Vehicle driving assistance device and vehicle driving assistance method

Abstract

To provide a vehicle driving assistance device capable of effectively performing automatic braking, particularly against targets located near an own vehicle while reducing the frequency of execution of unnecessary automatic braking and to provide a method therefor.SOLUTION: An own vehicle HV includes: a sonar device 40 that uses ultrasonic waves to acquire sonar information including information about targets located around the own vehicle and information indicating the reflection intensity of the ultrasonic waves; and a driving assistance ECU 10 that executes automatic braking for the own vehicle when it is determined that a predetermined collision avoidance execution condition has been satisfied on the basis of the sonar information. The driving assistance ECU, when the sonar information indicates the presence of the target around the own vehicle, and the reflection intensity included in the sonar information is lower than a predetermined intensity threshold, executes the automatic braking at a time point when the collision avoidance execution condition is satisfied only if a predetermined execution permission condition, including an erroneous depression determination condition that is satisfied in a case where it is estimated that a driver has mistakenly depressed an accelerator pedal, is satisfied.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] The present invention relates to a vehicle driving support device and a vehicle driving support method for performing automatic braking on a host vehicle to avoid a collision between the host vehicle and a target object.

Background Art

[0002] Conventional devices determine that a target object is a dangerous obstacle for the host vehicle when the distance between the host vehicle and the target object measured by a radar is equal to or less than a predetermined value in a situation where the host vehicle is determined to be in a starting state, and perform an alarm and automatic braking (see, for example, Patent Document 1).

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

[0004] However, particularly when the target object is a pedestrian or a bicycle, etc., since the intensity of the reflected wave generated by the radio wave transmitted from the radar being reflected by the target object is not high, the height of the target object is unclear, and it is impossible to accurately distinguish whether the detected target object is a target object that may collide or is a manhole or a small step, etc. Therefore, although automatic braking as a collision avoidance operation is unnecessary, automatic braking is sometimes executed, and the driver may feel bothered by the automatic braking. On the other hand, a device has also been proposed that recognizes a target object based on image data acquired by a camera and performs automatic braking on the target object, but when the distance between the target object and the host vehicle is close, the entire target object is not included in the image data (so-called, occlusion occurs), so it is difficult to accurately measure the distance between the target object and the host vehicle. Therefore, when performing automatic braking based on image data, there is a problem that unnecessary automatic braking may be executed, similar to the case of executing automatic braking based only on information from the radar.

[0005] The present invention has been made to solve such problems. That is, one of the objects of the present invention is to provide a vehicle driving support device and a method thereof that can perform effective automatic braking on a target located particularly near the host vehicle while reducing the frequency of unnecessary automatic braking.

[0006] One aspect of the vehicle driving support device of the present invention is a sonar device (40) that acquires sonar information including information on a target located around the host vehicle using ultrasonic waves and information representing the reflection intensity of the ultrasonic waves of the target, a controller (10) that executes automatic braking on the host vehicle (S355) when it is determined that a predetermined collision avoidance execution condition is satisfied based on the sonar information, and is provided with.

[0007] The controller (10) is configured to execute the automatic braking (S355) at the time when the collision avoidance execution condition is satisfied only when a predetermined execution permission condition including a misstep determination condition that is satisfied when it is estimated that the driver of the host vehicle has accidentally depressed the accelerator pedal of the host vehicle when the sonar information indicates that a target is located around the host vehicle (S315: Yes) and the reflection intensity included in the sonar information is lower than a predetermined intensity threshold (S320: No) is satisfied (S350: Yes).

[0008] When the reflection intensity included in the sonar information is lower than a predetermined intensity threshold value, particularly since the height of the target is unclear, it is highly unlikely that the target included in the sonar information is suitable as an object for automatic braking. Therefore, in the above aspect, when the reflection intensity included in the sonar information is lower than a predetermined intensity threshold value, the automatic braking based on the sonar information is not executed unless the execution permission condition including the misstep determination condition that holds when the accelerator pedal is accidentally depressed is satisfied. This can reduce the frequency of unnecessary execution of automatic braking. On the other hand, according to the above aspect, even when the reflection intensity included in the sonar information is lower than a predetermined intensity threshold value, if the execution permission condition including the misstep determination condition is satisfied, the automatic braking based on the sonar information can be executed. This can reduce the possibility of the host vehicle colliding with the target immediately after a sudden start. Further, in this case, even if the target is not an appropriate target for automatic braking, since there is no accidental depression operation of the accelerator pedal in the first place, the automatic braking can effectively function to prevent the sudden start of the host vehicle, and the driver is less likely to feel bothered by the automatic braking.

[0009] In the above description, in order to facilitate the understanding of the present invention, the names and / or symbols used in the embodiments are attached in parentheses to the configurations of the invention corresponding to the embodiments described later. However, each component of the present invention is not limited to the embodiments defined by the above names and / or symbols. The present invention also extends to a vehicle driving support method and its program.

Brief Description of the Drawings

[0010]

Figure 1

Figure 2

Figure 3

Figure 4

Embodiments for Carrying Out the Invention

[0011] The “vehicle driving support device DS (hereinafter referred to as the “device DS”)” according to an embodiment of the present invention includes the components shown in FIG. 1 and is applied (mounted) to the host vehicle HV. The host vehicle HV may be any of a vehicle having an internal combustion engine as a power source, a vehicle having an electric motor as a power source (i.e., an electric vehicle), and a hybrid vehicle.

[0012] In this specification, the “ECU” is an electronic control device (control unit) including a microcomputer including a CPU (processor), a ROM, a RAM, a writable non-volatile memory for data, and an interface. The ECU is also referred to as a controller or a computer. A plurality of ECUs shown in FIG. 1 are connected to be able to exchange information with each other through CAN. Some or all of these plurality of ECUs may be integrated into one ECU.

[0013] The driving support ECU 10 executes automatic braking (automatic brake) control, which is one of the collision avoidance support controls, using the components described in FIG. 1.

[0014] The camera device 20 includes a camera 21 and an image ECU 22. As shown in FIG. 2, the camera 21 is disposed at the upper center inside the vehicle cabin of the front windshield of the host vehicle HV, and captures a scene in front of the host vehicle HV included in the range between the straight line LRc and the straight line LLc to acquire image data. The image ECU 22 generates camera information every time a predetermined time elapses by analyzing the image data from the camera 21, and transmits the camera information to the driving support ECU 10. The camera information includes the image data itself and camera target information such as "position, relative longitudinal speed, relative lateral speed, and type with respect to the host vehicle HV" of the captured target. The type of the target includes moving objects such as other vehicles and pedestrians and non-moving structures. Further, the camera device 20 (image ECU 22) also functions as a peripheral environment information acquisition device that acquires information about the peripheral environment of the host vehicle HV based on the image data, as will be described later. Note that when the distance between the target and the host vehicle HV is very short, the entire target is not included in the image data (in other words, only a part of the target is included in the image data), so the position of the target may not be accurately acquired.

[0015] The radar device 30 is a well-known device that acquires information about targets existing around the host vehicle HV using radio waves in the millimeter wave band, and includes a radar 31 and a radar ECU 32. As shown in FIG. 2, the radar 31 is disposed at the center of the front end of the host vehicle HV, transmits millimeter waves within the detection range between the straight line LRr and the straight line LLr, and receives the reflected waves generated by the transmitted millimeter waves being reflected by the target, and transmits information about the transmitted and received millimeter waves to the radar ECU 32. The radar ECU 32 acquires radar information every time a predetermined time elapses based on the information from the radar 31, and transmits the radar information to the driving support ECU 10. The radar information includes the distance to the target, the azimuth of the target, and the relative speed of the target. Note that when the target is, for example, a pedestrian, the intensity of the reflected wave becomes weak, so the position of the target may not be accurately acquired, or it may not be possible to distinguish whether the target requires a collision avoidance operation or is a target such as a manhole or a small step that does not require a collision avoidance operation.

[0016] The sonar device 40 includes a left corner sonar 41a, a left front sonar 41b, a right front sonar 41c, a right corner sonar 41d, and a sonar ECU 42. The left corner sonar 41a, the left front sonar 41b, the right front sonar 41c, and the right corner sonar 41d have the same configuration as each other and are simply referred to as "sonar" when there is no need to distinguish them from each other.

[0017] As shown in FIG. 2, the left corner sonar 41a is disposed at the position of the left front corner portion of the host vehicle HV. The region where the left corner sonar 41a can detect a target (hereinafter referred to as the "target detection region") is represented by the region Rsa. The left front sonar 41b is disposed at the front end of the host vehicle HV and to the left of the center. The target detection region of the left front sonar 41b is represented by the region Rsb.

[0018] The right front sonar 41c is disposed at the front end of the host vehicle HV and to the right of the center. The target detection region of the right front sonar 41c is represented by the region Rsc. The right corner sonar 41d is disposed at the position of the right front corner portion of the host vehicle HV. The target detection region of the right corner sonar 41d is represented by the region Rsd.

[0019] Each sonar transmits ultrasonic waves to the corresponding target detection region and receives the reflected waves generated by the reflection of the ultrasonic waves by the target. Further, each sonar transmits sonar reflected wave information including the time from transmitting the ultrasonic waves to receiving the reflected waves, a signal representing the "frequency and intensity (reflection intensity), etc." of the received reflected waves, etc. to the sonar ECU 42.

[0020] The sonar ECU 42 measures the distance between each sonar and the target based on the sonar reflected wave information, and obtains (calculates) the sonar information according to the triangulation method every time a predetermined time elapses from "the distances from each of the two adjacent sonars to the target" and "the distance between the two adjacent sonars", and transmits the sonar information to the driving support ECU 10. The sonar information includes the position of the target, the relative speed of the target, and the intensity of the reflected waves received by the two adjacent sonars used for detecting the position of the target (for example, the average value of the reflection intensities included in the sonar reflected wave information from the two adjacent sonars).

[0021] Note that the driving support ECU 10 integrates the camera information and the radar information, and generates "camera-radar-fusion target information" including the position of the target (the longitudinal distance to the target, the lateral position of the target, the target azimuth), the relative speed of the target, and the type of the target. Further, the driving support ECU 10 integrates the sonar information and the radar information, and generates "sonar-radar-fusion target information" including the position of the target and the relative speed of the target.

[0022] The power train ECU 50 controls a drive device including a power source of the host vehicle HV (not shown) by driving the power train actuator 51, thereby generating a driving force.

[0023] The brake ECU 60 controls a braking device of the host vehicle HV (not shown) by driving the brake actuator 61, thereby applying a braking force to the host vehicle HV. The brake ECU 60 can drive the brake actuator 61 in response to an instruction from the driving support ECU 10 to automatically brake the host vehicle HV (execute an automatic brake).

[0024] The steering ECU 70 controls a steering device of the host vehicle HV (not shown) by driving the steering motor 71, thereby changing the steering angle of the host vehicle HV. The steering ECU 70 can drive the steering motor 71 in response to an instruction from the driving support ECU 10 to automatically steer the host vehicle HV.

[0025] The warning ECU 80 can control a warning display device 81 disposed at a position visible from the driver's seat to perform a predetermined display and a warning sound generating device 82 that generates a warning sound in response to an instruction from the driving support ECU 10.

[0026] The driving support ECU 10 inputs the detection values (output values) of the sensors described below. · An accelerator pedal operation amount sensor 91 that detects the accelerator pedal operation amount AP of the host vehicle HV. · A brake pedal operation amount sensor 92 that detects the brake pedal operation amount BP of the host vehicle HV. · A vehicle speed sensor 93 that detects the speed of the host vehicle HV (i.e., the host vehicle speed Vh). · A shift position sensor 94 that detects the shift position Sp of the shift lever of the host vehicle HV. The shift position Sp includes the forward positions "D range and S range", the reverse position R range, the neutral range, the parking range, and the like. Note that the driving support ECU 10 is also connected to other "sensors that detect the state of the host vehicle HV".

[0027] (Outline of operation) When the device DS determines that the collision avoidance execution condition is satisfied based on sonar information (accurately, sonar - radar - fusion target information) when the following described pre - conditions are satisfied, the device DS executes automatic braking only when the following described execution permission condition is satisfied. In other words, if the execution permission condition is not satisfied when the pre - conditions are satisfied, even if the collision avoidance execution condition is satisfied, the device DS does not execute automatic braking.

[0028] <Pre - conditions> The pre - conditions are satisfied when both of the following conditions A1 and A2 are satisfied. (Condition A1) The camera device 20 and the radar device 30 are not detecting the same target (see S305 in FIG. 3 described later). (Condition A2) The sonar device 40 is detecting a target, but the intensity of the reflected wave (reflection intensity) received by the sonar that detects the target is less than the threshold intensity (see S315 and S320 in FIG. 3 described later).

[0029] <Execution permission conditions> The execution permission conditions are established when all of the following conditions B1 to B4 are satisfied. (Condition B1) The host vehicle HV is located within a parking lot (see S330 in FIG. 3 described later). Note that Condition B1 is also referred to as an environmental condition. However, Condition B1 is not an essential condition for the execution permission conditions to be established. (Condition B2) The same target detection condition that is established when the sonar device 40 and the radar device 30 detect the same target is satisfied (see S335 in FIG. 3 described later).

[0030] (Condition B3) The start-immediately condition that is established when the current time is within the period from the first time when the host vehicle HV is activated so as to be able to start moving to the second time when the running determination condition that is established when the host vehicle HV starts running is satisfied (see S340 in FIG. 3 described later). (Condition B4) The misstep determination condition that is established when the shift position is in the forward range and it is presumed that the driver of the host vehicle HV has accidentally stepped on the accelerator pedal is satisfied (see S345 and S350 in FIG. 3 described later).

[0031] (Specific operation) The CPU 10a of the driving support ECU 10 (hereinafter simply referred to as "CPU") executes the routine shown by the flowchart in FIG. 3 every time a predetermined time (operation cycle) dt elapses when the automatic braking described later is not being executed. In the following, "step" is denoted as "S".

[0032] When a predetermined timing is reached when the automatic braking is not being executed, the CPU starts processing from S300 in FIG. 3 and proceeds to S305, and determines whether the camera device 20 and the radar device 30 detect the same target by comparing the camera information and the radar information. That is, the CPU makes a determination regarding the above Condition A1.

[0033] When the camera device 20 and the radar device 30 detect the same target, the CPU proceeds from S305 to S310 and executes well-known automatic braking control (collision avoidance support control) based on the camera-radar fusion target information. For example, when the CPU determines based on the camera-radar fusion target information that the time to collision TTC (= distance between the target and the host vehicle HV / relative speed of the target) to the target is equal to or less than the collision determination threshold TTCth, the CPU executes automatic braking. Thereafter, the CPU proceeds to S395 and temporarily ends this routine.

[0034] On the other hand, when the camera device 20 and the radar device 30 do not detect the same target (that is, when the above condition A1 is satisfied), the CPU proceeds from S305 to S315 and determines based on the sonar information whether the sonar device 40 has detected a target.

[0035] When the sonar device 40 has not detected a target, the CPU proceeds from S315 to S395.

[0036] When the sonar device 40 has detected a target, the CPU proceeds from S315 to S320 and determines whether the intensity of the reflected wave (reflection intensity) received by the sonar that has detected the target is equal to or greater than the reflection intensity threshold. Note that the determination regarding the above condition A2 is made by the processes of S315 and S320.

[0037] When the intensity of the reflected wave is equal to or greater than the reflection intensity threshold, the CPU proceeds from S320 to S325 and executes well-known automatic braking control (collision avoidance support control) based on the sonar information. For example, when the CPU determines based on the sonar information that the time to collision TTC to the target is equal to or less than the collision determination threshold TTCth, or when it determines that the distance between the target and the host vehicle HV is equal to or less than the short-distance determination threshold, the CPU executes automatic braking. Thereafter, the CPU proceeds to S395.

[0038] On the other hand, when the intensity of the reflected wave is smaller (weaker) than the reflection intensity threshold value, the CPU proceeds from S320 to S330 and determines whether the host vehicle HV is located within the parking lot based on the camera information. That is, the CPU determines whether the above condition B1 is satisfied. More specifically, the CPU extracts feature points of the surrounding environment from the image data included in the camera information. Then, when the number of feature points of the surrounding environment that match the feature points of the parking lot (for example, double lines indicating parking frames, a pair of wheel stops, a scene where a plurality of parking frames exist) previously learned by the driving support ECU10 is larger than a predetermined value, it is determined that the host vehicle HV is located within the parking lot. Note that the CPU may determine that the host vehicle HV is located within the parking lot when the number of "feature points of the surrounding environment extracted from the image data" that match the "feature points of the road (general road and motor vehicle exclusive road) (for example, lane dividing lines)" previously learned by the driving support ECU10 is smaller than a predetermined value. Further, when the host vehicle HV is equipped with a well-known navigation system, the CPU may determine whether the host vehicle HV is located within the parking lot based on the current position of the host vehicle HV estimated based on the GPS signal and the map information of the navigation system.

[0039] When the host vehicle HV is located within the parking lot, the CPU proceeds from S330 to S335 and determines whether the sonar device 40 and the radar device 30 detect the same target by comparing the sonar information and the radar information. That is, the CPU determines whether the same target detection condition of the above condition B2 is satisfied.

[0040] When the sonar device 40 and the radar device 30 detect the same target, the CPU proceeds from S335 to S340 and determines whether the immediately after startup condition of the above condition B3 is satisfied. The immediately after startup condition is a condition that is satisfied when the current time is within the period from the ignition-on time, which is the first time point, to the second time point when the running determination condition is satisfied.

[0041] The "IG on" point is the time when the ignition key switch (including the start switch of the host vehicle HV such as the ready switch) of the host vehicle HV (not shown) is changed from the off position to the on position, and the host vehicle HV becomes capable of running.

[0042] The running determination condition is a condition that is established when at least one of the following conditions is met: the condition that the moving distance of the host vehicle, which is "the distance that the host vehicle HV has moved without the ignition key switch being changed to the off position after the IG on point", is greater than the threshold moving distance, and the condition that the host vehicle speed Vh is higher than the vehicle speed threshold Vhth.

[0043] Therefore, when the moving distance of the host vehicle from the IG on point is equal to or less than the threshold moving distance and the host vehicle speed Vh is equal to or less than the vehicle speed threshold Vhth, the immediately after start condition is established.

[0044] When the immediately after start condition is established (that is, when the moving distance of the host vehicle from the IG on point is equal to or less than the threshold moving distance and the host vehicle speed Vh is equal to or less than the vehicle speed threshold Vhth), the CPU proceeds from S340 to S345 and determines whether the shift position is in the forward range (such as the D range and the S range) based on the shift position Sp from the shift position sensor 94.

[0045] When the shift position is in the forward range, the CPU proceeds from S345 to S350 and determines whether a state where the accelerator pedal is mistakenly depressed with the brake pedal (accelerator pedal misoperation state) has occurred. That is, the CPU determines whether the above condition B4 is established by the processes of S345 and S350.

[0046] More specifically, the CPU determines that the accelerator pedal misoperation state has occurred when both of the following conditions C1 and C2 are established.

[0047] (Condition C1) The accelerator pedal operation amount AP is equal to or greater than the accelerator pedal operation amount threshold APth. That is, the accelerator pedal is depressed deeply. (Condition C2) Immediately before the accelerator pedal operation amount AP becomes equal to or greater than the accelerator pedal operation amount threshold value APth, the "change amount per unit time (dAP) of the accelerator pedal operation amount AP" is equal to or greater than the change speed threshold value dAPth. That is, the accelerator pedal is being depressed rapidly.

[0048] When an accelerator pedal misoperation state occurs (that is, when both the above condition C1 and the above condition C2 are satisfied), the CPU proceeds from S350 to S355 and executes automatic braking control (collision avoidance support control) based on sonar - radar - fusion target information.

[0049] More specifically, when the CPU proceeds to S355, it starts the processing of the subroutine in FIG. 4 from S400 and proceeds to S410.

[0050] At S410, the CPU determines whether the current state is a state where "automatic braking is not being executed". If the current state is a state where "automatic braking is being executed", the CPU proceeds directly from S410 to S495, and then proceeds to S395 in FIG. 3.

[0051] On the other hand, if the current state is a state where "automatic braking is not being executed", the CPU proceeds from S410 to S420. Note that S410 may be omitted. In this case, the CPU proceeds directly from S400 to S420.

[0052] At S420, the CPU determines whether the distance D between the host vehicle HV and the target is equal to or less than the short - distance determination threshold value Dth based on the sonar - radar - fusion target information.

[0053] If the distance D is equal to or less than the short - distance determination threshold value Dth, the CPU proceeds from S420 to S430, sends an instruction to the brake ECU60 to execute automatic braking. Further, the CPU sends an instruction to the warning ECU80 to display a warning mark on the warning display device 81 and generate a warning sound from the warning sound generating device 82. Then, the CPU proceeds to S395 in FIG. 3.

[0054] On the other hand, when the distance D is greater than the short-distance determination threshold Dth, the CPU proceeds from S420 to S440 and calculates the time to collision TTC to the target based on the sonar-radar fusion target information. The time to collision TTC is obtained by dividing the distance D by the relative speed of the target.

[0055] Next, the CPU proceeds to S450 and determines whether the time to collision TTC is less than or equal to the collision determination threshold TTCth. If the time to collision TTC is greater than the collision determination threshold TTCth, the CPU proceeds from S450 to S495 and then proceeds to S395 in FIG. 3.

[0056] On the other hand, when the time to collision TTC is less than or equal to the collision determination threshold TTCth, the CPU proceeds from S450 to S430, sends an instruction to the brake ECU60 to execute automatic braking, and sends an instruction to the warning ECU80 to display a warning mark on the warning display device 81 and generate a warning sound on the warning sound generating device 82. Then, the CPU proceeds to S395 in FIG. 3.

[0057] If the CPU determines "No" in any of the steps "S330 to S350" shown in FIG. 3, it directly proceeds from the step where the "No" determination is made to S395. Therefore, in this case, automatic braking control is not executed.

[0058] Furthermore, the CPU may omit S330. In this case, when the CPU determines "No" at S320, it proceeds to S335.

[0059] As described above, the device DS permits the execution of automatic braking only when a predetermined execution permission condition including a misstep determination condition is satisfied when the prerequisite condition is satisfied. Therefore, the frequency of unnecessary execution of automatic braking can be reduced, and the possibility of collision with a target immediately after the host vehicle HV suddenly accelerates due to accidental stepping on the accelerator pedal can be decreased.

[0060] The present invention is not limited to the above-described embodiments, and various modifications can be adopted within the scope of the present invention. For example, the device DS can be applied to the host vehicle HV in a state where the driving mode has transitioned from automatic driving to driving by the driver in an autonomous vehicle.

[0061] Furthermore, when the device DS includes "a rear camera, a plurality of sonars, and a radar" that detect a target in the directly rearward direction of the host vehicle HV, the above-described automatic braking control may also be executed for the targets detected by them. In this case, S345 in FIG. 3 is replaced with a step of determining whether the shift position is in the reverse range. Also, the determination of "whether the misstep determination condition of the accelerator pedal is satisfied" performed in S350 in FIG. 3 may be performed based on various known methods. That is, for example, the device DS may determine that a misstep of the accelerator pedal has occurred when the time from the "first threshold value close to 0" to the "second threshold value very large" of the accelerator pedal operation amount AP reaches within a predetermined time.

Explanation of Reference Numerals

[0062] 10... Driving support ECU, 20... Camera device, 30... Radar device, 40... Sonar device, 60... Brake ECU, 61... Brake actuator.

Claims

1. a sonar device that acquires sonar information including information about targets located around the vehicle and information representing the reflection intensity of ultrasonic waves from the targets using ultrasonic waves; a controller that performs automatic braking on the host vehicle when it is determined that a predetermined collision avoidance execution condition is satisfied based on the sonar information; A vehicle driving assistance device comprising: The controller: the automatic braking is executed at the time when the collision avoidance execution condition is satisfied only when a predetermined execution permission condition is satisfied, the execution permission condition including an erroneous depression determination condition that is satisfied when it is estimated that the driver of the host vehicle has erroneously depressed the accelerator pedal of the host vehicle when the sonar information indicates that a target is located in the vicinity of the host vehicle and the reflection intensity included in the sonar information is lower than a predetermined intensity threshold. Vehicle driving assistance device.

2. The vehicle driving assistance device according to claim 1, The vehicle further includes a radar device that acquires radar information, which is information about targets located around the vehicle, by using radio waves; The controller: determining whether a same target detection condition is satisfied, the same target detection condition being satisfied when both the sonar information and the radar information contain information about the same target, as one condition for the execution permission condition to be satisfied; when it is determined that the execution permission condition is satisfied, it is determined whether or not the collision avoidance execution condition is satisfied based on not only the sonar information but also the radar information; It was configured as follows: Vehicle driving assistance device.

3. The vehicle driving support device according to claim 2, The controller: The method is configured to determine whether or not a condition is satisfied immediately after startup, which is a condition for the execution permission condition to be satisfied when the current time point is within a period from a first time point at which the host vehicle is started so as to be able to start, to a second time point at which a predetermined running determination condition is satisfied when the host vehicle starts running. Vehicle driving assistance device.

4. The vehicle driving assistance device according to claim 3, The vehicle further includes a surrounding environment information acquisition device for acquiring information about a surrounding environment of the vehicle. The controller: The system is configured to determine whether an environmental condition that is satisfied when the vehicle is located in a parking lot, as one condition for the execution permission condition to be satisfied, is satisfied based on information about the surrounding environment. Vehicle driving assistance device.

5. acquiring sonar information from a sonar device using ultrasonic waves, the sonar information including information about targets located around the vehicle and information representing the reflection intensity of ultrasonic waves from the targets; a step of determining whether a predetermined execution permission condition is satisfied, the execution permission condition including an erroneous depression determination condition that is satisfied when it is estimated that the driver of the host vehicle has erroneously depressed the accelerator pedal of the host vehicle, when the sonar information indicates that a target is located in the vicinity of the host vehicle and the reflection intensity included in the sonar information is lower than a predetermined intensity threshold value; when it is determined that a predetermined collision avoidance execution condition is satisfied based on the sonar information, executing automatic braking on the host vehicle only when the execution permission condition is satisfied; A vehicle driving assistance method comprising:

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