the collision. The vehicle control unit does not perform the automatic braking when the target detection unit does not acquire the detection point indicating the position of the target for which the automatic braking condition has been established at the current time.

Description

Technical Field

[0001] The present invention relates to a vehicle driving assistance device, a vehicle driving assistance method, and a program thereof for performing automatic braking to avoid a collision between a host vehicle and a target object. Background Art

[0002] Conventional devices include a determination unit and a notification unit, wherein the determination unit calculates a travel path based on the steering angle of the host vehicle and determines whether the host vehicle will collide with an obstacle detected by an external sensor such as a camera and sonar when traveling on the travel path, and the notification unit performs notification based on the determination result (for example, see Patent Document 1). Furthermore, other conventional devices stop the host vehicle by performing automatic braking when it is determined that there is a possibility that the host vehicle will collide with an obstacle.

[0003] Prior art literature

[0004] Patent Literature

[0005] Patent Document 1: Japanese Patent No. 6975856 Summary of the invention

[0006] However, the conventional devices have the following problems. Figure 6 As shown in (A), when another vehicle (the other vehicle) stops near the host vehicle (the host vehicle) at time t0, the external sensor of the host vehicle detects the other vehicle as an obstacle at time t0. Figure 6 The white circle in shows the point indicating the position of the obstacle detected by the external sensor at the current time point. Sometimes when the vehicle stops at time t1, the external sensor no longer detects a new point indicating the position of the obstacle, so the point indicating the position of the obstacle detected at time t0 is maintained. Figure 6 The black circle in the figure shows the point representing the position of the obstacle. Therefore, sometimes, even if the other vehicle moves before time t2, the host vehicle still mistakenly recognizes that there is still an obstacle at the point representing the position of the obstacle. At this time, when the driver of the host vehicle wants to start the host vehicle, the automatic braking for avoiding collision with the mistakenly recognized obstacle will work. As a result, the host vehicle cannot start even though there is actually no obstacle (other vehicle).

[0007] In contrast, the device may also be configured as follows: Figure 6 As shown in (B), it is not recognized that there is an obstacle at the maintained point (black circle), but it is recognized that there is an obstacle at the point (white circle) detected by the external sensor at the current time point. According to this device, it is possible to avoid the above Figure 6However, in this case, if the other vehicle continues to stop, due to the positional relationship between the detection area Da of the external sensor and the other vehicle, a point P of a part of the other vehicle may not be recognized at the current time point. Therefore, if the automatic brake does not work, the vehicle may come into contact with the other vehicle at point P.

[0008] The present invention is made to solve the related problems. That is, one object of the present invention is to provide a vehicle driving assistance device, a vehicle driving assistance method, and a program thereof that can reduce the frequency of unnecessary automatic braking.

[0009] One embodiment of the vehicle driving assistance device of the present invention comprises:

[0010] The target object detection unit (10a, 11-14, 20a, 21F-26F, 21R-26R) repeatedly obtains detection points indicating the positions of target objects around the vehicle;

[0011] A target object recognition unit (20b) repeatedly updates peripheral target object information including a target object position recognition point for finally determining the position of the target object based on the detection point acquired by the target object detection unit at a past time point and the detection point detected by the target object detection unit at a current time point; and

[0012] A vehicle control unit (20c) activates automatic braking for avoiding the collision when it is determined based on the peripheral object information that a predetermined automatic braking condition that is established when there is a high possibility that the host vehicle will collide with the object is established.

[0013] Furthermore, the vehicle control unit is configured as follows:

[0014] When the target object detection unit does not obtain the detection point indicating the position of the target object (i.e., the target object for which the automatic braking condition is established) that has established the automatic braking condition in the past at the current time point, the automatic braking is not performed (refer to Figure 4 The determination of "No" in step 415, step 420, and step 445).

[0015] According to this scheme, the target object position identification point that finally determines the position of the target object is updated based on the detection point detected by the target object detection unit at a past time point and the detection point detected by the target object detection unit at a current time point. And, when a predetermined automatic braking condition is established when it is determined that the possibility of collision between the vehicle and the target object is high based on the surrounding target object information including the target object position identification point, the automatic braking is operated. However, when the target object detection unit does not obtain a detection point indicating "the position of the target object that once made the automatic braking condition established (i.e., the target object that is determined to have a high possibility of collision with the vehicle)" at the current time point, it is highly likely that the target object has moved. Therefore, the above scheme is configured so that even if the automatic braking condition is established, when the target object detection unit does not obtain a detection point indicating "the position of the target object that once made the automatic braking condition established" at the current time point, automatic braking is not performed (automatic braking is prohibited). In other words, when the target object detection unit obtains the detection point indicating "the position of the target object that once made the automatic braking condition satisfied" at the current time point, there is a high possibility that the target object is still located at the target object position recognition point, so if the automatic braking condition is satisfied, the automatic braking is performed. As a result, the operating frequency of unnecessary automatic braking can be reduced, and the automatic braking can be operated when it is necessary.

[0016] In the above description, in order to facilitate understanding of the present invention, the names and / or figure marks used in the embodiments described below are added in parentheses to the configuration of the invention corresponding to the embodiments described later. However, the constituent elements of the present invention are not limited to the embodiments specified by the names and / or figure marks. The present invention also relates to a vehicle driving assistance method and a program thereof. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a schematic diagram of the configuration of a vehicle driving assistance device according to an embodiment of the present invention.

[0018] Figure 2 It is shown Figure 1 A plan view of the vehicle showing the camera and sonar installation locations and target detection ranges.

[0019] Figure 3 (A) and (B) are used to illustrate Figure 1 A diagram showing the operation of a vehicle driving assistance device.

[0020] Figure 4 yes Figure 1 The routines executed by the CPU of the clearance sonar ECU are shown.

[0021] Figure 5 yes Figure 1The routines executed by the CPU of the clearance sonar ECU are shown.

[0022] Figure 6 (A) and (B) are diagrams for explaining the operation of a conventional device.

[0023] Description of Reference Numerals

[0024] 10…PVM-ECU, 10a…target detection unit, 11-14…camera, 20…clearance sonar ECU, 20a…target detection unit, 20b…sensor fusion unit (target recognition unit), 20c…vehicle control unit, 21F-26F…1st to 6th front sonars, 21R-26R…1st to 6th rear sonars, 40…brake ECU, 50…alarm ECU. DETAILED DESCRIPTION

[0025] In the embodiment of the present invention, a "vehicle driving assistance device DS (hereinafter referred to as 'device DS')" includes Figure 1 The components shown are applied (mounted) to this vehicle. This vehicle is also referred to as this vehicle, and may be any vehicle including a vehicle powered by an internal combustion engine, a vehicle powered by an electric motor (i.e., an electric vehicle), and a hybrid vehicle. In addition, other vehicles are sometimes referred to as other vehicles.

[0026] In this specification, "ECU" is an electronic control unit (control unit) including a microcomputer including a CPU (processor), ROM, RAM, a nonvolatile memory capable of writing data, and an interface (INTERFACE), etc. ECU is also called a controller or a computer. Figure 1 The plurality of ECUs shown are connected to each other via CAN so as to be able to exchange information. Some or all of the plurality of ECUs may be integrated into one ECU.

[0027] The PVM (Panoramic View Monitoring System)-ECU 10 obtains image data from the "front camera 11 for photographing the scene in front of the vehicle, the rear camera 12 for photographing the scene behind the vehicle, the right camera 13 for photographing the scene to the right of the vehicle, and the left camera 14 for photographing the scene to the left of the vehicle" each having a wide-angle lens at a predetermined time. Figure 2 As shown in FIG. 1 , the HV is installed at a predetermined position of the vehicle. Figure 211a, 12a, 13a, and 14a are added to the shooting areas of the cameras. For example, the area added with the reference numeral 11a is the shooting area of ​​the front camera 11. The PMV-ECU 10 generates a bird's-eye view image of the vehicle and a moving direction image of the vehicle based on the image data from these cameras. In addition, the PMV-ECU 10 displays the bird's-eye view image and the moving direction image on the display 15.

[0028] The PVM-ECU 10 has a target object detection unit 10a as its function. The target object detection unit 10a obtains a point (coordinate) indicating a position (position of the target object) where it is judged to be likely to exist based on camera information including image data from cameras 11-14 by a known method (for example, refer to Japanese Patent Publication No. 2021-135191 and Japanese Patent Publication No. 2023-35255). The point indicating the position of the target object obtained by the target object detection unit 10a is also called a "camera detection point".

[0029] The clearance sonar ECU 20 obtains signals from the first to sixth front sonars 21F-26F, the first to sixth rear sonars 21R-26R, the vehicle speed sensor 27, the steering angle sensor 28, etc. every time a predetermined time has passed. Figure 2 As shown. Furthermore, in Figure 2 In FIG. 1 , the target object detection area (ultrasonic wave transmission area) of each sonar is given reference numerals 21Fa to 26Fa and reference numerals 21Ra to 26Ra. For example, the area given reference numeral 21Fa is the target object detection area of ​​the first front sonar 21F.

[0030] Each sonar transmits ultrasonic waves to the corresponding target detection area, and receives reflected waves generated by the ultrasonic waves being reflected by the target. Furthermore, each sonar transmits sonar information including "the time from the transmission of ultrasonic waves to the reception of reflected waves" and "a signal indicating the 'frequency and intensity (reflection intensity)' of the received reflected waves" to the clearance sonar ECU20.

[0031] The clearance sonar ECU 20 includes, as its functions, a target object detection unit 20 a , a sensor fusion unit 20 b , and a vehicle control unit 20 c .

[0032] The target object detection unit 20a measures the distance between each sonar and the target object based on the sonar information. The target object detection unit 20a obtains a point (coordinate) indicating the position of the target object relative to the host vehicle HV by triangulation based on "the distances of the third front sonar 23F and the fourth front sonar 24F adjacent to each other from the target object" and "the distance between the two sonars 23F and 24F". Similarly, the target object detection unit 20a obtains a point (coordinate) indicating the position of the target object relative to the host vehicle HV by triangulation based on "the distances of the third rear sonar 23R and the fourth rear sonar 24R adjacent to each other from the target object" and "the distance between the two sonars 23R and 24R".

[0033] The "first front sonar 21F, the second front sonar 22F, the fifth front sonar 25F, the sixth front sonar 26F, the first rear sonar 21R, the second rear sonar 22R, the fifth rear sonar 25R, and the sixth rear sonar 26R" are respectively referred to as "single sonars". When the host vehicle HV is traveling, the target object detection unit 20a obtains a point (coordinates) indicating the position of the target object relative to the host vehicle HV according to the so-called "moving triangulation method" based on the distance between the single sonar and the target object before a predetermined time, the distance between the single sonar and the target object at a current time point, and the direction and distance moved by the host vehicle HV during the predetermined time. In other words, the target object detection unit 20a cannot obtain a point indicating the position of the target object based on the signal from the single sonar when the host vehicle HV is stopped. In addition, the point (coordinates) indicating the position of the target object obtained by the target object detection unit 20a is also referred to as a "sonar detection point".

[0034] The sensor fusion unit 20b integrates the point indicating the position of the target object (camera detection point) obtained by the target object detection unit 10a of the PVM-ECU 10 and the point indicating the position of the target object (sonar detection point) obtained by the target object detection unit 20a of the clearance sonar ECU 20, and obtains the final position (coordinate) of the target object relative to the vehicle HV as the "fused detection point (coordinate)" (for example, refer to Japanese Patent Publication No. 2021-135191). In addition, the fused detection point can also be generated based on only one of the camera detection point and the sonar detection point. The sensor fusion unit 20b is also called the "target object recognition unit". Furthermore, as described below, the sensor fusion unit 20b generates a target object position recognition point that finally determines the position of the target object based on the fused detection point obtained at a past time point and the fused detection point obtained at the current time point. In addition, the sensor fusion unit 20b also calculates the relative speed between each target object position recognition point and the vehicle. Therefore, it can also be said that the sensor fusion unit 20b repeatedly updates the surrounding target object information including the target object position recognition point.

[0035] The vehicle control unit 20c performs driving assistance control (collision avoidance assistance control) for avoiding collision (contact) between the host vehicle and the target object. That is, when the vehicle control unit 20c determines that there is a possibility of collision between the host vehicle and the obstacle based on the target object position recognition point, the host vehicle speed Vh obtained from the vehicle speed sensor 27, and the steering angle Sa obtained from the steering angle sensor 28, etc., it sends an instruction to the alarm ECU 50 described later to execute an alarm (generation of an alarm sound and display of a warning mark), and sends an instruction to the brake ECU 40 described later to apply automatic braking to the host vehicle.

[0036] The transmission system ECU 30 controls the drive device 32 including the power source of the vehicle by driving the transmission system actuator 31, thereby generating the driving force of the vehicle. The transmission system ECU 30 obtains the operation amount AP of the accelerator pedal from the accelerator pedal operation amount sensor 33. The transmission system ECU 30 can drive the transmission system actuator 31 according to the instruction from the vehicle control unit 20c of the clearance sonar ECU 20 or the accelerator pedal operation amount AP, thereby adjusting the driving force of the vehicle.

[0037] The brake ECU 40 controls the brake device 42 of the vehicle HV by driving the brake actuator 41, thereby applying a braking force to the vehicle. The brake ECU 40 obtains the operation amount BP of the brake pedal from the brake pedal operation amount sensor 43. The brake ECU 40 can drive the brake actuator 41 according to the instruction from the vehicle control unit 20c of the clearance sonar ECU 20 or the brake pedal operation amount BP, thereby applying a braking force to the vehicle HV. Therefore, the brake ECU 40 can perform automatic braking (automatic braking) for decelerating and stopping the vehicle based on the instruction from the vehicle control unit 20c.

[0038] The alarm ECU 50 can control an alarm sound generator 51 that generates an alarm sound and an alarm display 52 that is disposed at a position visible from the driver's seat and displays a warning sign, according to an instruction from the vehicle control unit 20 c of the clearance sonar ECU 20 .

[0039] In addition, the above-mentioned ECU (10-50) is also connected to other "sensors for detecting the state of the host vehicle HV" which are not shown in the figure.

[0040] (Work Summary)

[0041] For example, Figure 3As shown in (A), when another vehicle (other vehicle) is parked near the host vehicle (host vehicle) at time t0, the device DS (vehicle control unit 20c) determines that an obstacle exists at the "current fusion detection point (coordinate)" which is the target object position identification point shown by the white circle. Then, when the host vehicle stops at time t1, the device DS determines that an obstacle exists at the "maintained fusion detection point (coordinate)" which is the target object position identification point shown by the black circle. Then, when the host vehicle wants to start at time t2 after the other vehicle has moved, the target object position identification point does not include the "current fusion detection point (coordinate)", so the device DS prohibits automatic braking.

[0042] In contrast, Figure 3 As shown in (B), when another vehicle (other vehicle) is parked near the host vehicle (host vehicle) at time t0, the device DS (vehicle control unit 20c) determines that an obstacle exists at the "current fusion detection point (coordinates)" which is the target object position identification point shown by the white circle. Then, when the host vehicle stops at time t1, the device DS determines that an obstacle exists at the "maintained fusion detection point (coordinates)" which is the target object position identification point shown by the black circle. Then, when the host vehicle wants to start at time t2, the target object position identification point includes the "current fusion detection point (coordinates)", so the device DS allows and executes automatic braking.

[0043] Like this, when the device DS is in a situation where automatic braking needs to be applied, if the target object position identification point of the target object that is the object for which the automatic braking condition is established does not include the "current fusion detection point (i.e., at least one of the camera detection point obtained at the current time point and the sonar detection point obtained at the current time point)", it is determined that the target object does not exist and automatic braking is prohibited; if the target object position identification point of the target object that is the object for which the automatic braking condition is established includes the "current fusion detection point", it is determined that the target object still exists and automatic braking is allowed.

[0044] (Specific work)

[0045] The CPU of the clearance sonar ECU 20 (hereinafter referred to as "CPU") executes the following operation every time a predetermined time (operation cycle) dt has passed. Figure 4 and Figure 5 In the following, "step" is referred to as "S". Figure 4 is a flowchart for realizing the functions of the vehicle control unit 20c. Figure 5 This is a flowchart for realizing the function of the sensor fusion unit 20b.

[0046] <Collision Avoidance Assist Control>

[0047] When the predetermined timing is reached, the CPU Figure 4 The processing starts from S400 and enters S405, and estimates the expected travel area of ​​the vehicle within a predetermined certain time based on the steering angle Sa and the vehicle speed Vh. The expected travel area is the area where the body of the vehicle is predicted to pass. Then, the CPU determines whether at least one of the "holding point and the current detection point" is located in the expected travel area. The holding point is the "fused detection point (coordinate) obtained and maintained in the past". The current detection point is the "fused detection point (coordinate) obtained at the current time point (the latest acquisition timing)".

[0048] When neither the "holding point nor the current detection point" is located within the expected travel area, the CPU enters S410 from S405, sets the value of the automatic braking permission flag XB to "0", and sets the value of the alarm permission flag XW to "0". As described below, automatic braking is permitted when the value of the automatic braking permission flag XB is "1", and is prohibited when the value of the automatic braking permission flag XB is "0". Similarly, "an alarm to inform the driver of the existence of an obstacle (generation of an alarm sound and / or display of a warning mark)" is permitted when the value of the alarm permission flag XW is "1", and is prohibited when the value of the alarm permission flag XW is "0". Thereafter, the CPU enters S430.

[0049] On the other hand, when at least one of the "holding point and the current detection point" as the target position recognition point is located in the expected travel area, the CPU enters S415 from S405 to determine whether there is a current detection point that is estimated to represent the same target as "the target determined by the holding point located in the expected travel area in S405". The CPU determines that the current detection point represents the same target as the target determined by the holding point, for example, when the distance between the current detection point and the holding point closest to the current detection point is less than the same target determination threshold. That is, the CPU determines whether a fused detection point for the target estimated to be located in the expected travel area has been acquired at the current time point (the latest acquisition timing). However, the current detection point does not necessarily have to be located in the expected travel area. In addition, when it is determined in S405 that the current detection point is located in the expected travel area, the CPU will of course determine "yes" in S415.

[0050] If there is no current detection point, the CPU proceeds from S415 to S420, sets the value of the automatic braking permission flag XB to "0", and sets the value of the alarm permission flag XW to "1". Thereafter, the CPU proceeds to S430. Thus, as described below, the alarm is permitted, but the automatic braking is prohibited.

[0051] If there is a current detection point, the CPU proceeds from S415 to S425, sets the value of the automatic braking permission flag XB to "1", and sets the value of the alarm permission flag XW to "1". Thereafter, the CPU proceeds to S430. As described below, both the alarm and the automatic braking are permitted.

[0052] The CPU determines in S430 whether the value of the warning permission flag XW is "1".

[0053] When the value of the alarm permission flag XW is "1", the CPU enters S435 from S430 to determine whether the alarm condition is met. More specifically, the CPU calculates the time required for collision TTC for each of the "holding point and current detection point" (hereinafter referred to as "obstacle point") located in the expected travel area. The time required for collision TTC is calculated by dividing the length of the path of the vehicle body approaching the obstacle point by the speed of the obstacle point relative to the vehicle (i.e., the relative speed of the obstacle point). Then, the CPU selects the shortest time required for collision (hereinafter referred to as "the shortest time required for collision") TTCm from these times required for collision TTC, and determines whether the shortest time required for collision TTCm is below the alarm threshold TWth. When the shortest time required for collision TTCm is below the alarm threshold TWth, the alarm condition is met.

[0054] When the alarm condition is satisfied, the CPU proceeds from S435 to S440, sends an instruction to the alarm ECU 50, causes the alarm sound generator 51 to generate an alarm sound, and causes the alarm display 52 to display a warning mark. Thereafter, the CPU proceeds to S445.

[0055] When the alarm condition is not satisfied, the CPU directly proceeds from S435 to S445. Therefore, in this case, the alarm sound is not generated and the warning mark is not displayed.

[0056] Furthermore, when the value of the alarm permission flag XW is not "1" when the CPU enters S430, the CPU directly enters S445 from S430. That is, the alarm is prohibited. Therefore, in this case, the generation of the alarm sound and the display of the warning mark are not executed.

[0057] The CPU determines in S445 whether the value of the automatic braking permission flag XB is "1".

[0058] When the value of the automatic braking permission flag XB is "1", the CPU enters S450 from S445 to determine whether the automatic braking condition is satisfied. More specifically, the CPU obtains the shortest collision time TTCm mentioned above and determines whether the shortest collision time TTCm is less than the automatic braking threshold TBth. The automatic braking threshold TBth is set to a value smaller than the warning threshold TWth. When the shortest collision time TTCm is less than the automatic braking threshold TBth, the automatic braking condition is satisfied.

[0059] When the automatic braking condition is satisfied, the CPU enters S455 from S450 and sends an instruction to the brake ECU 40, thereby operating the brake device 42 via the brake actuator 41, applying a braking force to the vehicle to stop the vehicle. That is, the CPU performs automatic braking. In addition, the CPU also sends an instruction to the transmission system ECU 30, so that the drive device 32 is operated via the transmission system actuator 31 in a manner that the driving force of the vehicle becomes zero. After that, the CPU enters S495 and temporarily ends this routine.

[0060] When the automatic braking condition is not satisfied, the CPU directly proceeds to S495 from S445. Therefore, the automatic braking is not performed in this case.

[0061] Furthermore, when the value of the automatic braking permission flag XB is not "1" when the CPU enters S445, the CPU directly enters S495 from S445. That is, automatic braking is prohibited. Therefore, automatic braking is not performed in this case either.

[0062] In addition, the content determined in S405 is a condition that becomes a "prerequisite for establishing the automatic braking condition". Therefore, when the automatic braking condition is established, it is determined in S415 whether a detection point indicating the position of the target object for establishing the automatic braking condition is obtained at the current time point (in other words, whether at least one of the "current camera detection point and the current sonar detection point" for the same target object as the target object for establishing the automatic braking condition is obtained).

[0063] <Target Identification>

[0064] When the predetermined timing is reached, the CPU Figure 5 The process starts from S500 and proceeds to S510 to determine whether the vehicle is in a non-stop state (that is, the vehicle speed Vh is greater than "0").

[0065] When the vehicle is stopped, the CPU enters S520 from S510, and holds the fusion detection point (coordinate) at the time point when the routine was executed before the predetermined time dt (i.e., the target position recognition point before the predetermined time) as a holding point. Thereafter, the CPU enters S595 and temporarily terminates the routine.

[0066] On the other hand, when the vehicle is not stopped (driving), the CPU enters S530 from S510 to determine whether at least one of the "camera detection point and sonar detection point" is obtained at the current time point (the latest acquisition timing). That is, the CPU determines whether at least one of the current camera detection point and the current sonar detection point is obtained. When neither the current camera detection point nor the current sonar detection point is obtained (that is, when neither the target object detection unit 10a nor the target object detection unit 20a obtains a point (coordinate) indicating the position of the target object at the current time point), the CPU enters S520 from S530 to retain the target object position recognition point at the time point when this routine was executed before the predetermined time dt as a retention point. Thereafter, the CPU enters S595 to temporarily terminate this routine. In addition, the CPU may also omit the processing of S510. In this case, the CPU directly enters S530 from S500.

[0067] When at least one of the "camera detection point and sonar detection point" is obtained at the current time point (the latest acquisition timing), the CPU enters S540 from S530 to obtain the camera detection point at the current time point (i.e., the current camera detection point). However, if there is no current camera detection point, the CPU does not perform the processing of S540. Next, the CPU enters S550 to obtain the sonar detection point at the current time point (i.e., the current sonar detection point). However, if there is no current sonar detection point, the CPU does not perform the processing of S550.

[0068] Next, the CPU integrates the current camera detection point and the current sonar detection point in S560 to generate a fused detection point at the current time point (ie, the current fused detection point).

[0069] Next, the CPU enters S570, performs the following processing by comparing the holding point at that time point with the current fusion detection point, and then enters S595.

[0070] (First process) The CPU removes from the target object position recognition points the holding points that have not been detected as current fusion detection points for a certain period of time as unnecessary holding points. In other words, the CPU removes from the target object position recognition points the holding points that have been confirmed as "no target object exists at this point" based on "camera detection points and / or sonar detection points" for a predetermined number of consecutive times or more.

[0071] (Second Processing) The CPU adds the current fusion detection point to the target object position recognition point.

[0072] As described above, when the target position identification point of the "target object with a possibility of collision with the vehicle above the threshold value" that is the object for which the automatic braking condition is established does not include the "current fusion detection point (i.e., at least one of the current camera detection point and the current sonar detection point)", the device DS determines that the target object is likely to not exist and prohibits automatic braking. If the target position identification point of such a target object includes the "current fusion detection point", it determines that the target object is likely to still exist and allows automatic braking. Therefore, the frequency of unnecessary automatic braking for a target object that is not actually likely to exist can be reduced, and automatic braking can be implemented for a target object that is actually likely to exist.

[0073] Furthermore, when the device DS determines that a "predetermined alarm condition different from the automatic braking condition" is satisfied as a condition that is satisfied when the possibility of collision between the host vehicle and the target object is high based on the surrounding target object information including the target object position identification point (S435: Yes), the device DS issues an alarm (S440, S415 to S420) regardless of whether a detection point indicating the position of the target object that satisfies the alarm condition (the current fusion detection point) is obtained at the current time point (i.e., whether at least one of the current camera detection point and the current sonar detection point exists). Therefore, even if the current camera detection point and the current sonar detection point are not obtained, the driver can be alerted to the "target object that may still exist" through the alarm.

[0074] The present invention is not limited to the above-described embodiment, and various modifications can be adopted within the scope of the present invention. For example, the device DS can be applied to the host vehicle HV in a state where the driving mode is changed from automatic driving to driving by a driver in an automatic driving vehicle.

[0075] Furthermore, the device DS may acquire (detect) points indicating the positions of targets existing around the vehicle using only the cameras 11 to 14 (i.e., without using sonar). Similarly, the device DS may acquire (detect) points indicating the positions of targets existing around the vehicle using only sonar (i.e., without using cameras). The installation positions, target object detection areas, and numbers of the cameras 11 to 14, the first to sixth front sonars 21F to 26F, and the first to sixth rear sonars 21R to 26R may be appropriately set.

[0076] The automatic braking condition determined in S450 may be different from the above-mentioned automatic braking condition. For example, the automatic braking condition may be determined to be satisfied when the distance between the point closest to the vehicle body among the points in the "holding point and the current detection point" located in the expected travel area and the vehicle body is less than the first threshold distance, and the accelerator pedal operation amount AP changes from "0" to "a value greater than 0".

[0077] Similarly, the alarm condition determined in S435 may be different from the above-mentioned alarm condition. For example, the alarm condition may be determined to be satisfied when the distance between the point closest to the vehicle body among the points in the "holding point and the current detection point" located in the expected travel area and the vehicle body is less than the "second threshold distance greater than the first distance threshold" and the accelerator pedal operation amount AP changes from "0" to "a value greater than 0".

Claims

1. A vehicle driving assistance device, comprising: An object detection unit that repeatedly acquires detection points indicating positions of objects around the vehicle; an object recognition unit that repeatedly updates peripheral object information including an object position recognition point that finally determines the position of the object based on the detection point acquired by the object detection unit at a past time point and the detection point detected by the object detection unit at a current time point; and The vehicle control unit activates automatic braking for avoiding the collision when it is determined based on the peripheral object information that a predetermined automatic braking condition is satisfied when there is a high possibility that the host vehicle will collide with the object. In the vehicle driving assistance device, The vehicle control unit is configured as follows: If the object detection unit has not acquired the detection point indicating the position of the object for which the automatic braking condition is satisfied at the current time point, the automatic braking is not performed.

2. The vehicle driving assistance device according to claim 1, The vehicle control unit is configured as follows: When a predetermined alarm condition different from the automatic braking condition, which is a condition that is established when the possibility of a collision between the host vehicle and the target object is high, is determined to be established based on the surrounding target object information, an alarm is issued to the driver of the host vehicle regardless of whether the target object detection unit has obtained the detection point indicating the position of the target object that caused the alarm condition to be established at the current time point.

3. The vehicle driving assistance device according to claim 1 or 2, The target object detection unit is configured as follows: The detection point is obtained based on at least one of sonar information from a sonar that uses ultrasonic waves to measure the distance between the host vehicle and a target object located around the host vehicle, and camera information from a camera that obtains image data by photographing the periphery of the host vehicle, The vehicle control unit is configured as follows: The automatic braking condition is determined to be satisfied when at least the following condition is satisfied: one or more of the target object position recognition points are located within the expected travel area of ​​the host vehicle.

4. A vehicle driving assistance method, comprising a first step, a second step and a third step, In the first step, detection points indicating positions of target objects around the vehicle are repeatedly acquired; In the second step, based on the detection points acquired by the object detection unit at a past time point and the detection points detected by the object detection unit at a current time point, the surrounding object information including the object position identification point that finally determines the position of the object is repeatedly updated. In the third step, When it is determined based on the peripheral object information that a predetermined automatic braking condition is satisfied when there is a high possibility that the host vehicle will collide with the object, When the detection point indicating the position of the target object for which the automatic braking condition is satisfied is obtained at the current time point, the automatic braking for avoiding the collision is activated; When the detection point indicating the position of the target object for which the automatic braking condition is satisfied is not obtained at the current time point, the automatic braking for avoiding the collision is not actuated.

5. A program for execution by a computer installed in the vehicle, The program causes the computer to execute step 1, step 2, and step 3, In the first step, detection points indicating the positions of target objects around the vehicle are repeatedly acquired. In the second step, based on the detection points acquired by the object detection unit at a past time point and the detection points detected by the object detection unit at a current time point, the surrounding object information including the object position identification point that finally determines the position of the object is repeatedly updated. In the third step, When it is determined based on the peripheral object information that a predetermined automatic braking condition is satisfied when there is a high possibility that the host vehicle will collide with the object, When the detection point indicating the position of the target object for which the automatic braking condition is satisfied is obtained at the current time point, the automatic braking for avoiding the collision is activated; When the detection point indicating the position of the target object for which the automatic braking condition is satisfied is not obtained at the current time point, the automatic braking for avoiding the collision is not actuated.

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