Vehicle driving support device, vehicle driving support method, and program thereof

Abstract

To reduce a frequency of unnecessary automatic braking.SOLUTION: A vehicle driving support device comprises: a target detection section for repetitively acquiring a detection point which expresses a position of a target in the periphery of an own vehicle; a target recognition section for repetitively updating peripheral target information which includes a target position recognition point for finally identifying the position of the target based on a detection point acquired by the target detection section at the past point of time and a detection point detected by the target detection section at the present point of time; and a vehicle control section for actuating automatic braking in order to avoid a collision when it is determined that a predetermined automatic braking condition is established, which is established when there is a higher possibility for the own vehicle to collide with the target, based on the peripheral target information. The vehicle control section does not perform automatic braking when the target detection section does not acquire the detection point at the present point of time, which expresses the position of the target by which the automatic braking condition is established.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] The present invention relates to a vehicle driving support device, a vehicle driving support method, and a program thereof that perform automatic braking to avoid a collision between a host vehicle and an object target.

Background Art

[0002] Conventional devices include a determination unit that calculates a travel route based on the steering angle of the host vehicle and determines whether the host vehicle will collide with an obstacle detected by an external sensor such as a camera and a sonar when the host vehicle travels along the travel route, and a notification unit that performs notification based on the determination result (see, for example, Patent Document 1). Further, another conventional device is configured to stop the host vehicle by executing automatic braking when it is determined that the host vehicle may collide with an obstacle.

Prior Art Document

Patent Document

[0003]

Patent Document 1

Summary of the Invention

[0004] However, conventional devices have the following problems. For example, as shown in Fig. 6(A), when another vehicle (the other vehicle) is stopped near the host vehicle (the host vehicle) at time t0, the external sensor of the host vehicle detects the other vehicle as an obstacle at time t0. The white circles in Fig. 6 indicate the points representing the positions of the obstacles detected by the external sensor at the current time. When the host vehicle stops at time t1, the external sensor may no longer newly detect the point representing the position of the obstacle, so the point representing the position of the obstacle detected at time t0 is retained. The black circles in Fig. 6 indicate the points representing the retained positions of the obstacles. Therefore, even if the other vehicle has moved by time t2, the host vehicle may erroneously recognize that there is still an obstacle at the point representing the retained position of the obstacle. At this time, if the driver of the host vehicle attempts to start the host vehicle, the automatic brake for avoiding a collision with the erroneously recognized obstacle is activated. As a result, there are cases where the host vehicle cannot start even though there is actually no obstacle (the other vehicle).

[0005] In contrast, as shown in Fig. 6(B), the device can be configured to recognize that there is an obstacle not at the retained point (black circle), but at the point (white circle) currently detected by the external sensor. According to this device, it is possible to avoid a situation where the host vehicle cannot start due to the automatic brake as in Fig. 6(A) described above. However, in this case, depending on the positional relationship between the other vehicle and the detection area Da of the external sensor when the other vehicle continues to stop, there may be a state where some points P of the other vehicle cannot be recognized at the current time. Therefore, if the automatic brake does not operate, there is a possibility that the host vehicle will come into contact with the other vehicle at point P.

[0006] 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, a vehicle driving support method, and a program thereof that can reduce the frequency of unnecessary automatic braking.

[0007] One aspect of the vehicle driving support device of the present invention is A target detection unit (10a, 11-14, 20a, 21F-26F, 21R-26R) that repeatedly acquires detection points representing the positions of targets around the host vehicle, A target recognition unit (20b) that repeatedly updates peripheral target information including a target position recognition point that finally specifies the position of the target based on the detection points acquired by the target detection unit at a past time point and the detection points detected by the target detection unit at the current time point, A vehicle control unit (20c) that activates an automatic brake for avoiding the collision when it is determined based on the peripheral target information that a predetermined automatic brake condition that holds when there is a high possibility that the host vehicle will collide with the target is satisfied, is provided.

[0008] Furthermore, the vehicle control unit is configured not to perform the automatic brake when the target detection unit does not acquire, at the current time point, the detection point representing the position of the target that satisfies the automatic brake condition (i.e., the target that is the object for which the automatic brake condition is satisfied) (see the "No" determination in step 415 of FIG. 4, step 420, and the "No" determination in step 445).

[0009] According to this aspect, based on the detection points detected by the object detection unit at a past time point and the detection points detected by the object detection unit at the current time point, the object position recognition point that finally specifies the position of the object is updated. Then, based on the surrounding object information including the object position recognition point, when it is determined that a predetermined automatic braking condition that is established when the host vehicle is highly likely to collide with the object is satisfied, the automatic brake is actuated. However, if the object detection unit does not acquire, at the current time point, the detection point representing the position of the object that has led to the establishment of the automatic braking condition (i.e., the object determined to be highly likely to collide with the host vehicle), it is highly likely that the object has already moved. Therefore, in the above aspect, even if the automatic braking condition is satisfied, if the object detection unit does not acquire, at the current time point, the detection point representing the position of the object that has led to the establishment of the automatic braking condition, the automatic brake is not performed (the automatic brake is prohibited). In other words, when the object detection unit acquires, at the current time point, the detection point representing the position of the object that has led to the establishment of the automatic braking condition, since the object is highly likely to still be located at the object position recognition point, the automatic brake is executed if the automatic braking condition is satisfied. As a result, the frequency of unnecessary automatic brakes being actuated is reduced, and the automatic brake can be actuated when the automatic brake is necessary.

[0010] In the above description, for the purpose of assisting the understanding of the present invention, the names and / or reference signs used in the embodiments are added 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 reference signs. The present invention also extends to a vehicle driving support method and its program.

Brief Description of the Drawings

[0011]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Figure 6

Embodiments for Carrying Out the Invention

[0012] 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. The host vehicle is also referred to as the self-vehicle and may be any of a vehicle with an internal combustion engine as a power source, a vehicle with an electric motor as a power source (i.e., an electric vehicle), and a hybrid vehicle. Note that another vehicle may also be referred to as the other vehicle.

[0013] In this specification, "ECU" is an electronic control device (control unit) including a microcomputer including a CPU (processor), ROM, RAM, a writable non-volatile memory for data, and an interface, etc. 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.

[0014] The PVM (Panoramic View Monitor) - ECU 10 acquires image data every time a predetermined time elapses from "the front camera 11 that captures the scene in front of the vehicle, the back camera 12 that captures the scene behind the vehicle, the right side camera 13 that captures the scene on the right side of the vehicle, and the left side camera 14 that captures the scene on the left side of the vehicle", each of which has a wide - angle lens. Note that these cameras are attached to predetermined locations of the host vehicle HV as shown in Figure 2. Further, in Figure 2, the imaging regions of each camera are labeled with reference numerals 11a, 12a, 13a, and 14a. For example, the region labeled with reference numeral 11a is the imaging region of the front camera 11. The PMV - ECU 10 generates an overhead image of the vehicle and an image in the traveling direction of the vehicle based on the image data from these cameras. Then, the PMV - ECU 10 displays the overhead image and the traveling - direction image on the display 15.

[0015] As its function, the PVM - ECU 10 includes an object detection unit 10a. The object detection unit 10a acquires, by a known method, points (coordinates) indicating positions (object positions) where it is highly likely that an object exists based on camera information including the image data from the cameras 11 - 14 (see, for example, Japanese Unexamined Patent Application Publication No. 2021 - 135191 and Japanese Unexamined Patent Application Publication No. 2023 - 35255). The points representing the object positions acquired by the object detection unit 10a are also referred to as "camera detection points".

[0016] The clearance sonar ECU 20 acquires signals from the first to sixth front sonars 21F - 26F, the first to sixth rear sonars 21R - 26R, the vehicle speed sensor 27, the steering angle sensor 28, etc. every time a predetermined time elapses. Note that the mounting positions of these sonars are as shown in Figure 2. Further, in Figure 2, the object detection regions (ultrasonic emission regions) of each sonar are labeled with reference numerals 21Fa to 26Fa and reference numerals 21Ra to 26Ra. For example, the region labeled with reference numeral 21Fa is the object detection region of the first front sonar 21F.

[0017] Each sonar transmits ultrasonic waves to the corresponding object detection area and receives the reflected waves generated when the ultrasonic waves are reflected by the object. Further, each sonar transmits sonar 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 clearance sonar ECU 20.

[0018] As its function, the clearance sonar ECU 20 includes an object detection unit 20a, a sensor fusion unit 20b, and a vehicle control unit 20c.

[0019] The object detection unit 20a measures the distance between each sonar and the object based on the sonar information. The object detection unit 20a obtains a point (coordinate) representing the position of the object with respect to the host vehicle HV according to the triangulation method from "the distances from the third front sonar 23F and the fourth front sonar 24F adjacent to each other to the object" and "the distance between the two sonars 23F and 24F". Similarly, the object detection unit 20a obtains a point (coordinate) representing the position of the object with respect to the host vehicle HV according to the triangulation method from "the distances from the third rear sonar 23R and the fourth rear sonar 24R adjacent to each other to the object" and "the distance between the two sonars 23R and 24R".

[0020] Each of the "first front sonar 21F, second front sonar 22F, fifth front sonar 25F, sixth front sonar 26F, first rear sonar 21R, second rear sonar 22R, fifth rear sonar 25R, and sixth rear sonar 26R" is referred to as a "single sonar". When the host vehicle HV is traveling, the object detection unit 20a obtains a point (coordinate) representing the position of the object with respect to the host vehicle HV according to the so-called "moving triangulation method" based on the distance between the single sonar and the object at a predetermined time before, the distance between the single sonar and the object at the current time, and the direction and distance that the host vehicle HV has moved during the predetermined time. In other words, when the host vehicle HV is stopped, the object detection unit 20a cannot obtain a point representing the position of the object based on the signal from the single sonar. Note that the point (coordinate) representing the position of the object obtained by the object detection unit 20a is also referred to as a "sonar detection point".

[0021] The sensor fusion unit 20b integrates a point representing the position of the target acquired by the target detection unit 10a of the PVM-ECU 10 (camera detection point) and a point representing the position of the target acquired by the target detection unit 20a of the clearance sonar ECU 20 (sonar detection point), and obtains the final position (coordinates) of the target with respect to the host vehicle HV as the "fusion detection point (coordinates)" (see, for example, Japanese Patent Application Laid-Open No. 2021-135191). Note that the fusion detection point can be generated based on only one of the camera detection point and the sonar detection point. The sensor fusion unit 20b is also referred to as the "target recognition unit". Further, as will be described later, the sensor fusion unit 20b generates a target position recognition point that finally specifies the position of the target from the fusion detection point acquired at a past time point and the fusion detection point acquired at the current time point. In addition, the sensor fusion unit 20b also calculates the relative speed between each target position recognition point and the host vehicle. Therefore, it can be said that the sensor fusion unit 20b repeatedly updates the surrounding target information including the target position recognition point.

[0022] The vehicle control unit 20c executes driving support control (collision avoidance support control) to avoid a collision (contact) between the host vehicle and the target. That is, when the vehicle control unit 20c determines that there is a possibility that the host vehicle may collide with an obstacle based on the target position recognition point, the vehicle speed Vh acquired from the vehicle speed sensor 27, the steering angle Sa acquired from the steering angle sensor 28, etc., it transmits an instruction to the warning ECU 50 described later to execute a warning (generation of a warning sound and display of a warning mark), or transmits an instruction to the brake ECU 40 described later to apply an automatic brake to the host vehicle.

[0023] The power train ECU 30 controls a drive device 32 including the power source of the host vehicle by driving a power train actuator 31, thereby generating the driving force of the host vehicle. The power train ECU 30 acquires the operation amount AP of the accelerator pedal from an accelerator pedal operation amount sensor 33. The power train ECU 30 can drive the power train actuator 31 according to an instruction from the vehicle control unit 20c of the clearance sonar ECU 20 or the accelerator pedal operation amount AP, and adjust the driving force of the host vehicle.

[0024] The brake ECU 40 controls a braking device 42 of the host vehicle HV by driving a brake actuator 41, thereby applying a braking force to the host vehicle. The brake ECU 40 acquires the operation amount BP of the brake pedal from a brake pedal operation amount sensor 43. The brake ECU 40 can drive the brake actuator 41 according to an instruction from the vehicle control unit 20c of the clearance sonar ECU 20 or the brake pedal operation amount BP, and apply a braking force to the host vehicle HV. Therefore, the brake ECU 40 can perform an automatic brake (automatic braking) for decelerating and stopping the host vehicle based on an instruction from the vehicle control unit 20c.

[0025] The warning ECU 50 can control a warning sound generator 51 that generates a warning sound and a warning display 52 that is disposed at a position visible from the driver's seat and displays a warning mark according to an instruction from the vehicle control unit 20c of the clearance sonar ECU 20.

[0026] Note that the above-mentioned ECUs (10 - 50) are also connected to other sensors (not shown) that detect the state of the host vehicle HV.

[0027] (Outline of operation) For example, as shown in (A) of FIG. 3, when another vehicle (other vehicle) is stopped in the vicinity of the host vehicle (host vehicle) at time t0, the device DS (vehicle control unit 20c) determines that an obstacle exists at the "current fusion detection point (coordinates)", which is the target position recognition point indicated by the white circle. After that, when the host vehicle stops at time t1, the device DS determines that an obstacle exists at the "held fusion detection point (coordinates)", which is the target position recognition point indicated by the black circle. Then, when the host vehicle attempts to start at time t2 after the other vehicle has moved, since the "current fusion detection point (coordinates)" is not included in the target position recognition point, the device DS prohibits automatic braking.

[0028] On the other hand, as shown in (B) of FIG. 3, when another vehicle (other vehicle) is stopped in the vicinity of the host vehicle (host vehicle) at time t0, the device DS (vehicle control unit 20c) determines that an obstacle exists at the "current fusion detection point (coordinates)", which is the target position recognition point indicated by the white circle. After that, when the host vehicle stops at time t1, the device DS determines that an obstacle exists at the "held fusion detection point (coordinates)", which is the target position recognition point indicated by the black circle. Then, when the host vehicle attempts to start at time t2, since the "current fusion detection point (coordinates)" is included in the target position recognition point, the device DS permits and executes automatic braking.

[0029] In this way, in a situation where it is necessary to apply automatic braking, if the "current fusion detection point (that is, at least one of the camera detection point acquired at the current time and the sonar detection point acquired at the current time)" is not included in the target position recognition point of the target that is the object for which the automatic braking condition is to be satisfied, the device DS determines that the target does not exist and prohibits automatic braking. If the "current fusion detection point" is included in the target position recognition point of the target that is the object for which the automatic braking condition is to be satisfied, the device DS determines that the target still exists and permits automatic braking.

[0030] (Specific operation) The CPU of the clearance sonar ECU 20 (hereinafter simply referred to as "CPU") executes the routine shown by the flowchart in FIGS. 4 and 5 every time a predetermined time (operation cycle) dt elapses. In the following, "step" is denoted as "S". FIG. 4 is a flowchart for realizing the function of the vehicle control unit 20c, and FIG. 5 is a flowchart for realizing the function of the sensor fusion unit 20b.

[0031] <Collision avoidance support control> At a predetermined timing, the CPU starts processing from S400 in FIG. 4 and proceeds to S405, and estimates the predicted travel area of the host vehicle within a predetermined fixed time based on the steering angle Sa and the host vehicle speed Vh. This predicted travel area is the area predicted to be passed by the vehicle body of the host vehicle. Further, the CPU determines whether at least one of the "holding point and the current detection point" is located within the predicted travel area. The holding point is the "fusion detection point (coordinates) acquired and held in the past", and the current detection point is the "fusion detection point (coordinates) acquired at the current time (latest acquisition timing)".

[0032] If neither the "holding point nor the current detection point" is located within the predicted travel area, the CPU proceeds from S405 to S410, sets the value of the automatic brake permission flag XB to "0", and sets the value of the warning permission flag XW to "0". As will be described later, when the value of the automatic brake permission flag XB is "1", automatic braking is permitted, and when the value of the automatic brake permission flag XB is "0", automatic braking is prohibited. Similarly, when the value of the warning permission flag XW is "1", "a warning to notify the driver of the presence of an obstacle (generation of a warning sound and / or display of a warning mark)" is permitted, and when the value of the warning permission flag XW is "0", the warning is prohibited. Then, the CPU proceeds to S430.

[0033] On the other hand, when at least one of the "holding point and current detection point", which are object position recognition points, is located within the predicted travel area, the CPU proceeds from S405 to S415 and determines whether there is a current detection point that is estimated to represent the same object as the object specified by the holding point located within the predicted travel area at S405. For example, when the distance between the current detection point and the holding point closest to the current detection point is equal to or less than the same object determination threshold value, the CPU determines that the current detection point represents the same object as the object specified by the holding point. That is, the CPU determines whether a fusion detection point for the object estimated to be located within the predicted travel area has been acquired at the current time (the latest acquisition timing). However, this current detection point does not necessarily have to be located within the predicted travel area. Also, if it is determined at S405 that the current detection point is located within the predicted travel area, the CPU naturally determines "Yes" at S415.

[0034] If there is no current detection point, the CPU proceeds from S415 to S420, sets the value of the automatic brake permission flag XB to "0", and sets the value of the warning permission flag XW to "1". Then, the CPU proceeds to S430. As a result, as will be described later, warnings are permitted but automatic braking is prohibited.

[0035] If there is a current detection point, the CPU proceeds from S415 to S425, sets the value of the automatic brake permission flag XB to "1", and sets the value of the warning permission flag XW to "1". Then, the CPU proceeds to S430. As a result, as will be described later, both warnings and automatic braking are permitted.

[0036] At S430, the CPU determines whether the value of the warning permission flag XW is "1".

[0037] When the value of the alarm permission flag XW is "1", the CPU proceeds from S430 to S435 and determines whether the alarm condition is satisfied. More specifically, the CPU calculates the time to collision TTC for each of the "holding point and current detection point" (hereinafter referred to as "obstacle point") located within the predicted travel area. The time to collision TTC is calculated by dividing the length of the path along which the vehicle body of the host vehicle approaches the obstacle point by the speed of the obstacle point relative to the host vehicle (i.e., the relative speed of the obstacle point). Then, the CPU selects the shortest time to collision (hereinafter referred to as "shortest TTC") TTCm from among those times to collision TTC, and determines whether the shortest time to collision TTCm is less than or equal to the alarm threshold TWth. When the shortest time to collision TTCm is less than or equal to the alarm threshold TWth, the alarm condition is satisfied.

[0038] When the alarm condition is satisfied, the CPU proceeds from S435 to S440, and by transmitting an instruction to the alarm ECU 50, causes the alarm sound generator 51 to generate an alarm sound and causes the alarm indicator 52 to display a warning mark. Thereafter, the CPU proceeds to S445.

[0039] When the alarm condition is not satisfied, the CPU proceeds directly from S435 to S445. Therefore, in this case, no alarm sound is generated and no warning mark is displayed.

[0040] In addition, when the CPU proceeds to S430 and the value of the alarm permission flag XW is not "1", the CPU proceeds directly from S430 to S445. That is, the alarm is prohibited. Therefore, also in this case, no alarm sound is generated and no warning mark is displayed.

[0041] At S445, the CPU determines whether the value of the automatic brake permission flag XB is "1".

[0042] When the value of the automatic brake permission flag XB is "1", the CPU proceeds from S445 to S450 and determines whether the automatic brake condition is satisfied. More specifically, the CPU obtains the above-described shortest collision time required TTCm, and determines whether the shortest collision time required TTCm is less than or equal to the automatic brake threshold TBth. The automatic brake threshold TBth is set to a value smaller than the warning threshold TWth. When the shortest collision time required TTCm is less than or equal to the automatic brake threshold TBth, the automatic brake condition is satisfied.

[0043] When the automatic brake condition is satisfied, the CPU proceeds from S450 to S455, and by transmitting an instruction to the brake ECU 40, operates the braking device 42 via the brake actuator 41 to apply a braking force to the host vehicle so that the host vehicle stops. That is, the CPU executes the automatic brake. Note that the CPU also transmits an instruction to the power train ECU 30, and operates the drive device 32 via the power train actuator 31 so that the driving force of the host vehicle becomes zero. Thereafter, the CPU proceeds to S495 and once terminates this routine.

[0044] When the automatic brake condition is not satisfied, the CPU proceeds directly from S445 to S495. Therefore, in this case, the automatic brake is not executed.

[0045] In addition, when the CPU proceeds to S445 and the value of the automatic brake permission flag XB is not "1", the CPU proceeds directly from S445 to S495. That is, the automatic brake is prohibited. Therefore, also in this case, the automatic brake is not executed.

[0046] Note that the content determined at S405 is a prerequisite condition for satisfying the automatic brake condition. Therefore, when the automatic brake condition is satisfied, at S415, it is determined whether a detection point representing the position of the target that satisfied the automatic brake condition is acquired at the current time (in other words, whether at least one of the "current camera detection point and current sonar detection point" for the same target that satisfied the automatic brake condition is acquired).

[0047] <Object recognition> When the specified timing is reached, the CPU starts processing from S500 in FIG. 5 and proceeds to S510, and determines whether or not the host vehicle is in a non - stopped state (that is, a state where the host vehicle speed Vh is greater than "0").

[0048] If the host vehicle is in a stopped state, the CPU proceeds from S510 to S520, holds the fusion detection point (coordinates) at the time when this routine was executed a predetermined time dt ago (that is, the object position recognition point at a predetermined time ago) as a holding point. Then, the CPU proceeds to S595 and temporarily ends this routine.

[0049] On the other hand, if the host vehicle is in a non - stopped state (during running), the CPU proceeds from S510 to S530 and determines whether or not at least one of the "camera detection point and sonar detection point" has been acquired at the current time (latest acquisition timing). That is, the CPU determines whether or not at least one of the current camera detection point and the current sonar detection point has been acquired. If neither the current camera detection point nor the current sonar detection point has been acquired (that is, if neither the object detection unit 10a nor the object detection unit 20a has acquired the point (coordinates) representing the position of the object at the current time), the CPU proceeds from S530 to S520, and holds the object position recognition point at the time when this routine was executed a predetermined time dt ago as a holding point. Then, the CPU proceeds to S595 and temporarily ends this routine. Note that the CPU may omit the process of S510. In this case, the CPU proceeds directly from S500 to S530.

[0050] If at least one of the "camera detection point and sonar detection point" has been acquired at the current time (latest acquisition timing), the CPU proceeds from S530 to S540 and acquires the current camera detection point (that is, the current camera detection point). However, if there is no current camera detection point, the CPU does not perform the process of S540. Next, the CPU proceeds to S550 and acquires the current sonar detection point (that is, the current sonar detection point). However, if there is no current sonar detection point, the CPU does not perform the process of S550.

[0051] Next, at S560, the CPU integrates the current camera detection point and the current sonar detection point to generate a fusion detection point at the current time (i.e., the current fusion detection point).

[0052] Next, the CPU proceeds to S570, performs the following processing by comparing the holding point at that time with the current fusion detection point, and then proceeds to S595. (First Process) The CPU deletes from the target position recognition points the holding points in which the state of not being detected as the current fusion detection point among the holding points has continued for a certain period of time or more as unnecessary holding points. That is, among the holding points, the holding points in which it has been confirmed based on the "camera detection point and / or sonar detection point" that there is no target at that point for a continuous number of times equal to or more than a predetermined number of times are deleted from the target position recognition points. (Second Process) The CPU adds the current fusion detection point to the target position recognition points.

[0053] As described above, if the "current fusion detection point (i.e., at least one of the current camera detection point and the current sonar detection point)" is not included in the target position recognition point of the "target with a possibility of colliding with the host vehicle being equal to or higher than the threshold", which is the target for establishing the automatic braking condition, the device DS determines that there is a high possibility that the target does not exist and prohibits automatic braking. If the "current fusion detection point" is included in the target position recognition point of such a target, the device DS determines that there is still a high possibility that the target exists and permits automatic braking. Therefore, it is possible to reduce the frequency at which automatic braking is unnecessarily activated for targets that are highly likely not to exist, and it is possible to perform automatic braking for targets that are highly likely to exist.

[0054] Furthermore, when the apparatus DS determines, based on the surrounding object information including the object position recognition point, that a condition which is established when there is a high possibility that the host vehicle will collide with an object, i.e., a predetermined warning condition different from the automatic braking condition, is satisfied (S435: Yes), regardless of whether it has acquired at the current time a detection point (current fusion detection point) representing the position of the object for which the warning condition is satisfied (that is, regardless of whether at least one of the current camera detection point and the current sonar detection point exists), a warning is issued (S440, S415 to S420). Therefore, even if neither the current camera detection point nor the current sonar detection point has been acquired, the driver can be alerted by the warning about an object for which "there remains a possibility of existence".

[0055] The present invention is not limited to the above-described embodiment, and various modifications can be adopted within the scope of the present invention. For example, the apparatus DS can be applied to a host vehicle HV in a state where the driving mode has shifted from automatic driving to driving by the driver in an autonomous vehicle.

[0056] Furthermore, the apparatus DS may acquire (detect) a point representing the position of an object existing around the host vehicle using only the cameras 11 to 14 (that is, without using a sonar). Similarly, the apparatus DS may acquire (detect) a point representing the position of an object existing around the host vehicle using only a sonar (that is, without using a camera). In addition, the mounting positions, object detection regions, and numbers of the cameras 11 to 14, the first to sixth front sonars 21F - 26F, and the first to sixth rear sonars 21R - 26R can be set as appropriate.

[0057] The automatic braking condition determined in S450 may be different from the above-described automatic braking condition. For example, when the distance between the closest point to the vehicle body of the host vehicle among each of the "holding point and the current detection point" located within the predicted travel region and the vehicle body of the host vehicle is equal to or less than a first threshold distance, and when the accelerator pedal operation amount AP changes from "0" to "a value greater than 0", it may be determined that the automatic braking condition is satisfied.

[0058] Similarly, the warning conditions determined in S435 may be different from the above-described warning conditions. For example, among each of the "holding point and current detection point" located within the predicted travel area, the distance between the point closest to the vehicle body of the host vehicle and the vehicle body of the host vehicle is equal to or less than "a second threshold distance greater than the first distance threshold", and when the accelerator pedal operation amount AP changes from "0" to "a value greater than 0", it may be determined that the warning condition is satisfied.

Description of Signs

[0059] 10…PVM-ECU, 10a…Object Detection Unit, 11-14…Camera, 20…Clearance Sonar ECU, 20a…Object Detection Unit, 20b…Sensor Fusion Unit (Object Recognition Unit), 20c…Vehicle Control Unit, 21F-26F…First to Sixth Front Sonars, 21R-26R…First to Sixth Rear Sonars, 40…Brake ECU, 50…Warning ECU.

Claims

1. A target detection unit that repeatedly acquires detection points representing the positions of targets around the host vehicle; A target recognition unit that repeatedly updates the surrounding target information including target position recognition points that finally specify the positions of the targets based on the detection points acquired by the target detection unit at past times and the detection points detected by the target detection unit at the current time; A vehicle control unit that activates an automatic brake for avoiding the collision when it is determined based on the surrounding target information that a predetermined automatic brake condition that holds when there is a high possibility of the host vehicle colliding with the target is satisfied; In a vehicle driving support device comprising: The vehicle control unit: is configured not to perform the automatic brake when the target detection unit does not acquire at the current time the detection point representing the position of the target that has satisfied the automatic brake condition; Vehicle driving support device.

2. In the vehicle driving support device according to Claim 1, The vehicle control unit: When it is determined based on the surrounding target information that a predetermined warning condition that holds when there is a high possibility of the host vehicle colliding with the target and that is different from the automatic brake condition is satisfied, regardless of whether the target detection unit acquires at the current time the detection point representing the position of the target that has satisfied the warning condition, it is configured to give a warning to the driver of the host vehicle; Vehicle driving support device.

3. In the vehicle driving support device according to Claim 1 or Claim 2, The target detection unit: is configured to acquire the detection point based on at least one of sonar information from a sonar that measures the distance between the host vehicle and a target located around the host vehicle using ultrasonic waves and camera information from a camera that acquires image data by photographing the periphery of the host vehicle; The vehicle control target: configured to determine that the automatic braking condition is satisfied when at least a condition that one or more of the target position recognition points are located within the predicted travel area of the host vehicle is satisfied; A vehicle driving support device.

4. A first step of repeatedly acquiring detection points representing the positions of targets around the host vehicle; A second step of repeatedly updating surrounding target information including target position recognition points that finally specify the positions of the targets based on the detection points acquired by the target detection unit at past times and the detection points detected by the target detection unit at the current time; When it is determined based on the surrounding target information that a predetermined automatic braking condition that is satisfied when there is a high possibility that the host vehicle will collide with the target is satisfied, when the target detection unit is acquiring, at the current time, the detection point representing the position of the target that has satisfied the automatic braking condition, activating an automatic brake for avoiding the collision; when the target detection unit is not acquiring, at the current time, the detection point representing the position of the target that has satisfied the automatic braking condition, not activating an automatic brake for avoiding the collision; A third step; A vehicle driving support method including the above.

5. A program to be executed by a computer mounted on a host vehicle, the program causes the computer to perform a first step of repeatedly acquiring detection points representing the positions of targets around the host vehicle; perform a second step of repeatedly updating surrounding target information including target position recognition points that finally specify the positions of the targets based on the detection points acquired by the target detection unit at past times and the detection points detected by the target detection unit at the current time; when it is determined based on the surrounding target information that a predetermined automatic braking condition that is satisfied when there is a high possibility that the host vehicle will collide with the target is satisfied, When the object detection unit has acquired, at the current time, the detection point representing the position of the object that has satisfied the automatic braking condition, an automatic brake for avoiding the collision is actuated. When the object detection unit has not acquired, at the current time, the detection point representing the position of the object that has satisfied the automatic braking condition, the automatic brake for avoiding the collision is not actuated. A third step; A program for causing the execution.

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