Vehicle mounted with vehicle control device

Abstract

To provide a vehicle equipped with a vehicle control device that prevents an operator from feeling inconvenienced, even when a safety support function is activated in response to the requirement for activation of a driving support function.SOLUTION: A vehicle 100 comprises a vehicle control device 19 which is provided with a safety support function to support safety of the vehicle and a driving support function to support driving operation for the vehicle while the safety support function is being executed. The safety support function has a first mode to support the safety of the vehicle based on first information detected by a first sensor 41 and a second mode to support the safety of the vehicle based on the first information and second information detected by a second sensor 42 which is different from the first sensor. The vehicle control device activates the safety support function in the second mode along with the driving support function when an operator of the vehicle requests activation of the operation support function while the first sensor is inactive.SELECTED DRAWING: Figure 3

Description

[Technical field]

[0001] The present invention relates to a vehicle equipped with a vehicle control device. [Background technology]

[0002] There is known a vehicle equipped with two functions: a visibility improvement function for improving the driver's visibility, and a driving assistance function for assisting driving operations of the vehicle (see, for example, Patent Document 1). In this vehicle, the visibility improvement function is, for example, a function for activating a defroster, and the driving assistance function is, for example, a function for assisting steering of the vehicle so that the vehicle travels in the center of the lane.

[0003] In the above vehicle, if the driving assistance function is not in operation when the driver performs an operation to activate the visibility improvement function, the driving assistance function is activated. According to this, in a situation where it is preferable to assist the driving operation of the vehicle, such as when an operation to activate the visibility improvement function is performed, the driving assistance function is automatically activated, thereby improving the safety of the vehicle's traveling. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Patent Publication No. 2021-94970 Summary of the Invention

[0005] In a vehicle equipped with a driving support function that supports driving operations of the vehicle and a safety support function that supports the safety of the vehicle, if the driving support function is activated on the condition that the safety support function is activated, it is necessary to activate the safety support function in order to activate the driving support function when the activation of the driving support function is requested. On the other hand, if the safety support function uses a certain sensor, and the detection accuracy of the sensor is low, the safety support function may malfunction, and therefore the operator of the vehicle may feel annoyed and deactivate the safety support function. In view of these circumstances, if the safety support function is activated when the activation of the driving support function is requested, the operator of the vehicle may feel annoyed.

[0006] An object of the present invention is to provide a vehicle equipped with a vehicle control device that can suppress annoyance felt by the vehicle operator even when a safety support function is activated when operation of a driving support function is requested.

[0007] The vehicle according to the present invention includes a vehicle control device including a safety support function that supports the safety of the vehicle and a driving support function that supports driving operations of the vehicle while the safety support function is being executed. The safety support function includes a first mode that supports the safety of the vehicle based on first information detected by a first sensor, and a second mode that supports the safety of the vehicle based on the first information and second information detected by a second sensor different from the first sensor. The vehicle control device is configured to operate the safety support function in the second mode and the driving support function when the first sensor is in an inactive state when an operator of the vehicle requests operation of the driving support function.

[0008] In the case where the driving support function is activated on the condition that the safety support function is activated, the safety support function needs to be activated in order to activate the driving support function when the activation of the driving support function is requested. On the other hand, in the case where the safety support function uses only the first sensor, if the detection accuracy of the first sensor is low, the safety support function may malfunction, and therefore the operator of the vehicle may feel annoyed and deactivate the safety support function. In view of these circumstances, if the safety support function is activated when the activation of the driving support function is requested, the operator of the vehicle may feel annoyed.

[0009] According to the vehicle of the present invention, when the first sensor is in an inactive state when the operation of the driving support function is requested by the vehicle operator, and it is presumed that the safety support function has been in an inactive state by the vehicle operator, the safety support function is activated in a second mode using the second sensor in addition to the first sensor to activate the driving support function. That is, the driving support function can be activated by activating the safety support function. Moreover, since the safety support function is activated in the second mode using the second sensor in addition to the first sensor, the low detection accuracy of the first sensor is compensated for by the second sensor. Therefore, even if the safety support function is activated, it is possible to suppress the vehicle operator from feeling annoyed.

[0010] In one aspect of the present invention, the first sensor and the second sensor are in an active state when the safety support function is operating in the second mode.

[0011] According to the vehicle of the present invention, when the safety support function is operating in the second mode, the first sensor and the second sensor are in an operating state, so that the low detection accuracy of the first sensor can be more reliably compensated for by the second sensor.

[0012] In one aspect of the present invention, the first sensor is in an inoperative state when the safety support function is in an inoperative state.

[0013] In the vehicle according to the present invention, the first sensor is in an inoperative state when the safety support function is in an inoperative state. Therefore, when the first sensor is in an inoperative state, the safety support function is also in an inoperative state. Therefore, when the first sensor is in an inoperative state, it can be recognized that the safety support function is also in an inoperative state.

[0014] In one aspect of the present invention, the driving support function is a function of automatically performing at least a part of the driving operation of the vehicle, and the safety support function is a function of preventing the vehicle from contacting or colliding with a target. In this aspect, the first sensor is a sonic sensor, and the second sensor is at least one of a radio wave sensor and an image sensor.

[0015] When snow or the like adheres to the sonic sensor, the detection accuracy of the sonic sensor may decrease, and if the safety support function is activated at that time, the safety support function may malfunction. As a result, the vehicle operator may feel annoyed and deactivate the safety support function.

[0016] In the vehicle according to the present invention, in such a situation, when the vehicle operator requests the activation of the driving support function, the safety support function is activated in the second mode that uses at least one of the radio wave sensor and the image sensor in addition to the sonic sensor, so that the operator of the vehicle can be prevented from feeling annoyed even when the safety support function is activated.

[0017] The components of the present invention are not limited to the embodiments of the present invention described below with reference to the drawings. Other objects, other features and associated advantages of the present invention will be easily understood from the description of the embodiments of the present invention. [Brief description of the drawings]

[0018] [Figure 1] FIG. 1 is a diagram showing a vehicle equipped with a vehicle control device according to an embodiment of the present invention. [Diagram 2]FIG. 2A is a diagram showing a scene where a preceding vehicle is present, and FIG. 2B is a diagram showing a scene where a preceding vehicle is not present. [Diagram 3] FIG. 3 is a flowchart showing a routine executed by the vehicle control device according to the embodiment of the present invention. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0019] Hereinafter, a vehicle according to an embodiment of the present invention will be described with reference to the drawings. Fig. 1 shows a vehicle 100 according to an embodiment of the present invention. In order to distinguish the vehicle 100 according to the embodiment of the present invention from other vehicles, the vehicle 100 according to the embodiment of the present invention will be referred to as "host vehicle 100" hereinafter.

[0020] The vehicle control device 10 is mounted on the host vehicle 100. Hereinafter, the vehicle control device 10 will be described taking as an example a case where the operator of the host vehicle 100 is a person who gets in the host vehicle 100 and drives the host vehicle 100 (i.e., the driver of the host vehicle 100).

[0021] However, the operator of the vehicle 100 may be a person who drives the vehicle 100 remotely without being in the vehicle 100 (i.e., a remote operator of the vehicle 100). When the operator of the vehicle 100 is a remote operator, the vehicle control device 10 is mounted on the vehicle 100 and on a remote operation facility installed outside the vehicle 100 in order to remotely drive the vehicle 100, and the functions of the vehicle control device 10 described below are shared between the vehicle control device 10 mounted on the vehicle 100 and the vehicle control device 10 mounted on the remote operation facility.

[0022] As shown in FIG. 1, the vehicle control device 10 includes an ECU (electronic control unit) 90 as a control device. The ECU 90 includes a microcomputer as a main part. The microcomputer includes a CPU, a storage medium such as a ROM, a RAM, and a non-volatile memory, and an interface. The CPU is adapted to realize various functions by executing instructions, programs, or routines stored in the storage medium. In particular, in this example, the vehicle control device 10 stores in the storage medium a program that realizes various controls executed by the vehicle control device 10.

[0023] In this example, the vehicle control device 10 has only one ECU 90, but it may also be configured to have multiple ECUs and to share the functions of the vehicle control device 10 described below with each ECU.

[0024] Furthermore, the vehicle control device 10 may be configured so that the program stored in the storage medium can be updated via wireless communication with an external device (for example, Internet communication).

[0025] The host vehicle 100 is equipped with a traveling device 20. The traveling device 20 includes a drive device 21, a braking device 22, and a steering device 23.

[0026] The drive device 21 is a device that outputs a drive force (drive torque) applied to the host vehicle 100 to make the host vehicle 100 travel, and is, for example, an internal combustion engine, a motor, etc. The drive device 21 is electrically connected to the ECU 90. The vehicle control device 10 can control the drive force output from the drive device 21 by controlling the operation of the drive device 21.

[0027] The braking device 22 is a device that outputs a braking force (braking torque) applied to the host vehicle 100 in order to brake the host vehicle 100, and is, for example, a hydraulic brake device. The braking device 22 is electrically connected to the ECU 90. The vehicle control device 10 can control the braking force output from the braking device 22 by controlling the operation of the braking device 22.

[0028] The steering device 23 is a device that outputs a steering force (steering torque) applied to the host vehicle 100 in order to steer the host vehicle 100, and is, for example, a power steering device. The steering device 23 is electrically connected to the ECU 90. The vehicle control device 10 can control the steering force output from the steering device 23 by controlling the operation of the steering device 23.

[0029] Furthermore, the vehicle 100 is equipped with an accelerator pedal 31, an accelerator pedal operation amount sensor 32, a brake pedal 34, a brake pedal operation amount sensor 35, a steering wheel 36, a steering shaft 37, a steering angle sensor 38, a vehicle speed detection device 39, and a surrounding information detection device 40.

[0030] The accelerator pedal operation amount sensor 32 is a sensor that detects the operation amount of the accelerator pedal 31, and is electrically connected to the ECU 90. The vehicle control device 10 acquires the operation amount of the accelerator pedal 31 as an accelerator pedal operation amount AP from the accelerator pedal operation amount sensor 32. The vehicle control device 10 acquires a required driving force (required driving torque) based on the accelerator pedal operation amount AP and the traveling speed of the host vehicle 100, and controls the operation of the drive device 21 so that a driving force equivalent to the required driving force is applied from the drive device 21 to the host vehicle 100.

[0031] The brake pedal operation amount sensor 35 is a sensor that detects the operation amount of the brake pedal 34, and is electrically connected to the ECU 90. The vehicle control device 10 acquires the operation amount of the brake pedal 34 as a brake pedal operation amount BP from the brake pedal operation amount sensor 35. The vehicle control device 10 acquires a required braking force (required braking torque) based on the brake pedal operation amount BP, and controls the operation of the braking device 22 so that a braking force equivalent to the required braking force is applied from the braking device 22 to the host vehicle 100.

[0032] The steering angle sensor 38 is a sensor that detects the rotation angle of the steering shaft 37 with respect to the neutral position, and is electrically connected to the ECU 90. The vehicle control device 10 obtains the rotation angle of the steering shaft 37 from the steering angle sensor 38 as a steering angle θ.

[0033] The vehicle control device 10 obtains a required steering force (required steering torque) based on the steering angle θ and the traveling speed of the vehicle 100, and controls the operation of the steering device 23 so that a steering force equivalent to the required steering force is applied from the steering device 23 to the vehicle 100.

[0034] The vehicle speed detection device 39 is a device that detects the traveling speed of the host vehicle 100, and is, for example, a wheel speed sensor. The vehicle speed detection device 39 is electrically connected to the ECU 90. The vehicle control device 10 acquires the traveling speed of the host vehicle 100 as the host vehicle speed V by the vehicle speed detection device 39.

[0035] The surrounding information detection device 40 is a device that detects information about the surroundings of the vehicle 100, and in this example, includes a first sensor 41 and a second sensor .

[0036] In this example, the first sensor 41 is a clearance sonar 411 serving as a sonic sensor. The clearance sonar 411 is electrically connected to the ECU 90. The vehicle control device 10 acquires target information related to targets around the host vehicle 100 by the clearance sonar 411 as first information IF_1.

[0037] In this example, the second sensor 42 is a camera sensor 421 as an image sensor and a millimeter wave radar 422 as a radio wave sensor. The second sensor 42 may be only one of the camera sensor 421 and the millimeter wave radar 422. The second sensor 42 may be a sensor other than the camera sensor 421 and the millimeter wave radar 422 as long as it is a sensor different from the first sensor 41.

[0038] The camera sensor 421 and the millimeter wave radar 422 are electrically connected to the ECU 90. The vehicle control device 10 acquires image information related to the periphery of the host vehicle 100 as second information IF_2 by the camera sensor 421, and acquires target information related to targets in the periphery of the host vehicle 100 by the millimeter wave radar 422 as the second information IF_2.

[0039] The first sensor 41 may be a sensor other than the clearance sonar 411 as long as it is different from the second sensor 42.

[0040] The first information IF_1 is used for an automatic brake function, which will be described later. The second information IF_2 is used for the automatic brake function and also for follow-up cruise control, which will be described later. The first information IF_1 may also be used for follow-up cruise control.

[0041] The first sensor 41 and the second sensor 42 are each set to a deactivated state when the automatic braking function is set to a deactivated state, and set to an activated state when the automatic braking function is set to an activated state. However, the first sensor 41 may be set to a deactivated state or an activated state individually by an operation by the driver.

[0042] Furthermore, the host vehicle 100 is equipped with a following running switch 51 and an automatic brake switch 52 .

[0043] The following running switch 51 is a switch operated by the driver of the host vehicle 100, and is electrically connected to the ECU 90. If the following running switch 51 is operated when following running control is not being executed, the vehicle control device 10 determines that execution of following running control has been requested. On the other hand, if the following running switch 51 is operated when following running control is being executed, the vehicle control device 10 determines that stopping of following running control has been requested.

[0044] The automatic brake switch 52 is also a switch operated by the driver of the vehicle 100, and is electrically connected to the ECU 90. If the automatic brake switch 52 is operated when the automatic brake function is not in an active state, the vehicle control device 10 determines that activation of the automatic brake function has been requested. On the other hand, if the automatic brake switch 52 is operated when the automatic brake function is in an active state, the vehicle control device 10 determines that stopping of the automatic brake function has been requested.

[0045] <Vehicle control device operation> Next, there will be described an operation of the vehicle control device 10. The vehicle control device 10 is configured to execute follow-up cruise control and to activate an automatic brake function.

[0046] The following driving control is a control that automatically controls the acceleration / deceleration of the host vehicle 100 so that the vehicle distance DF is maintained at the target distance Dtgt when a preceding vehicle 200 is present as shown in (A) of Figure 2, and automatically controls the acceleration / deceleration of the host vehicle 100 so that the host vehicle speed V is maintained at the set vehicle speed Vset when a preceding vehicle 200 is not present as shown in (B) of Figure 2.

[0047] The inter-vehicle distance DF is the distance between the host vehicle 100 and the preceding vehicle 200. In this example, the vehicle control device 10 acquires the inter-vehicle distance DF based on the second information IF_2 obtained from the second sensor .

[0048] The following running control is one of the automatic driving controls that automatically performs at least a part of the driving operation by the driver of the host vehicle 100. The following running control is also one of the driving assistance controls that exerts a function (driving assistance function) of assisting the driving operation by the driver of the host vehicle 100. In addition to the following running control, other driving assistance controls include, for example, lane keeping control and lane departure prevention control. The lane keeping control is a control that assists the driver in steering the host vehicle 100 so that the host vehicle 100 travels in the center of the lane. In addition, the lane departure prevention control is a control that assists the driver in steering the host vehicle 100 so that the host vehicle 100 heads toward the center of the lane when there is a possibility that the host vehicle 100 will depart from the lane.

[0049] The automatic braking function is one of the safety support functions that monitors whether the host vehicle 100 will come into contact with or collide with a target, and when it is determined that the host vehicle 100 will come into contact with or collide with a target, automatically brakes and stops the host vehicle 100, thereby preventing the host vehicle 100 from coming into contact with or colliding with a target. In other words, the automatic braking function is one of the safety support functions that monitors whether the host vehicle 100 will come into contact with or collide with a target, and when it is determined that the host vehicle 100 will come into contact with or collide with a target, executes automatic braking control that automatically brakes and stops the host vehicle 100, thereby preventing the host vehicle 100 from coming into contact with or colliding with a target.

[0050] For example, when the automatic braking function is activated while the driver is driving the host vehicle 100 to park the host vehicle 100 in a parking lot, if it is determined that the host vehicle 100 will come into contact with a target such as a pillar in the parking lot, the automatic braking control is executed to automatically stop the host vehicle 100. Also, for example, when the automatic braking function is activated while the host vehicle 100 is driving normally, if it is determined that the host vehicle 100 will collide with a target such as another vehicle parked in front, the automatic braking control is executed to automatically stop the host vehicle 100.

[0051] The automatic brake function has a first mode and a second mode.

[0052] The first mode is a mode that supports the safety of the host vehicle 100 based only on the first information IF_1 obtained from the first sensor 41 (clearance sonar 411). More specifically, the first mode is a mode that uses only the first information IF_1 to determine whether the host vehicle 100 will contact or collide with a target.

[0053] Moreover, the second mode is a mode that supports the safety of the host vehicle 100 based on the first information IF_1 obtained from the first sensor 41 (clearance sonar 411) and the second information IF_2 obtained from the second sensor 42 (camera sensor 421 and millimeter wave radar 422). More specifically, the second mode is a mode that uses the first information IF_1 and the second information IF_2 to determine whether or not the host vehicle 100 will contact or collide with a target.

[0054] When the automatic braking function is operated in the first mode, the vehicle control device 10 determines whether or not the host vehicle 100 will contact or collide with a target based only on the first information IF_1 obtained from the first sensor 41. On the other hand, when the automatic braking function is operated in the first mode, the vehicle control device 10 determines whether or not the host vehicle 100 will contact or collide with a target based on the first information IF_1 obtained from the first sensor 41 and the second information IF_2 acquired from the second sensor 42.

[0055] The automatic brake function is operated in the first mode or the second mode depending on various reasons (particularly the detection accuracy of the first sensor 41 and the detection accuracy of the second sensor 42).

[0056] The automatic braking function is one of the safety support functions that automatically drives the host vehicle 100 to support safety regarding the traveling of the host vehicle 100. In addition to the automatic braking function, the safety support function includes, for example, a collision steering avoidance function. The collision steering avoidance function is a function that monitors whether the host vehicle 100 will collide with a target ahead, and when it is determined that the host vehicle 100 will collide with the target ahead, performs collision steering avoidance control that automatically steers the host vehicle 100 so that the host vehicle 100 passes by avoiding the target, thereby preventing the host vehicle 100 from colliding with the target.

[0057] In this example, the following cruise control is executed on the condition that the automatic brake function is activated.

[0058] The vehicle control device 10 executes the routine shown in FIG. 3 at a predetermined calculation period, and thereby executes follow-up cruise control and activates an automatic brake function when a predetermined condition is met.

[0059] At a predetermined timing, the vehicle control device 10 starts processing from step S300 of the routine shown in Fig. 3, and proceeds to step S305 to determine whether or not the following driving execution request condition Cstart is satisfied. The following driving execution request condition Cstart is a condition that the following driving switch 51 is operated when following driving control is not being executed. Therefore, in step S305, the vehicle control device 10 determines whether or not the execution of following driving control has been requested (i.e., whether or not the operation of the driving support function has been requested).

[0060] If the vehicle control device 10 determines "Yes" in step S305, the process proceeds to step S310, where it determines whether or not the clearance sonar 411 is in operation. In this example, since the clearance sonar 411 is in operation when the automatic braking function is in operation, the vehicle control device 10 also determines whether or not the automatic braking function is in operation in step S310.

[0061] If the vehicle control device 10 determines "Yes" in step S310, the process proceeds to step S315, where the vehicle control device 10 starts the following running control. Next, the vehicle control device 10 proceeds to step S395, where the process of this routine ends.

[0062] On the other hand, when the vehicle control device 10 judges "No" in step S310, the process proceeds to step S320, and the automatic brake function is activated in the second mode. Next, the vehicle control device 10 proceeds to step S325, and sets the value of the forced activation flag X to "1". Next, the vehicle control device 10 proceeds to step S395, and temporarily ends the process of this routine. As a result, when the process proceeds to step S310, the process is judged as "Yes", and the process proceeds to step S315, and the following cruise control is started.

[0063] If the vehicle control device 10 determines "No" in step S305, the process proceeds to step S330, where it determines whether or not the following travel stop request condition Cstop is satisfied. The following travel stop request condition Cstop is a condition that the following travel switch 51 is operated while the following travel control is being executed.

[0064] If the vehicle control device 10 determines "Yes" in step S330, the process proceeds to step S335, where it stops the following cruise control. Next, the vehicle control device 10 proceeds to step S340, where it determines whether the value of the forced operation flag X is "1".

[0065] If the vehicle control device 10 determines "Yes" in step S340, the process proceeds to step S345, where it stops the automatic braking function. That is, the vehicle control device 10 puts the automatic braking function in a deactivated state. Next, the vehicle control device 10 proceeds to step S350, where it sets the value of the forced activation flag X to "0." Next, the vehicle control device 10 proceeds to step S395, where it temporarily ends the processing of this routine.

[0066] Moreover, if the vehicle control device 10 determines "No" in step S330 or step S340, the process proceeds directly to step S395, and temporarily ends the process of this routine.

[0067] The operation of the vehicle control device 10 is as described above.

[0068] The driver may deactivate the automatic braking function for various reasons. For example, if snow or the like adheres to the clearance sonar 411, the detection accuracy of the clearance sonar 411 may decrease. In that case, if the automatic braking function is in an activated state, automatic braking control may be erroneously executed. For this reason, the driver may deactivate the automatic braking function.

[0069] When the automatic brake function is deactivated in this manner, as in this example, if not only the clearance sonar 411 but also the camera sensor 421 and millimeter wave radar 422 used for the following cruise control are deactivated, even if the driver operates the following cruise switch 51 to execute following cruise control, the camera sensor 421 and millimeter wave radar 422 are in the deactivated state, and thus following cruise control will not be executed.

[0070] In this case, for example, if a separate switch is provided for activating the camera sensor 421 and the millimeter wave radar 422, the driver can activate the camera sensor 421 and the millimeter wave radar 422 by operating the switch, but this may be inconvenient as the driver must operate the switch.

[0071] In the case where the following cruise control is operated on the condition that the automatic brake function is operating, in order to execute the following cruise control when the execution of the following cruise control is requested, it is necessary to activate the automatic brake function. On the other hand, in the case where the automatic brake function uses only the first sensor 41 (clearance sonar 411), if the detection accuracy of the first sensor 41 is low, the automatic brake function may malfunction, and as a result, the driver may feel annoyed and deactivate the automatic brake function. In view of these circumstances, if the automatic brake function is activated when the execution of the following cruise control is requested, the driver may feel annoyed.

[0072] According to the vehicle control device 10, when the execution of the following running control is requested by the driver, if the first sensor 41 (clearance sonar 411) is in an inoperative state and the automatic brake function is in an inoperative state by the driver, the following running control is executed by activating the automatic brake function in the second mode using the second sensor 42 (camera sensor 421 and millimeter wave radar 422) in addition to the first sensor 41. That is, by activating the automatic brake function, it becomes possible to execute the following running control. Moreover, since the automatic brake function is activated in the second mode using the second sensor 42 in addition to the first sensor 41, the low detection accuracy of the first sensor 41 is compensated for by the second sensor 42. Therefore, even if the automatic brake function is activated, it is possible to suppress the driver from feeling annoyed.

[0073] The present invention is not limited to the above-described embodiment, and various modifications can be made within the scope of the present invention. [Explanation of symbols]

[0074] 10...vehicle control device, 40...peripheral information detection device, 41...first sensor, 411...clearance sonar (sound wave sensor), 42...second sensor, 421...camera sensor (image sensor), 422...millimeter wave radar (radio wave sensor), 90...ECU, 100...own vehicle, 200...preceding vehicle

Claims

1. A vehicle including a vehicle control device having a safety support function for supporting the safety of the vehicle and a driving support function for supporting a driving operation of the vehicle while the safety support function is being executed, The safety support function includes a first mode for supporting safety of the vehicle based on first information detected by a first sensor, and a second mode for supporting safety of the vehicle based on second information detected by a second sensor different from the first sensor and the first information. In the vehicle, The vehicle control device is configured to operate the safety support function in the second mode and the driving support function when the first sensor is in an inactive state when the operation of the driving support function is requested by an operator of the vehicle. vehicle.

2. 2. The vehicle according to claim 1, The first sensor and the second sensor are in an active state when the safety support function is operating in the second mode. vehicle.

3. The vehicle according to claim 1 or 2, The first sensor is in an inactive state when the safety support function is in an inactive state. vehicle.

4. The vehicle according to claim 1 or 2, The driving assistance function is a function of automatically performing at least a part of a driving operation for the vehicle, the safety support function is a function of preventing the vehicle from contacting or colliding with a target, the first sensor is an acoustic sensor; The second sensor is at least one of a radio wave sensor and an image sensor. vehicle.

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