Driver assistance device and driver assistance procedure

Abstract

A driver assistance device comprising: a structure detection unit that detects a structure present on one side of the vehicle; a moving object detection unit that detects a moving object approaching along the vehicle's route; a proximity notification unit that issues a proximity alarm to notify that the moving object is approaching the vehicle; and a notification suppression unit that suppresses notification by the proximity alarm based on the position of the vehicle and the position of the structure.

Description

Technical area

[0001] The present invention relates to a driving assistance device and a driving assistance method. State of the art

[0002] In recent years, radar has been developed as one of the detection devices for assisting drivers in preventing motor vehicle accidents and implementing automatic driving. A radar is a device that emits a high-frequency electromagnetic wave (represented by a millimeter wave) into the surrounding environment, receives an electromagnetic wave reflected from a target object, and performs signal processing to obtain position and speed information related to the target object. Using this information, it is possible to construct a driving assistance device that calculates the collision risk between a target object and the driver's own vehicle and issues an alarm.

[0003] While a camera device, which is one of the detection devices, requires ambient light or auxiliary light, since the radar device uses electromagnetic waves, it is possible to detect a target object only with the radar device. Due to this characteristic, the radar device is preferably mounted particularly at an end of a vehicle or a side surface of the vehicle. In addition, in a case where the radar device is mounted at an end of a front part of the vehicle, it is possible to detect a vehicle approaching from a lateral direction in front of one's own vehicle earlier than a user or a camera device mounted in a vehicle interior and notify the user as an alarm.

[0004] Here, an example is considered where a vehicle mounted with a camera device is traveling on a narrow road enclosed between walls on opposite sides and enters an intersection with poor visibility. In this case, a vehicle approaching from a lateral direction outside a visually detectable range for the camera device cannot be detected, and the presence of the approaching vehicle cannot be notified to the user. Therefore, a technique described in, for example, PTL 1 has been proposed as a solution to this problem.

[0005] PTL 1 discloses a technique for estimating that an object detected by a radar device exists at a mirror image position where a reflecting surface, such as a wall surface, is a plane of symmetry. By applying this technology, it is possible to reduce the error in detecting an approaching vehicle obscured by a wall surface when entering an intersection with poor visibility. Citation listPatent literature

[0006] PTL 1: JP 2021-076622 A Summary of the inventionTechnical problem

[0007] In the technique described in PTL 1, in a case where an own vehicle is traveling on a road enclosed between wall surfaces on opposite sides and enters an intersection with poor visibility, the radar device detects a vehicle traveling on a road connected to the intersection and obscured by the wall surface by using reflection from the wall surface. However, a driving user cannot directly visually check the vehicle traveling on the connected road. In this case, while an approaching vehicle alarm is issued from a driving assistance device using information output from the radar device, from the user's perspective, it is not possible to know which target object was actually detected to issue the alarm, resulting in confusion.Especially when the user temporarily stops at the intersection and tries to confirm the safety, a problem occurs that the user feels annoyed with the driving assistance device.

[0008] In view of the above circumstances, there is a need for a method for issuing a vehicle approach alarm at a more appropriate time so that a driver of a vehicle does not feel annoyed. Solution to the problem

[0009] To solve the above problem, a driving assistance device according to one aspect of the present invention includes: a structure detection unit that detects a structure present on a side of a self-vehicle; a moving object detection unit that detects a moving object approaching on a travel route of the self-vehicle; an approach notification unit that outputs an approach alarm to notify that the moving object is approaching the self-vehicle; and a notification suppression unit that suppresses notification of the approach alarm based on a position of the self-vehicle and a position of the structure. Advantageous effects of the invention

[0010] According to at least one aspect of the present invention, it is possible to suppress an excessive alarm that makes a user feel annoyed and to issue an alarm at a more appropriate time.

[0011] Problems, configurations, and effects other than those described above will be clarified by the following description of embodiments. Short description of the drawings Fig. 1 is a block diagram illustrating a configuration example of a control system of a driving assistance device according to a first embodiment of the present invention. Fig. 2 is a block diagram illustrating a hardware configuration example of a computer included in the driving assistance device. Fig. 3 is a plan view illustrating situations of an own vehicle on which the driving assistance device according to the first embodiment of the present invention is mounted and its surroundings. Fig. 4 is a flowchart illustrating an example of driving assistance processing by the driving assistance device according to the first embodiment of the present invention. [ Fig. 5] Fig. 5 is a block diagram illustrating a configuration example of a control system of a driving assistance device according to a second embodiment of the present invention. [ Fig. 6] Fig. 6 is a flowchart illustrating an example of driving assistance processing by the driving assistance device according to the second embodiment of the present invention. [ Fig. 7] Fig. 7 is a plan view illustrating situations of an own vehicle on which the driving assistance device according to the second embodiment of the present invention is mounted and its surroundings. [ Fig. 8] Fig. Figure 8 is a plan view illustrating a situation where the time is changed from the Fig. 7 shown situation progresses. [ Fig. 9] Fig. 9 is a block diagram illustrating a configuration example of a control system of a driving assistance device according to a third embodiment of the present invention. [ Fig. 10] Fig. 10 is a block diagram illustrating a configuration example of a control system of a driving assistance device according to a fourth embodiment of the present invention. [ Fig. 11] Fig. 11 is a plan view showing situations of an own vehicle on which the Fig. 5 according to a fifth embodiment of the present invention is mounted and illustrates its surroundings. [ Fig. 12] Fig. 12 is a view illustrating an example of an environmental situation in a case where a camera device is mounted on a vehicle. Description of embodiments

[0012] Examples of modes for carrying out the present invention (hereinafter referred to as "embodiments") will be described below with reference to the accompanying drawings. In this description and the accompanying drawings, the same components or components having substantially the same function are denoted by the same reference numerals to omit redundant description. First embodiment

[0013] First, a configuration of a control system of a driving assistance device according to a first embodiment of the present invention will be described with reference to Fig. 1 described. (Control system of a driver assistance device)

[0014] Fig. 1 is a block diagram illustrating a configuration example of a control system of a driving assistance device 1 according to the first embodiment of the present invention. The driving assistance device 1 includes a moving object detection unit 12, an approach notification unit 13, a structure detection unit 11, and a notification suppression unit 14. When it is calculated that a host vehicle 2 will collide with a vehicle crossing from a lateral direction within a predetermined time, the driving assistance device 1 receives an alarm signal from an output unit (not illustrated) and notifies a user driving the host vehicle 2 of a vehicle approach alarm regarding the crossing vehicle via a user interface 30 that includes a visual display means (e.g., a display unit 31) or an acoustic means (e.g., a speaker).a sound emission unit 32), such as a loudspeaker. Note that the moving object detection unit 12 and the approach notification unit 13, the approach notification unit 13 and the notification suppression unit 14, the structure detection unit 11 and the notification suppression unit 14, and the user interface 30 are connected by a rail 21 to enable transmission of information. (Hardware configuration of the computer)

[0015] Fig. 2 is a block diagram illustrating a hardware configuration example of a computer included in the driving assistance device 1.

[0016] The computer 40 is an example of hardware for use as a computer that realizes functions of the driving assistance device 1 according to the present embodiment. The driving assistance device 1 implements the functions of the present embodiment through the computer 40, which executes a program. Note that in other embodiments, the driving assistance device is similarly assumed to include the computer 40.

[0017] The computer 40 includes a central processing unit (CPU) 41, a read-only memory (ROM) 42, and a random access memory (RAM) 43, each connected to a bus. The computer 40 further includes a non-volatile memory 46 and a communications interface 47.

[0018] The CPU 41 reads a program code of software for implementing each function according to the present embodiment from the ROM 42, loads the program code into the RAM 43, and executes the program code. Variables, parameters, and the like generated during arithmetic processing of the CPU 41 are temporarily written into the RAM 43, and these variables, parameters, and the like are appropriately read by the CPU 41. The CPU 41 executes the program code read from the ROM 42 to implement the functions of the approach notification unit 13 and the notification suppression unit 14 of the present embodiment. The CPU 41 receives detection results from the structure detection unit 11 and the moving object detection unit 12 via an input / output interface (not shown) and performs output processing on the user interface 30.It should be noted that another processor, such as a microprocessing unit (MPU), may be used instead of the CPU 41.

[0019] For example, a hard disk drive (HDD), a solid-state drive (SSD), an optical disk, a magneto-optical disk, a non-volatile memory, or the like is used as the non-volatile memory 46. In addition to an operating system (OS) and various parameters, a program for causing the computer 40 to function can be recorded in the non-volatile memory 46. The ROM 42 and the non-volatile memory 46 record programs, data, and the like necessary for the operation of the CPU 41 and are used as an example of a computer-readable non-volatile storage medium that stores a program executed by the computer 40. (Sensor mounted on the vehicle and situation around the vehicle)

[0020] Fig. 3 is a plan view illustrating a configuration in which the moving object detection unit 12 is mounted at a front left end of the host vehicle 2 and the structure detection unit 11 is mounted at a front right end of the host vehicle 2, and an environmental situation. The function of each block of the Fig. 2 illustrated driving assistance device 1 is described with reference to Fig. 3 described.

[0021] The moving object detection unit 12 has a function of detecting an approaching vehicle in the surroundings and detecting a position thereof. Furthermore, the moving object detection unit 12 calculates a moving direction and speed of the approaching vehicle viewed from the moving object detection unit 12 based on a variety of position information acquired over a certain period of time. Note that, in the present embodiment, the moving object detection unit 12 specifically uses a radar device or the like having multipath characteristics suitable for detecting a moving object by using specular reflection or the like.

[0022] The approach notification unit 13 has a function of calculating an estimated travel route of a moving object from the information on the position and the moving direction and speed detected by the moving object detection unit 12, calculating an estimated travel route of the own vehicle from information on a speed, acceleration / deceleration, yaw rate, steering angle and the like of the own vehicle 2, and outputting the alarm signal when it is determined that these estimated travel routes are at the same position within a predetermined time within a predetermined allowable difference range, that is, when it is determined that a collision will occur.

[0023] The structure detection unit 11 has (1) a function of detecting a distance between the host vehicle 2 and a right wall surface 61 on a right side of the host vehicle 2, (2) a function of detecting a distal end position 62 of the right wall surface 61, and (3) a function of detecting whether or not a front distal end position of the host vehicle 2 is in front of the distal end position 62 of the right wall surface 61. Note that, as the structure detection unit 11, a radar device, a camera device, a sonar device, a LiDAR (Light Detection and Ranging) device, or the like can be used.

[0024] The notification suppression unit 14 has a function of suppressing notification of the vehicle approach alarm based on the position of the host vehicle and the position of a structure. For example, when the front distal end position of the host vehicle 2 detected by the structure detection unit 11 is in front of the distal end position 62 of the right wall surface 61, the notification suppression unit 14 blocks the alarm signal from the approach notification unit 13. (Driver assistance processing)

[0025] Next, the driving assistance processing by the driving assistance device 1 having such a configuration will be described.

[0026] Fig. 4 is a flowchart illustrating an example of driving assistance processing by the driving assistance device 1. First, the moving object detection unit 12 determines whether or not a moving object has been detected by specular reflection (step S1), and if no moving object has been detected by specular reflection (NO in step S1), this processing is repeated periodically.

[0027] If the moving object is detected by specular reflection in step S1 (YES in step S1), the approach notification unit 13 calculates estimated travel routes of the moving object and the own vehicle (step S2).

[0028] Next, the approach notification unit 13 determines whether or not there is a collision possibility between the moving object and the host vehicle (step S3), and terminates the present processing if there is no collision possibility (NO in step S3). For example, in a case where a collision probability is less than a predetermined threshold, it is conceivable to determine that there is no collision possibility.

[0029] If there is a collision possibility in step S3 (YES in step S3), the approach notification unit 13 generates an alarm signal and outputs the alarm signal to the notification suppression unit 14 (step S4).

[0030] Next, the structure detection unit 11 detects a structure and outputs a detection result to the notification suppression unit 14 (step S5). Note that the timing of the structure detection processing by the structure detection unit 11 is not limited to the processing after step S4, but can actually be performed in parallel with the processing of steps S1 to S4.

[0031] Next, the notification suppression unit 14 calculates a positional relationship between the structure detected by the structure detection unit 11 and the own vehicle (step S6). Subsequently, the notification suppression unit 14 determines whether the front distal end position of the own vehicle is in front of a distal end position of the structure (step S7), and terminates the present processing if the front distal end position of the own vehicle is not in front of the distal end position of the structure (NO in step S7).

[0032] On the other hand, if the front distal end position of the host vehicle is in front of the distal end position of the structure (YES in step S7), the notification suppression unit 14 blocks the alarm signal and refrains from outputting the alarm signal to the outside from the output unit (step S8). The driving assistance device 1 terminates this processing after the processing of step S8. (Specific example of driver assistance processing)

[0033] Next, the driving assistance processing by the driving assistance device 1 is performed assuming a specific scene with reference to Fig. 1 and Fig. 3. Here, as in Fig. 3 illustrates that there is a left wall surface 51 and a right wall surface 61 before an intersection. Moreover, the subject vehicle 2 is traveling toward the intersection. Furthermore, it is assumed that an intersection approaching the vehicle 5 on the opposite side of the right wall surface 61, as viewed from the subject vehicle 2, travels from right to left and enters the intersection at the same time as the subject vehicle 2.

[0034] The moving object detection unit 12 detects the approaching vehicle 5 from the right side as an approaching ghost vehicle 5a approaching from the left side as a result of specular reflection on the left wall surface 51. The approach notification unit 13 determines that the approaching ghost vehicle 5a approaching from the left side will collide with the host vehicle 2 and transmits a collision prediction alarm signal to the notification suppression unit 14. On the other hand, the structure detection unit 11 determines that the front distal end position of the host vehicle 2 is in front of the distal end position 62 of the right wall surface 61 and transmits the determination result to the notification suppression unit 14.The notification suppression unit 14 blocks the alarm signal from the approach notification unit 13 based on the information acquired by the structure detection unit 11. When the front distal end position of the host vehicle 2 passes the distal end position 62 of the right wall surface 61, the notification suppression unit 14 releases the blocking of the alarm signal and outputs the alarm signal to the user interface 30.

[0035] As described above, the driving assistance device (the driving assistance device 1) according to the present embodiment includes the structure detection unit (the structure detection unit 11) that detects a structure present on the own vehicle side, the moving object detection unit (the moving object detection unit 12) that detects a moving object approaching on a travel route of the own vehicle, the approach notification unit (the approach notification unit 13) that outputs an approach alarm to notify that the moving object is approaching the own vehicle, and the notification suppression unit (the notification suppression unit 14) that suppresses notification by the approach alarm based on a position of the own vehicle and a position of the structure.

[0036] Furthermore, the driving assistance device (the driving assistance device 1) according to the present embodiment is configured such that the structure detection unit (the structure detection unit 11) detects an end of a structure that forms a boundary between a road connected to a travel road of the own vehicle and the structure on the travel route of the own vehicle, and the notification suppression unit (the notification suppression unit 14) determines whether or not to suppress the notification by the approach alarm based on the position of the own vehicle and a position of the end of the structure.

[0037] Fig. 12 is a view illustrating an example of an environmental situation in a case where a camera device is mounted on the vehicle. Fig. The example illustrated in FIG. 12 is an example in which a vehicle 100, to which a camera device 101 is attached, travels on a narrow road enclosed between wall surfaces 111 and 121 on opposite sides and enters an intersection with poor visibility. In this case, the vehicle 100 cannot detect the vehicle 5 approaching from the lateral direction outside a visually detectable range D for the camera device 101, and the presence of the approaching vehicle cannot be notified to the user. In this case, when the approaching vehicle alarm is issued from the driving assistance device by using information output from the radar device, it is not possible to recognize from the user's perspective which target object was actually detected to issue the alarm, resulting in confusion.

[0038] In contrast, in the driving assistance device 1 according to the present embodiment described above, in a case where the user who is driving cannot directly visually confirm a vehicle traveling on the connected road, the vehicle approach alarm related to the intersecting vehicle is not notified, resulting in preventing the user from being confused. In other words, it is possible to achieve an effect that makes the user less likely to be confused. Then, in the present embodiment, since an excessive alarm that makes the user annoyed is suppressed, the alarm can be issued at a more appropriate time.

[0039] Note that the mounting positions of the moving object detection unit 12 and the structure detection unit 11 may be horizontally reversed with respect to the vehicle. Although the left and right sides are reversed in the above description, the same operation and effect are achieved, so their description is omitted. Second embodiment

[0040] Next, a second embodiment of the present invention will be described. In the second embodiment, the same components as those of the first embodiment are denoted by the same reference numerals, and a detailed description thereof will be omitted.

[0041] Fig. 5 is a block diagram illustrating a configuration example of a control system of a driving assistance device 10 according to the second embodiment of the present invention. The driving assistance device 10 of the present embodiment has a configuration in which a driving assistance device 1a (a first driving assistance device) and a driving assistance device 1b (a second driving assistance device) having the same configuration as the driving assistance device 1 described in the first embodiment are used in combination. Specifically, the driving assistance device 10 of the present embodiment includes moving object detection units 12a and 12b, approach notification units 13a and 13b, structure detection units 11a and 11b, and notification suppression units 14a and 14b.Note that the moving object detection units 12a and 12b, the approach notification units 13a and 13b, the structure detection units 11a and 11b, and the notification suppression units 14a and 14b have the same functions as the moving object detection unit 12, the approach notification unit 13, the structure detection unit 11, and the notification suppression unit 14 described in the first embodiment, and a description thereof will be omitted.

[0042] Furthermore, the two moving object detection units 12a and 12b and the two structure detection units 11a and 11b are connected by a rail 22, and information about a position, a moving direction and speed of an approaching vehicle, and a wall surface position can be transmitted bidirectionally. Similar to the case of the driving assistance device 1, each block of the driving assistance devices 1a and 1b is connected to a user interface 30 by a rail 21a or 21b to enable transmission of the information. (Driver assistance processing)

[0043] Next, the driving assistance processing by the driving assistance device 10 having such a configuration will be described.

[0044] Fig. 6 is a flowchart illustrating an example of driving assistance processing by the driving assistance device 10. Here, the two driving assistance devices constituting the driving assistance device 10 are referred to as a first driving assistance device and a second driving assistance device, respectively.

[0045] First, the moving object detection unit 12 in the first driving assistance device determines whether or not a moving object has been detected by specular reflection (step S11), and if no moving object has been detected by specular reflection (NO in step S11), this processing is repeated periodically.

[0046] If a moving object is detected by mirror reflection in step S11 (YES in step S11), the first driving assistance device executes alarm signal blocking determination processing (steps S2 to S8) shown in Fig. 4 (step S12).

[0047] Next, motion information of the moving object obtained by mirror reflection and information about a structure are transmitted from the first driving assistance device to the second driving assistance device (step S13).

[0048] Next, in the second driving assistance device, a position and a moving direction and speed of an actual moving object are calculated based on the various types of information acquired by the first driving assistance device (step S14).

[0049] Next, in the second driving assistance device, it is determined whether the actual moving object has been directly detected or not (step S15), and when the moving object has not been directly detected (NO in step S15), the processing proceeds to the determination processing of step S11.

[0050] On the other hand, when the moving object has been directly detected (YES in step S15), in the second driving assistance device, a moving direction and speed of the actual moving object are calculated based on a position and a moving direction and speed of the actual moving object calculated in advance and a position of the actual moving object directly detected (step S16).

[0051] Then, in the second driving assistance device, an estimated travel route of the actual moving object is calculated (step S17).

[0052] Thus, by sharing information about a moving object and a structure between the first driving assistance device and the second driving assistance device, it is possible to calculate an estimated travel route of the moving object faster than in the case of a driving assistance device. (Sensor mounted on the vehicle and situation around the vehicle)

[0053] Fig. 7 and Fig. 8 are plan views illustrating a configuration in which the moving object detection unit 12a and the structure detection unit 11a are mounted at a front left end of the host vehicle 2, and the moving object detection unit 12b and the structure detection unit 11b are mounted at a front right end of the host vehicle 2, and a surrounding situation. It should be noted that Fig. 8 illustrates a situation in which the time from the Fig. 7 shown situation progresses. (Specific example of driver assistance processing)

[0054] Next, the driving assistance processing by the driving assistance device 10 will be described with reference to Fig. 5 to Fig. 8. Here, it is assumed that there are a left wall surface 51 and a right wall surface 61 before an intersection. Similar to the description of the first embodiment, the subject vehicle 2 travels toward the intersection. Further, it is assumed that an intersection approaching the vehicle 5 on the opposite side of the right wall surface 61, as viewed from the subject vehicle 2, travels from right to left and enters the intersection at the same time as the subject vehicle 2.

[0055] In the Fig. In the situation shown in Fig. 7, similar to the first embodiment, although the moving object detection unit 12a of the driving assistance device 1a detects the approaching vehicle 5 from the right side as an approaching ghost vehicle 5a approaching from the left side as a result of specular reflection on the left wall surface 51, an alarm signal is blocked by the notification suppression unit 14a. At this time, information on a position and a moving direction and speed of the approaching ghost vehicle 5a detected by the moving object detection unit 12a and information on a wall surface position detected by the structure detection unit 11b are transmitted to the moving object detection unit 12b of the driving assistance device 1b via the rail 22.Further, the moving object detection unit 12b calculates a position and a moving direction and speed of the approaching vehicle 5 from the information on the position and the moving direction of the approaching ghost vehicle 5a and the information on the wall surface position obtained by specular reflection.

[0056] In a situation where the Fig. When the vehicle 2 shown in FIG. 8 is traveling in a traveling direction, the moving object detection unit 12b of the driving assistance device 1b can detect the approaching vehicle 5 directly from the right side. Here, the structure detection unit 11b determines that an area in front of the host vehicle 2 can be detected directly from a direction of a distal end position 62 of the right wall surface 61. Only position information of the approaching vehicle 5 can be detected immediately after detection by the moving object detection unit 12b.On the other hand, by combining the information on the position and the moving direction and speed of the approaching vehicle 5 obtained using information of the moving object detection unit 12a obtained in advance, it is possible to obtain the moving direction and speed of the approaching vehicle 5 even immediately after detection.

[0057] As a result, the approach notification unit 13b of the driving assistance device 1b can quickly calculate an estimated travel route of a moving object based on the information obtained from the moving object detection unit 12b. Therefore, the approach notification unit 13b can determine that the approaching vehicle 5 will collide with the host vehicle 2 earlier than in the configuration of the first embodiment.

[0058] With the driving assistance device 10 of the present embodiment, it is possible to notify an approach alarm with respect to the approaching vehicle 5 immediately before the user driving the own vehicle 2 enters the intersection and can visually recognize it, and it is possible to obtain an effect of reducing the collision possibility between the own vehicle 2 and the approaching vehicle 5.

[0059] Note that the moving object detection unit 12a and the structure detection unit 11a at the front left end, and the moving object detection unit 12b and the structure detection unit 11b at the front right end, can each be configured to be served by the same radar device. As a result, it is possible to achieve an effect of enabling a reduction in the number of devices of the radar device. Third embodiment

[0060] Next, a third embodiment of the present invention will be described. In the third embodiment, the same components as those of the first embodiment are denoted by the same reference numerals, and a detailed description thereof will be omitted.

[0061] Fig. 9 is a block diagram illustrating a configuration example of a control system of a driving assistance device 70 according to the third embodiment of the present invention. The driving assistance device 70 of the present embodiment includes, in the driving assistance device 1 described in the first embodiment, a self-vehicle position detection unit 71 that measures a position of the self-vehicle, and a map information acquisition unit 72 that has road structure information. For example, a satellite positioning system (GNSS) or the like can be used as the self-vehicle position detection unit 71. Map information acquired by the map information acquisition unit 72 is, for example, map data for use in a car navigation system.The own vehicle position detection unit 71 and the map information detection unit 72 are connected to the structure detection unit 11 by a rail 23.

[0062] The structure detection unit 11 detects the position of the own vehicle provided by the own-vehicle position detection unit 71 and the road structure information provided by the map information detection unit 72 via the rail 23. Then, the structure detection unit 11 calculates a wall surface position and performs wall surface detection from the calculated wall surface position.

[0063] As described above, the driving assistance device (the driving assistance device 70) according to the present embodiment further includes the own-vehicle position detection unit (the own-vehicle position detection unit 71) that detects information about a current position of the own vehicle, and the map information detection unit (the map information detection unit 72) that detects map information including information about a structure on a road, and the structure detection unit (the structure detection unit 11) is configured to obtain a position of a structure present on the own-vehicle side based on the current position of the own vehicle detected by the own-vehicle position detection unit and the information about the structure on the road detected by the map information detection unit.

[0064] According to the driving assistance device 70 of the present embodiment, even when a radar device, a camera device, a sonar device, or a lidar device for use as the structure detection unit 11 cannot obtain a reflected signal from a wall surface, an effect of enabling wall surface detection with the map information as auxiliary information can be obtained. Therefore, even when the reflected signal from the wall surface cannot be obtained, the notification suppression unit 14 in the driving assistance device 70 can appropriately block an alarm signal. Therefore, in the present embodiment, an effect of suppressing an alarm signal unnecessary to the user can be obtained. Fourth embodiment

[0065] Next, a fourth embodiment of the present invention will be described. In the fourth embodiment, the same components as those of the first embodiment are denoted by the same reference numerals, and a detailed description thereof will be omitted.

[0066] Fig. 10 is a block diagram illustrating a configuration example of a control system of a driving assistance device 80 according to the fourth embodiment of the present invention. The driving assistance device 80 of the present embodiment includes a motion information acquisition unit 81 that measures a deceleration of the host vehicle in the driving assistance device 1 described in the first embodiment. An acceleration sensor that detects a change in acceleration (including deceleration) can be used as the motion information acquisition unit 81. The motion information acquisition unit 81 is connected to the notification suppression unit 14 through a rail 24.

[0067] The notification suppression unit 14 detects a delay detected by the movement information detection unit 81 via the rail 24 and stops the operation of the notification suppression unit 14 itself, that is, blocks an alarm signal when the delay is a predetermined value or more.

[0068] As described above, the driving assistance device (the driving assistance device 80) according to the present embodiment further includes the movement information acquisition unit (the movement information acquisition unit 81) that acquires movement information of the own vehicle, and the notification suppression unit (the notification suppression unit 14) is configured to suppress notification by a proximity alarm when the deceleration of the own vehicle is the predetermined value or more.

[0069] In the present embodiment, when the deceleration is the predetermined value or more, a brake is applied to the host vehicle to determine that the host vehicle is stopped, whereby the notification suppression unit 14 in the driving assistance device 80 can appropriately block the alarm signal output from the approach notification unit 13. Therefore, in the present embodiment, an effect of suppressing an alarm signal that is unnecessary for the user can be obtained.

[0070] While in the present embodiment, the description has been made of the configuration in which the notification suppression unit 14 suppresses the output of the alarm signal when the deceleration is the predetermined value or more, a configuration may be employed in which the output of the alarm signal is suppressed when the speed is a predetermined value or less. Fifth embodiment

[0071] Next, a fifth embodiment of the present invention will be described. In the fifth embodiment, the same components as those of the first embodiment are denoted by the same reference numerals, and a detailed description thereof will be omitted.

[0072] Fig. 11 is a plan view illustrating situations of the host vehicle 2 according to the fifth embodiment of the present invention and a wall surface position relative to the host vehicle 2. The driving assistance device according to the present embodiment includes two structure detection units 11a and 11b. Illustration of a moving object detection unit 12 is omitted.

[0073] The structure detection units 11a and 11b transmit a measured distance between an own vehicle side surface and each of the wall surface positions on opposite sides to a notification suppression unit 14 ( Fig. 1) The notification suppression unit 14 has a unit that, when the detected distance between the side surface of the own vehicle and the wall surface position is a predetermined value or more, determines that a road has a large width and has good visibility (an accident risk is low) and stops the operation of the notification suppression unit 14 itself (blocks an alarm signal).

[0074] As described above, in the driving assistance device according to the present embodiment, the notification suppression unit (the notification suppression unit 14) is configured to suppress notification by a proximity alarm when a distance between a self-vehicle and a structure is a predetermined value or more.

[0075] With a driving assistance device 80 of the present embodiment, the notification suppression unit 14 in a driving assistance device 1 can appropriately block the alarm signal output from an approach notification unit 13. Therefore, in the present embodiment, an effect of suppressing an alarm signal unnecessary for the user can be obtained.

[0076] Furthermore, the present invention is not limited to each of the embodiments described above, and it should be understood that various other application examples and modifications can be taken without departing from the gist of the present invention described in the claims. For example, the embodiments described above describe the configuration of the driving assistance device in detail and specifically in order to describe the present invention in an easy-to-understand manner, and are not necessarily limited to those including all of the components described above. Moreover, a part of the configuration of one embodiment may be replaced with a component of another embodiment. Furthermore, components of other embodiments may be added to the configuration of one embodiment.In addition, with respect to a part of the configuration of each embodiment, another component may also be added, replaced, or deleted.

[0077] Furthermore, some or all of the configurations, functions, processing units, and the like described above may be implemented in hardware, for example, by designing with an integrated circuit. A processor device in the broadest sense, such as a field-programmable gate array (FPGA) or an application-specific integrated circuit (ASIC), may be used as the hardware.

[0078] Furthermore, in the present specification, the processing steps describing time series processing include not only processing performed in time series according to the described order, but also processing performed in parallel or individually (e.g., processing by an object), even if the processing is not always performed in time series. List of reference symbols 1, 1a, 1b, 10, 70, 80 driver assistance device 2 own vehicles 5 approaching vehicle 5a approaching ghost vehicle 11, 11a, 11b Structure detection unit 12, 12a, 12b Detection unit for a moving object 13, 13a, 13b Proximity notification unit 14, 14a, 14b Notification suppression unit 51 Structural wall area (left side in the direction of travel of the own vehicle) 52 distal end position of the structure (left side in the direction of travel of the own vehicle) 61 Structural wall area (right side in the direction of travel of the own vehicle) 62 distal end position of the structure (right side in the direction of travel of the own vehicle) 30 User interface 71 Own vehicle position detection unit 72 Card information acquisition unit 81 Movement information acquisition unit QUOTES CONTAINED IN THE DESCRIPTION

[0000] This list of documents submitted by the applicant was generated automatically and is included solely for the convenience of the reader. This list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions. Cited patent literature

[0000] JP 2021-076622 A

[0006]

Claims

[1] Driving assistance device, comprising: a structure detection unit that detects a structure present on one side of a vehicle of its own; a moving object detection unit that detects a moving object approaching on a travel route of the own vehicle; a proximity notification unit that issues a proximity alarm to notify that the moving object is approaching the own vehicle; and a notification suppression unit that suppresses notification of the proximity alarm based on a position of the own vehicle and a position of the structure. [2] Driving assistance device according to claim 1, wherein the structure detection unit detects an end of the structure that forms a boundary between a road connected to a route of the own vehicle and the structure on the route of the own vehicle, and the notification suppression unit determines whether or not to suppress the notification by the proximity alarm based on the position of the own vehicle and a position of the end of the structure. [3] The driving assistance device according to claim 1, wherein the notification suppression unit suppresses the notification by the proximity alarm when a distance between the own vehicle and the structure is a predetermined value or more. [4] The driving assistance device according to claim 1, further comprising a movement information acquisition unit that acquires movement information of the own vehicle, wherein the notification suppression unit suppresses the notification by the approach alarm when a deceleration of the own vehicle is a predetermined value or more. [5] The driving assistance device according to claim 1, further comprising: a self-vehicle position detection unit that detects information about a current position of the self-vehicle; and a map information acquisition unit that acquires map information including information about a structure on a road, wherein the structure detection unit obtains a position of a structure existing on the side of the own vehicle based on the current position of the own vehicle detected by the own vehicle position detection unit and the information about the structure on the road detected by the map information detection unit. [6] Driving assistance method by a driving assistance device, the driving assistance method comprising the following steps: Detecting a structure present on one side of one's own vehicle; Detecting a moving object approaching on a route of the own vehicle; Issue a proximity alarm to notify that the moving object is approaching the own vehicle; and Suppressing a notification by the proximity alarm based on a position of the own vehicle and a position of the structure,

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