Driving assistance system

Abstract

Driving assistance system, comprising: an object detection unit (S105) for detecting a position of an object located near a self-vehicle and a moving direction of the object; a determination unit (S120, S125) for determining whether or not a probability that the own vehicle will collide with one or more objects is greater than or equal to a certain level based on the position of the object; a starting unit (S130) for starting driving assistance for avoiding a collision when a positive determination has been made by the determining unit; an area detection unit (S100) for detecting a target area in which the own vehicle is expected to travel; and a setting unit (S200 to S235) for setting a sensitivity of a determination of a collision probability based on a positional relationship between the object and the target area, and the moving direction of the object, wherein the target area corresponds to an area on one's own lane on which one's own vehicle is traveling; the determination unit further determines that the object is located on the own lane when a probability that the object is located on the own lane reaches a predetermined threshold, and when the object is located on the own lane, the determination unit determines that the probability has reached the level earlier than in a case where the object is not located on the own lane; the sensitivity corresponds to the threshold value; and the adjustment unit improves the sensitivity by decreasing the threshold value and decreases the sensitivity by increasing the threshold value.

Description

BACKGROUND OF THE INVENTION Technical field of the invention

[0001] The present invention relates to a driving assistance system for avoiding collisions with pedestrians and other vehicles. DESCRIPTION OF THE STATE OF THE ART

[0002] A driving assistance system that detects objects such as pedestrians and other vehicles in the vicinity of one's own vehicle using a camera or radar or radio and provides driving assistance such as warning of a collision with objects, intervening in driving operation to avoid the collision, etc., is already known.

[0003] An example of such a device is a driving assistance system as disclosed in JP 2007-8281 A, which detects white lines of a road in front of an own vehicle with a camera and detects stationary objects on a road on which the own vehicle is moving by means of a radio device.

[0004] Then, when the stationary objects are detected, driving assistance for avoiding collision with stationary objects is provided by setting a virtual white line so as to avoid the stationary objects and perform lane keeping control or lane departure warning using the virtual white line.

[0005] In the driving assistance system described above, the driving assistance starts when the positional relationship or the like between the own vehicle and the object satisfies certain conditions.

[0006] However, there is a case where the objects on the road or off the road, such as guardrails, etc., are positioned in front of the own vehicle in a curve entrance or exit, for example, in such a case, it may be incorrectly determined that a probability that the vehicle will not collide with the objects is high, whereby it is likely that the driving support is activated unnecessarily.

[0007] In order to avoid such unnecessary activation, a threshold value in a starting condition of the driving assistance has been set such that the driving assistance is started with a lower probability in the driving assistance system described above.

[0008] However, the problem sometimes arose that the start condition was difficult to meet, even in a case where other vehicles or pedestrians were present in the lane in which the own vehicle was moving, which delayed the triggering of the driving assistance.

[0009] Furthermore, DE 10 2008 003 205 A1 discloses a device for collision avoidance or for reducing the severity of a collision resulting from a collision for vehicles, in particular commercial vehicles, comprising an input unit for inputting traffic-situation-related criteria and for determining traffic-situation-related threshold values, a detection unit for detecting objects in the vehicle's surroundings, a measuring unit for determining the vehicle's state of motion, a control unit for processing the information received from the input unit, the detection unit, and the measuring unit and for generating control signals for controlling components related to the vehicle's state of motion, and an output unit for outputting the generated control signals. A corresponding method and a computer program are also disclosed.

[0010] DE 10 2009 035 072 A1 discloses a method for predicting the position or location and / or movement of an object or vulnerable road user, for example, a pedestrian, relative to a vehicle. According to the disclosed method, the current movement data of the object are recorded by object-side sensors and transmitted from the object-side transceiver unit to the vehicle-side transceiver unit, where they are used to predict the position and / or movement of the object. Device subunits for implementing the method are also disclosed.

[0011] Further relevant prior art is disclosed in US 2008 / 0 074 246 A1 and JP 2007 - 128 232 A. SUMMARY OF THE INVENTION

[0012] The present invention has been made in view of the above problems, and its underlying object is to provide a driving assistance system that starts at a more appropriate time while preventing unnecessary activation of the driving assistance system.

[0013] The above object is achieved by the subject matter of claim 1. Advantageous developments of the invention are the subject matter of the subsequent dependent claims.

[0014] In a driving assistance system according to a first explanatory aspect of the present disclosure, the driving assistance system includes an object detection unit for detecting a position of an object located near a host vehicle, a determination unit for determining whether or not a probability that the host vehicle will collide with one or more objects is greater than or equal to a predetermined value based on the position of the object, a starting unit for starting driving assistance for avoiding collision when a positive determination is made by the determination unit, an area detection unit for detecting a target area in which the host vehicle is expected to travel, and a setting unit for setting a sensitivity of a determination of a collision probability based on a positional relationship between the object and the target area.

[0015] According to the above configuration, when the probability of collision with the object is high, such as in a case where the object is in front of the own vehicle, the determination sensitivity regarding the probability of collision with the object is set high, thereby making it easy to determine that the probability of collision is greater than or equal to a certain value.

[0016] This allows driving assistance to be started easily and prevents a delay in starting driving assistance.

[0017] Furthermore, the determination sensitivity may be set low when the probability of collision with the object is low, such as in a case where there is no object in front of the own vehicle, making it difficult to determine that the collision probability is greater than or equal to a certain value.

[0018] This makes it difficult to start the driving assistance and makes it possible to prevent unnecessary activation of the driving assistance.

[0019] Accordingly, it is possible to prevent unnecessary activation of driving assistance, while driving assistance can be started at a more appropriate time.

[0020] In the driving assistance system according to the above aspect of the present disclosure, the object detecting unit further detects a moving direction of the object, and the adjusting unit further adjusts the sensitivity by taking the moving direction of the object into consideration.

[0021] In a driving assistance system according to a second explanatory aspect of the present disclosure, the setting unit determines whether or not an object located outside the target area is moving toward the target area based on the positional relationship between the object and the target area and the moving direction of the object, and the sensitivity is enhanced when a positive determination is obtained.

[0022] In a driving assistance system according to a third explanatory aspect of the present disclosure, the setting unit determines whether or not an object located outside the target area moves away from the target area based on the positional relationship between the object and the target area and the moving direction of the object, and the sensitivity is reduced when a positive determination is obtained. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] The accompanying drawings show: Fig. 1 is a block diagram illustrating a configuration of a driving support system; Fig. 2 is an explanatory diagram for setting a sensitivity regarding a determination (determination sensitivity) of a collision probability between an own vehicle and an object; Fig. 3 a flowchart for a driving support start process; and Fig. 4 a flowchart for a determination sensitivity adjustment process. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0024] Embodiments of the present disclosure will be described hereinafter with reference to the accompanying drawings.

[0025] It should be noted that embodiments of the present invention are not limited to the embodiments described below, but may take various forms as long as they are included in the technical scope of the present invention. [Explanation of a configuration]

[0026] A driving assistance system 10 according to the present embodiment determines a probability that a host vehicle collides with an object such as a pedestrian or another vehicle, and when the collision probability is greater than or equal to a certain value, driving assistance such as warnings or stopping the host vehicle is implemented.

[0027] The driving support system 10 consists of an external object detection unit 11, a vehicle state detection unit 12, a control unit 13, a communication unit 14, a notification unit 15 and the like (see Fig. 1).

[0028] The external object detection unit 11 is configured, for example, as a camera for photographing a front area in front of the own vehicle, or as a radar or radio device for transmitting radio waves in the micrometer or millimeter range to the front area in front of the own vehicle and for receiving radio reflections.

[0029] The external object detection unit 11 is a section that detects positions, sizes, shapes, and the like of objects located in front of or near the own vehicle.

[0030] The external object detection unit 11 may be configured by the camera and / or the radio device.

[0031] Further, the vehicle state detecting device 12 is composed of a yaw rate sensor, a steering angle sensor, a vehicle speed sensor, etc., and is a portion that detects a yaw rate and / or a steering angle (hereinafter simply described as yaw rate or the like) and / or a vehicle speed of the own vehicle.

[0032] Furthermore, a configuration for obtaining the yaw rate, steering angle, or vehicle speed detected by another ECU (electronic control unit) through a vehicle-side LAN may be adopted.

[0033] The control unit 13 consists of a CPU, a ROM, a RAM, an I / O, etc. and is a section for overall control of the driving support system 10.

[0034] The communication unit 14 is a section that communicates with the other ECU via the vehicle-side LAN.

[0035] Further, the notification unit 15 is configured as a speaker or display device and is a section for performing various warnings for driving support. [Explanation of establishments](1) Overview

[0036] First, an overview of an operation of the driving support system 10 according to the present embodiment will be explained.

[0037] The driving assistance system 10 detects, via the external object detection unit 11, positions, sizes, shapes, and the like of objects such as pedestrians, other vehicles, debris, etc., which exist on the roadway (target roadway, ie, a roadway on which the own vehicle is expected to move) on which the own vehicle is expected to move, and adjacent to it in front of the own vehicle.

[0038] Furthermore, the driving assistance system 10 may calculate a moving speed or a moving direction of the object based on history information such as the positions of the object.

[0039] Further, the driving support system 10 periodically measures the yaw rate or the like and the vehicle speed by means of the vehicle state detecting unit 12 and predicts a course of the own vehicle based on a result thereof.

[0040] Subsequently, the driving assistance system 10 determines a collision probability between the own vehicle and the objects based on the predicted course and the positions of the objects, and starts driving assistance when a collision probability is greater than or equal to a certain value.

[0041] Here, there is a case where the yaw rate and the like greatly vary instantaneously due to vibrations of a steering wheel or noise when the course is predicted based on the yaw rate and the like, and an accuracy of a course prediction drops if such variations are directly reflected on the prediction of the course.

[0042] Therefore, in the driving support system 10, low-pass filtering is performed for each measurement of the yaw rate or the like, thereby suppressing an influence of sudden changes in the yaw rate or the like, making it possible to accurately predict the course even when the vibrations of the steering wheel, etc. occur.

[0043] However, by applying low-pass filtering, a time delay occurs until a change in yaw rate or the like caused by a steering operation to be reflected in the course prediction.

[0044] Thus, for example, when the vehicle is moving in a curve, a situation occurs in which the exact course prediction becomes possible after the vehicle has passed the curve entrance and steering becomes stable, since it is not possible to accurately predict the course in a situation in which the curvature of the road changes suddenly, such as when entering the curve.

[0045] Thus, by applying the low-pass filtering process, it becomes impossible to predict the exact course under certain circumstances, which makes it impossible to accurately determine the probability of collision with the object based on the predicted course, which makes it easy to activate the driving assistance unnecessarily.

[0046] Therefore, in a conventional system, in order to prevent unnecessary activation of the driving assistance when the driving assistance is performed based on the collision probability of such a threshold value when the collision probability is determined, another threshold value regarding the start condition of the driving assistance based on the collision probability and the like tends to be set so that the driving assistance is less likely to be started (ie, in a conventional system, the sensitivity of the determination (determination sensitivity) on the collision probability has been set to be low).

[0047] In addition, considering a case where a relative speed between the own vehicle and the object is high, it is desirable that a sensitivity of detection of the object is enhanced and the start condition is easy to satisfy (ie, it is desirable that the determination sensitivity is enhanced).

[0048] This makes it possible to detect an object that is at a certain distance or to detect the object early in such a way that the driving assistance can be started early, before the object approaches the own vehicle at the high relative speed, and the collision can thus be prevented more reliably.

[0049] However, false detections of the object are easily generated when the detection sensitivity of the object is strengthened, which causes unnecessary activation of the driving assistance to simply occur, making it impossible to strengthen the detection sensitivity.

[0050] Therefore, in the conventional system, there was a problem that the driving assistance to avoid the collision with the object was triggered too late because it was not possible to set the determination sensitivity high enough or to increase it accordingly to prevent the unnecessary activation of the driving assistance.

[0051] Subsequently, in the driving assistance system 10 according to the present embodiment, when the object in front of and near the own vehicle is detected by the external object detection unit 11 and if there is no such object in front of the own vehicle, for example, the determination sensitivity of the collision probability between the own vehicle and the object is set to be low and the driving assistance is less likely to be started.

[0052] On the other hand, if such an object is located in front of the own vehicle, the driving support system 10 sets the determination sensitivity to high and the driving support is started with a higher probability or easier (see Fig. 2).

[0053] Then, a process for setting the determination sensitivity and a process for starting the driving assistance are described in detail. (2) Driving support start process

[0054] First, the driving support starting process for starting the driving support according to the collision probability with the object is described with reference to a flowchart shown in Fig. 3 is disclosed.

[0055] The present process is periodically executed by the control unit 13 of the driving support system 10.

[0056] In step S100, the control unit 13 defines the target lane as a lane having a predetermined length extending forward from the own vehicle, and the control unit 13 detects a target area, which is a travel area of the vehicle on the target lane, by the external object detection unit 11.

[0057] The control unit 13 also detects an area adjacent to each side of the target area and extending along the target area as a peripheral area, and the process flow proceeds to step S105.

[0058] More specifically, when the external object detection unit 11 is configured as a camera, the control unit 13 may perform detection of a white line or the like using, for example, an image captured by the camera, and may detect the target area based on a detection result.

[0059] Further, when the external object detection unit 11 is configured to use a radio device, the control unit 13 may detect the target area based on a shape or a position of the object detected by the radio device.

[0060] Further, the control unit 13 may define an area of a lane on which the own vehicle is traveling (own lane) as the target area, or may detect all the lanes on which the own vehicle is traveling as the target lane when the target lane is provided, for example, in a plurality of lanes on one side of the road.

[0061] Further, the control unit 13 may, for example, detect an area of a sidewalk as the peripheral area when the sidewalk is along the target lane, and may detect an area on an opposite lane as the peripheral area.

[0062] In step S105, the control unit 13 detects the area in front of the own vehicle or the position, size, shape or the like of the object by the external object detection unit 11 and the detected result is stored in the RAM.

[0063] Subsequently, the control unit 13 determines a moving direction and speed of the object based on the history of the detected position of the object, and the determined result is stored in the RAM, and the process flow then proceeds to step S110.

[0064] In step S110, the control unit 13 performs a determination sensitivity setting process which sets the sensitivity of the determination based on the moving direction or position of the object, and then the process flow proceeds to step S115.

[0065] In step S115, the control unit 13 measures the yaw rate and the speed of the own vehicle, etc. in the vehicle state detecting unit 12 and performs a low-pass filtering process on the measured result of the yaw rate and the like.

[0066] Subsequently, the control unit 13 predicts the course of the own vehicle based on the measured result of the yaw rate and the speed measurements, applying the low-pass filtering, and the process flow proceeds to step S120.

[0067] In step S120, the control unit 13 determines the collision probability with the object based on the predicted course of the own vehicle, the position, the size, and the like of the object, and then proceeds to step S125, in which it is determined whether the collision probability with the object is greater than or equal to a certain value so that the start condition of the driving assistance is satisfied.

[0068] More specifically, the control unit 13 determines a predicted collision position or a predicted collision time between the own vehicle and the object based on, for example, a predicted course of the own vehicle, the own vehicle speed, a position of the object, its size, its moving direction or its moving speed, etc., and can calculate a remaining distance to the predicted collision position or a remaining time to the predicted collision time.

[0069] Subsequently, the control unit 13 may determine that the start condition of the driving assistance is met if the calculated value is greater than or equal to the threshold value.

[0070] Furthermore, at the predicted collision position, the control unit 13 may also determine, for example, a lateral distance between the own vehicle and the object based on the width of the own vehicle or a side position of the object (lateral position), etc.

[0071] Subsequently, the control unit 13 can also determine that the probability of a collision is greater than or equal to a certain value and the start condition of the driving assistance is met if the determined value is less than or equal to the threshold value.

[0072] Subsequently, the control unit 13 proceeds to step S130 when the start condition is satisfied (S125: Yes), while the process is terminated when the start condition is not satisfied (S125: No).

[0073] In step S130, the control unit 13 executes the driving support process and then terminates the process flow.

[0074] More specifically, the control unit 13 may output, for example, a warning sound or a warning message display indicating that the collision probability is high through the notification unit 15.

[0075] The control unit 13 can of course also communicate with another ECU via the communication unit 14 and output the warning sound or warning message through the ECU.

[0076] Furthermore, the control unit 13 can communicate with the other ECU via the communication unit 14 and apply brakes to stop the own vehicle, or can perform steering assistance to change the course of the own vehicle so as to prevent a collision with the object. (3) Determination sensitivity adjustment process

[0077] Next, a determination sensitivity setting process for setting the determination sensitivity is described with reference to the flowchart shown in Fig.4 is disclosed.

[0078] The present process flow is configured as a subroutine called by the driving support start process.

[0079] In step S200, the control unit 13 determines the presence of the object in the vicinity of the target area based on the position of the previously detected object.

[0080] Subsequently, the control unit 13 allows the process to proceed to step 205 while the object is present (S200: Yes), or allows the process to proceed to step S220 when the object is not present (S200: No).

[0081] In step S205, the control unit 13 determines whether or not the object is moving out of the target area at a speed greater than or equal to a predetermined speed based on the position of the moving direction, the moving speed, etc. of the object for each object located in the target area.

[0082] Subsequently, the control unit 13 proceeds to step S210 if all objects present in the target area are moving out of the target area at a speed greater than or equal to a predetermined speed (S205: Yes), or proceeds to step S215 if not (S205: No).

[0083] In addition, the control unit 13 can determine whether the objects are located around corner areas or boundary areas of the target area and are moving outward from the target area or not for each object located in the target area based on the position, the moving direction, etc. of the object.

[0084] Subsequently, the control unit 13 may proceed to step S210 if all objects located in the target area are arranged around the boundary area and are moving away from the target area (S205: Yes), (S205: No), or continue the process flow to step S215 if this is not the case (S205: No).

[0085] In step S210, the control unit 13 sets the determination sensitivity to low and then completes the process flow.

[0086] In step S215, however, the control unit 13 sets the determination sensitivity to high and then completes the process flow.

[0087] In step S220, in which the process flow proceeds when the objects are not located in the target area, the control unit 13 determines whether or not the objects are located in the edge area adjacent to the respective side of the target area.

[0088] Then, the control unit 13 advances the process flow to step S225 if the objects are present (S220: Yes), or advances the process flow to step S235 if the objects are not present (S220: No).

[0089] In step S225, the control unit 13 determines whether or not the objects are moving toward the target area at a speed greater than or equal to a predetermined speed for each object present in the peripheral area based on the position, the moving direction, the moving speed, etc. of the object.

[0090] Subsequently, the control unit 13 advances the process flow to step S230 if at least one object present in the edge area is moving toward the target area at a speed greater than or equal to a predetermined speed (S225: Yes), or advances the process flow to step S235 if this is not the case.

[0091] In addition, the control unit 13 can determine whether or not each object present in the peripheral area is moving toward the target area based on the moving direction without considering the moving speed of the object.

[0092] Subsequently, the control unit 13 may proceed the process flow to step S230 if at least one object located in the edge area moves toward the target area (S225: Yes), while the process flow proceeds to step S235 if this is not the case.

[0093] In step S230, the control unit 13 sets the determination sensitivity to high and then terminates the process.

[0094] In step S235, the control unit 13 sets the determination sensitivity to low and then terminates the process flow. (4) Setting the determination sensitivity

[0095] Next, a specific example of setting the determination sensitivity is explained.

[0096] As mentioned above, the start condition of the driving assistance is configured, for example, such that the remaining distance to the predicted collision position or the remaining time to the predicted collision time becomes less than or equal to the threshold value, or that the determined value of the lateral distance between the own vehicle and the object at the predicted collision position becomes less than or equal to the threshold value in the driving assistance system 10.

[0097] In such a case, the driving assistance starts easily or quickly if the threshold is set large and the determination sensitivity is high, while the driving assistance starts with difficulty or late if the threshold is set small and the determination sensitivity is low.

[0098] Further, for example, when the external object detection unit 11 is configured with a radio device, in the driving support system 10, a radio wave is periodically outputted while the position of the object is measured by a corresponding reflection and the measured results are stored.

[0099] Further, the position of the object or the like is continuously measured by outputting the radio waves in each period, and when the object is in the same position or when the position of the object moves in a certain direction, a presence probability of the object is calculated based on the number of times the position of the object has been measured.

[0100] The probability of presence increases with the number of times the object's positions have been measured, and if the probability of presence is greater than or equal to the threshold, the object is detected to be present.

[0101] Therefore, if the threshold value of the presence probability is reduced, the object is more easily detected by the external object detection unit 11, and since the detection sensitivity of the object is increased, the determination sensitivity becomes high.

[0102] On the other hand, if the threshold value of the presence probability is increased, it becomes difficult for the object to be detected by the external object detection unit 11, and since the detection probability of the object is reduced, the determination sensitivity becomes low.

[0103] Furthermore, since the collision probability of the object located on a roadway on which the own vehicle is also moving (own roadway) is high, it is considered that the start condition is set such that the driving assistance is started earlier when such an object is detected.

[0104] Then, when the outdoor object detection unit 11 is configured with the radio device, it is determined whether or not the object is on the own lane based on the position of the object measured by outputting the radio wave in each period.

[0105] That is, an own-lane presence probability, which is a probability that the object is located on the own lane, is calculated based on a measured result of the positions in each period, and if the own-lane presence probability is greater than or equal to a threshold, the object is detected as being on the own lane.

[0106] Therefore, if the threshold of the own-lane presence probability is reduced, the object is easy to determine as being in the own lane and as a result, the determination sensitivity becomes high because the driving assistance is started early.

[0107] On the other hand, if the threshold of the own-lane presence probability is increased, the object is difficult to determine as being in the own lane, and therefore the determination sensitivity becomes low because the driving assistance is started late compared to a situation where the object is in the own lane. [Effect]

[0108] According to the driving support system 10 of the present embodiment, the determination sensitivity is set high when the probability of collision with the object is high, such as in the case where the object remains in the target area, or when the object located outside the target area moves toward the target area.

[0109] This makes it easy to start driving assistance because it becomes easy to determine that the probability of collision is greater than or equal to a certain value, and a delay in starting driving assistance can be prevented.

[0110] On the other hand, the detection sensitivity is set low when the probability of collision with the object is low, such as in the case when the object is not in the target area or when the object in the target area moves away from the target area.

[0111] This makes it difficult to start the driving assistance because the collision probability is determined to be low and it becomes difficult to determine that the collision probability is greater than or equal to a certain value, and this may prevent the driving assistance from being activated unnecessarily.

[0112] Therefore, it is possible to prevent unnecessary activation of driving assistance, while driving assistance can be started at a more appropriate time. [Other embodiments]

[0113] (1) The determination sensitivity adjustment process according to the present embodiment, in which the control unit 13 adjusts the determination sensitivity based on the moving speed or the moving direction of the object, is not limited to this, and the determination sensitivity may also be adjusted based on the position of the object.

[0114] More specifically, the control unit 13 may set the determination sensitivity to be high, for example, when the object is present in the target area or the peripheral area, and when the object is not present, the determination sensitivity may be set to be low.

[0115] Even in such a case, it is possible to achieve this effect.

[0116] (2) Although the control unit 13 determines the collision probability based on the predicted course of the own vehicle in the driving support start process of the present embodiment, the collision probability may be determined without considering the predicted course.

[0117] More specifically, the control unit 13 may, for example, determine the collision probability based on whether the distance between the own vehicle and the object becomes smaller than a certain threshold, whether an object approaches the own vehicle at a speed greater than or equal to the predetermined threshold, or the like.

[0118] It should be noted that when the probability of a collision is determined in this way, the determination sensitivity is adjusted by changing the threshold values.

[0119] Even in such a case, it is possible to achieve the same effect.

[0120] (3) The driving assistance starting process of the present embodiment may be configured to provide a plurality of types of driving assistance to perform different types of driving assistance depending on how high the collision probability is.

[0121] More specifically, two types of driving assistance can be provided for warning and interrupting operations.

[0122] The start condition may be set such that the driving support performs the warning operation when the collision probability is relatively low, and the start condition may be set such that the driving support starts the interruption of operation when the collision probability is relatively high.

[0123] Further, when the driving assistance is performed in such a manner, in the determination sensitivity setting process, the determination sensitivity may be adjusted by setting the threshold value with respect to the start condition of each driving assistance, or the determination sensitivity may be adjusted by setting the threshold value with respect to the start condition of one of the driving assistances.

[0124] Even in such a case, it is possible to achieve the same effect. [Relationships between the claims]

[0125] Relationships between terms used in the description of the present embodiments and terms used in the claims are presented below.

[0126] Step S100 of the driving assistance start process according to the present embodiment corresponds to an area detection unit, step S105 corresponds to an object detection unit, steps S120 and S125 correspond to a determination unit, and step S130 corresponds to a start unit.

[0127] In addition, steps S200 to S235 of the determination sensitivity setting process correspond to one setting unit.

Claims

[1] Driving assistance system, comprising: an object detection unit (S105) for detecting a position of an object located near a self-vehicle and a moving direction of the object; a determination unit (S120, S125) for determining whether or not a probability that the own vehicle will collide with one or more objects is greater than or equal to a certain level based on the position of the object; a starting unit (S130) for starting driving assistance for avoiding a collision when a positive determination has been made by the determining unit; an area detection unit (S100) for detecting a target area in which the own vehicle is expected to travel; and a setting unit (S200 to S235) for setting a sensitivity of a determination of a collision probability based on a positional relationship between the object and the target area, and the moving direction of the object, wherein the target area corresponds to an area on one's own lane on which one's own vehicle is traveling; the determination unit further determines that the object is located on the own lane when a probability that the object is located on the own lane reaches a predetermined threshold, and when the object is located on the own lane, the determination unit determines that the probability has reached the level earlier than in a case where the object is not located on the own lane; the sensitivity corresponds to the threshold value; and the adjustment unit improves the sensitivity by decreasing the threshold value and decreases the sensitivity by increasing the threshold value. [2] Driving assistance system according to claim 1, wherein the setting unit determines whether an object located outside the target area moves toward the target area or not based on the positional relationship between the object and the target area and the moving direction of the object; and sensitivity is increased when a positive determination is obtained. [3] Driving assistance system according to claim 1 or 2, wherein the setting unit determines whether an object located outside the target area moves away from the target area or not based on the positional relationship between the object and the target area and the moving direction of the object; and the sensitivity is reduced when a positive determination is obtained.

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