Driving assistance device, driving assistance method, and driving assistance program

Abstract

To provide a driving assistance device, a driving assistance method, and a driving assistance program for exercising appropriate driving assistance.SOLUTION: A driving assistance device 40 for executing a driving assistance method and a driving assistance program acquires information obtained by a front sensor 12 and information pertaining to the own vehicle, and assists driving of the own vehicle on the basis of whether an own vehicle solid, which is a solid indicating the transition of a region where the own vehicle exists in a three-dimensional coordinate system composed of the distance in the lateral direction of the own vehicle, the distance in the front direction of the own vehicle and the time elapsed from the present time, and a physical object solid, which is a solid indicating the transition of a region where a physical object exists in the three-dimensional coordinate system, intersect. The driving assistance device 40 does not brake the own vehicle when the own vehicle solid and the physical object solid intersect AND when a stationary object exists between the own vehicle and an intersecting physical object that is a physical object where the physical object solid and the own vehicle solid intersect, and brakes the own vehicle when the own vehicle solid and the physical object solid intersect AND when no stationary object exists between the own vehicle and the intersecting physical object.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present disclosure relates to a driving assistance device, a driving assistance method, and a driving assistance program. [Background technology]

[0002] As described in Patent Document 1, a collision determination device is known that determines whether or not the host vehicle will collide with an object located around the host vehicle detected by an object detection device. This collision determination device includes a host vehicle area calculation unit, a host vehicle information calculation unit, a movement path calculation unit, and a determination unit. The host vehicle area calculation unit calculates a host vehicle existence area on an estimated path of the host vehicle at each predetermined time in a two-dimensional coordinate system defined by the current distance to the host vehicle in the host vehicle's traveling direction and the distance in the vehicle's width direction. The host vehicle information calculation unit calculates a host vehicle solid, which is a solid that indicates the transition of the host vehicle existence area, by interpolating the calculated host vehicle existence area at each predetermined time in a three-dimensional coordinate system defined by the distance in the host vehicle's traveling direction, the distance in the vehicle's width direction, and the elapsed time from the present. The movement path calculation unit calculates the object's movement path in the three-dimensional coordinate system based on the position of the object detected by the object detection device. The determination unit determines whether or not the host vehicle will collide with the object based on whether or not the calculated host vehicle solid intersects with the calculated movement path of the object. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Publication No. 2020-8288 Summary of the Invention [Problem to be solved by the invention]

[0004] For example, suppose the moving object is an oncoming vehicle, and the vehicle is traveling on a road with a stationary object in the middle, such as a pole, a white line, a curb, a guardrail, or a median strip. In this case, if the vehicle changes lanes, the collision determination device described in Patent Document 1 may erroneously determine that the oncoming vehicle will collide with the vehicle because the path of the oncoming vehicle beyond the stationary object intersects with the vehicle's solid form. If it erroneously determines that the oncoming vehicle will collide with the vehicle, the vehicle may automatically brake, even though the vehicle only intends to change lanes. Therefore, the collision determination device described in Patent Document 1 may not be able to provide appropriate driving assistance because it only considers the vehicle and the moving object.

[0005] The present disclosure aims to provide a driving assistance device, a driving assistance method, and a driving assistance program that provide appropriate driving assistance. [Means for solving the problem]

[0006] The invention described in claim 1 is a driving assistance device comprising: an acquisition unit (S100) that acquires information obtained by a forward sensor (12) that detects objects ahead of the host vehicle (90) and information about the host vehicle; and an assistance unit (S108-S118) that provides driving assistance for the host vehicle based on whether or not a host vehicle solid (D1), which is a solid that indicates the transition of an area (EA1) in which the host vehicle exists in a three-dimensional coordinate system consisting of the distance in the left-right direction of the host vehicle, the distance in the forward direction of the host vehicle, and the time elapsed from the present, intersects with an object solid (D2), which is a solid that indicates the transition of an area (EA2) in which an object exists in the three-dimensional coordinate system. The assistance unit does not brake the host vehicle when the host vehicle solid intersects with the object solid and there is a stationary object (Os) between the host vehicle and an intersecting object (Vo), which is an object that intersects with the host vehicle solid, and brakes the host vehicle when the host vehicle solid and the object solid intersect with each other and there is no stationary object between the intersecting object and the host vehicle.

[0007] The invention described in claim 7 is a driving assistance method that includes acquiring information obtained by a forward sensor (12) that detects an object in front of the host vehicle (90) and information about the host vehicle, and performing driving assistance for the host vehicle based on whether or not a host vehicle solid (D1), which is a solid that indicates the transition of an area (EA1) in which the host vehicle exists in a three-dimensional coordinate system consisting of the distance in the left and right directions of the host vehicle, the distance in the forward direction of the host vehicle, and the time elapsed from the present, intersects with an object solid (D2), which is a solid that indicates the transition of an area (EA2) in which an object exists in the three-dimensional coordinate system. When the host vehicle solid and the object solid intersect and there is a stationary object (Os) between the host vehicle and an intersecting object (Vo), which is an object that intersects with the host vehicle solid, the driving assistance method does not brake the host vehicle, but when the host vehicle solid and the object solid intersect and there is no stationary object between the intersecting object and the host vehicle.

[0008] Furthermore, the invention described in claim 8 is a driving assistance program that causes a driving assistance device to function as an acquisition unit (S100) that acquires information obtained by a forward sensor (12) that detects objects in front of the host vehicle (90) and information about the host vehicle, and an assistance unit (S108-S118) that performs driving assistance for the host vehicle based on whether or not a host vehicle solid (D1), which is a solid that indicates the transition of an area (EA1) in which the host vehicle exists in a three-dimensional coordinate system consisting of the distance in the left and right directions of the host vehicle, the distance in the forward direction of the host vehicle, and the time elapsed from the present, intersects with an object solid (D2), which is a solid that indicates the transition of an area (EA2) in which an object exists in the three-dimensional coordinate system.The assistance unit does not brake the host vehicle when the host vehicle solid intersects with the object solid and there is a stationary object (Os) between the host vehicle and an intersecting object (Vo), which is an object that intersects with the object solid, and brakes the host vehicle when the host vehicle solid and the object solid intersect with each other and there is no stationary object between the intersecting object and the host vehicle.

[0009] This allows for appropriate driving assistance.

[0010] The reference symbols in parentheses attached to each component indicate an example of the correspondence between the component and the specific components described in the embodiments described below. [Brief explanation of the drawings]

[0011] [Figure 1] 1 is a configuration diagram of a driving assistance system in which a driving assistance device according to a first embodiment is used. [Figure 2] FIG. 2 is a diagram showing a vehicle whose driving is assisted by a driving assistance device. [Figure 3] 4 is a flowchart showing processing of the driving assistance device. [Figure 4] FIG. 2 is a diagram showing an estimated vehicle path and vehicle existence area on an XY plane. [Figure 5] FIG. 2 is a diagram showing an estimated vehicle path and vehicle existence area on an XY plane. [Figure 6] FIG. 2 is a diagram showing an estimated object path and an object existence region on an XY plane. [Figure 7] FIG. 2 is a diagram showing an estimated object path and an object existence region on an XY plane. [Figure 8] FIG. [Figure 9] FIG. 4 is a diagram showing a first judgment region and a second judgment region on an XY plane. [Figure 10] FIG. 4 is a diagram showing a first judgment region and a second judgment region on an XY plane. [Figure 11] FIG. 2 is a diagram showing a host vehicle, an oncoming vehicle, and a stationary object. [Figure 12] 10A and 10B are diagrams for explaining a method for determining whether or not a stationary object exists between the host vehicle and an intersecting object. [Figure 13] 10A and 10B are diagrams for explaining a method for determining whether or not a stationary object exists between the host vehicle and an intersecting object. [Figure 14] FIG. 10 is a configuration diagram of a driving assistance system in which a driving assistance device according to a second embodiment is used. [Figure 15] 4 is a flowchart showing processing of the driving assistance device. DETAILED DESCRIPTION OF THE INVENTION

[0012] Hereinafter, embodiments will be described with reference to the drawings. In the following embodiments, identical or equivalent parts will be denoted by the same reference numerals, and description thereof will be omitted.

[0013] (First embodiment) The driving assistance method and the driving assistance program of the present embodiment are executed by a driving assistance device to provide appropriate driving assistance. Specifically, the driving assistance device is used in a driving assistance system for a vehicle. First, the driving assistance system will be described.

[0014] As shown in FIG. 1, the driving assistance system 1 includes a forward camera 12, a vehicle speed sensor 18, a yaw rate sensor 20, a driving assistance device 40, a braking device 50, and an alarm device 60.

[0015] As shown in Fig. 2, the front camera 12 is disposed, for example, on the rear surface of the inner mirror of the vehicle 90. The front camera 12 captures an image ahead of the vehicle 90. The front camera 12 outputs the captured image to a driving assistance device 40, which will be described later. The range Rf that the front camera 12 can capture is indicated by a solid line. The range Rf is symmetrical with respect to the longitudinal axis A.

[0016] 1, the vehicle speed sensor 18 outputs a signal corresponding to the speed of the host vehicle 90 to the driving assistance device 40 (described later).

[0017] The yaw rate sensor 20 outputs a signal corresponding to the yaw rate of the host vehicle 90 to a driving assistance device 40, which will be described later.

[0018] The driving assistance device 40 is mainly composed of a microcomputer and includes a CPU, ROM, flash memory, RAM, I / O, a communication interface, and a bus line connecting these components. Furthermore, the driving assistance device 40 executes a program stored in the ROM of the driving assistance device 40. As a result, the driving assistance device 40 acquires an image captured by the front camera 12. Furthermore, the driving assistance device 40 acquires the speed of the host vehicle 90 from the vehicle speed sensor 18. Furthermore, the driving assistance device 40 acquires the yaw rate of the host vehicle 90 from the yaw rate sensor 20. Based on the acquired image, the vehicle speed, and the yaw rate of the host vehicle 90, the driving assistance device 40 outputs a signal for performing driving assistance to a braking device 50 and a warning device 60 (described below).

[0019] The braking device 50 applies braking force to the wheels of the host vehicle 90 to brake the host vehicle 90 based on a signal from the driving assistance device 40. In this way, driving assistance is provided to the host vehicle 90.

[0020] The warning device 60 notifies the driver of the host vehicle 90 of a collision between the host vehicle 90 and an object, for example, by using text display, sound, and light, based on a signal from the driving assistance device 40. In this way, driving assistance is provided to the host vehicle 90.

[0021] The driving assistance system 1 in which the driving assistance device 40 of the first embodiment is used is configured as described above. Next, driving assistance for the host vehicle 90 by executing a program of the driving assistance device 40 will be described with reference to the flowchart of Fig. 3. Note that the program of the driving assistance device 40 is executed, for example, when the ignition or power of the host vehicle 90 is turned on. Also, the period of a series of operations from when the driving assistance device 40 starts processing step S100 until it returns to processing step S100 is defined as the control cycle of the driving assistance device 40.

[0022] Here, the following terms are defined to explain the driving assistance provided by the driving assistance device 40. As shown in FIGS. 4 and 5, the estimated path of the host vehicle 90 is referred to as the host vehicle estimated path PA1. Furthermore, on the XY plane of a two-dimensional coordinate system in which the current distance to the right of the host vehicle 90 is referred to as X and the current distance forward of the host vehicle 90 is referred to as Y, the region on the host vehicle estimated path PA1 in which the host vehicle 90 exists at each predetermined time is referred to as the host vehicle existence region EA1. The host vehicle existence region EA1 is set based on the size of the host vehicle 90 and is a rectangular region including the periphery of the host vehicle 90. The rightward direction of the host vehicle 90 corresponds to the vehicle width direction of the host vehicle 90. Furthermore, as shown in FIGS. 6 and 7, the estimated path of a moving object captured in an image captured by the front camera 12 is referred to as the object estimated path PA2. Furthermore, on the XY plane, the region on the object estimated path PA2 in which the object exists at each predetermined time is referred to as the object existence region EA2. The object existence area EA2 is set based on the size of the moving object shown in the image captured by the front camera 12, and here is a rectangular area including the periphery of the moving object.

[0023] 3, in step S100, the driving assistance device 40 acquires various information. Specifically, the driving assistance device 40 acquires an image captured by the front camera 12 from the front camera 12. The driving assistance device 40 also acquires the vehicle speed of the host vehicle 90 from the vehicle speed sensor 18. The driving assistance device 40 also acquires the yaw rate of the host vehicle 90 from the yaw rate sensor 20.

[0024] Furthermore, the driving assistance device 40 uses image recognition or the like to identify whether an object shown in the image captured by the front camera 12 is a moving object or a stationary object. Furthermore, the driving assistance device 40 uses image recognition or the like to acquire the positions of the identified moving objects and stationary objects. Furthermore, the driving assistance device 40 uses image recognition or the like to acquire the relative speed of the moving object with respect to the host vehicle 90. Furthermore, the driving assistance device 40 uses image recognition and deep learning or the like to acquire a DNN recognition score value of the identified object. Note that the DNN recognition score value is a value related to the identification of the type of object. As this DNN recognition score value increases, the accuracy of the identified type of object increases. DNN is an abbreviation for Deep Neural Network.

[0025] Subsequently, in step S102, the driving assistance device 40 calculates the host vehicle's estimated route PA1 and the host vehicle's existing area EA1.

[0026] Specifically, the driving assistance device 40 calculates the turning radius of the host vehicle 90 from the vehicle speed and yaw rate of the host vehicle 90 acquired in step S100. Furthermore, the driving assistance device 40 calculates an estimated host vehicle path PA1 as shown in Fig. 4 based on the calculated turning radius. In Fig. 4, the current time is indicated as T=T0. The reference position of the host vehicle 90 at T=T0 is indicated as P0.

[0027] Furthermore, the driving assistance device 40 uses the center of the left-right direction ahead of the host vehicle 90 as a reference position, and the direction of a tangent to the host vehicle estimated path PA1 at the reference position as the direction of the host vehicle existence area EA1, and uses the calculated host vehicle estimated path PA1. In this way, the driving assistance device 40 calculates the host vehicle existence area EA1 at each elapsed time as shown in FIG. 5. In FIG. 5, the time when a predetermined time has elapsed from the present is indicated as T=T1. The reference position of the host vehicle 90 at T=T1 is indicated as P1. The reference position of the host vehicle 90 when a predetermined time has elapsed from T=T1 is indicated as P2. The predetermined time and elapsed time for the host vehicle existence area EA1 are set by experiment, simulation, or the like so that a host vehicle solid D1, which will be described later, can be calculated.

[0028] Returning to the flowchart of FIG. 3, in step S104 following step S102, the driving assistance device 40 calculates an estimated object path PA2 and an object existence area EA2.

[0029] Specifically, the driving assistance device 40 uses image recognition or the like to calculate an estimated object path PA2 as shown in Fig. 6 based on the change in the position of the moving object acquired in step S100. In Fig. 6, the current time is indicated as T=T0. The reference position of the moving object at T=T0 is indicated as B0.

[0030] Furthermore, the driving assistance device 40 uses the object estimated path PA2 calculated above, assuming that the moving object moves at the relative speed of the moving object acquired in step S100. As a result, the driving assistance device 40 calculates an object existence area EA2 for each elapsed time as shown in Fig. 7. In Fig. 7, the time when a predetermined time has elapsed from the present is indicated as T=T1. The reference position of the moving object at T=T1 is indicated as B1. The reference position of the moving object when a predetermined time has elapsed from T=T1 is indicated as B2. The predetermined time and elapsed time for the object existence area EA2 are set by experiment, simulation, etc., so that an object solid D2, which will be described later, can be calculated.

[0031] Returning to the flowchart of Fig. 3, in step S106 following step S104, the driving assistance device 40 calculates a host vehicle solid D1 as shown in Fig. 8 by using the host vehicle existence area EA1 calculated in step S102 and interpolation. The host vehicle solid D1 is a solid that shows the transition of the host vehicle existence area EA1 in a three-dimensional coordinate system in which the distance to the right of the host vehicle 90 is X, the distance forward of the host vehicle 90 is Y, and the time that has elapsed from the present is T. In Fig. 8, the time when a predetermined time has elapsed from the present is indicated as TN.

[0032] Furthermore, the driving assistance device 40 calculates an object solid D2 by using the object existence area EA2 calculated in step S104 and interpolation. The object solid D2 is a solid that indicates the transition of the object existence area EA2 in the three-dimensional coordinate system.

[0033] 3, in step S108 following step S106, the driving assistance device 40 determines whether the host vehicle solid D1 and the object solid D2 calculated in step S106 intersect with each other. As a result, the driving assistance device 40 determines whether there is a possibility that the host vehicle 90 will collide with a moving object.

[0034] Specifically, the driving assistance device 40 extracts, from the host vehicle solid D1 calculated in step S106, a first determination area DA1 that is a host vehicle existence area EA1 at a predetermined elapsed time, as shown in Figures 9 and 10. Furthermore, the driving assistance device 40 extracts, from the object solid D2 calculated in step S106, a second determination area DA2 that is an object existence area EA2 for the same time as the first determination area DA1, at predetermined elapsed times.

[0035] Then, as shown in FIG. 9, when there is no overlapping area between the extracted first determination area DA1 and second determination area DA2, the driving assistance device 40 determines that the host vehicle solid D1 and the object solid D2 do not intersect. At this time, the driving assistance device 40 determines that there is no possibility that the host vehicle 90 will collide with a moving object. Furthermore, at this time, the driving assistance device 40 does not need to provide driving assistance for the host vehicle 90, and the processing of the driving assistance device 40 returns to step S100. Furthermore, as shown in FIG. 10, when there is an overlapping area between the extracted first determination area DA1 and second determination area DA2, the driving assistance device 40 determines that the host vehicle solid D1 and the object solid D2 intersect. At this time, the driving assistance device 40 determines that there is a possibility that the host vehicle 90 will collide with a moving object. Thereafter, the processing of the driving assistance device 40 proceeds to step S110. In FIG. 10, in order to emphasize the overlapping area between the first determination area DA1 and the second determination area DA2, the overlapping area is indicated by diagonal hatching.

[0036] As shown in FIG. 11 , assume that a moving object is an oncoming vehicle, and a host vehicle 90 equipped with a collision determination device such as that described in Patent Document 1 is traveling on a road with stationary objects in the middle, such as a pole, a white line, a curb, a guardrail, and a median strip. In this case, when the host vehicle 90 changes lanes, the collision determination device may erroneously determine that the host vehicle 90 will collide with the oncoming vehicle because the host vehicle solid D1 and the object solid D2 intersect. If it erroneously determines that the host vehicle 90 will collide with the oncoming vehicle, the host vehicle 90 may automatically brake, even though the host vehicle 90 only intends to change lanes. In FIG. 11 , the oncoming vehicle is indicated as Vo, and the stationary object is indicated as Os.

[0037] Therefore, in step S110 following step S108, the driving assistance device 40 determines whether or not there is a stationary object between the host vehicle 90 and the intersecting object. As a result, the driving assistance device 40 determines whether or not it is appropriate to perform driving assistance such as automatic braking. The intersecting object is a moving object that intersects with the host vehicle solid D1 and the object solid D2.

[0038] Specifically, as shown in Fig. 12, the driving assistance device 40 extracts the position of the intersecting object and the position of the stationary object from the position of the object acquired in step S100. Note that the position of the object here is a position in a three-dimensional coordinate system in which the center in the left-right direction in front of the host vehicle 90 is the origin, the distance to the right of the host vehicle 90 is X, the distance in the forward direction of the host vehicle 90 is Y, and the distance in the upward direction of the host vehicle 90 is Z. Also, in Fig. 12, the intersecting object is shown as Vo. The position of the intersecting object is shown as Pt. The coordinates of the position of the intersecting object are shown as xt, yt, and zt. The stationary object is shown as Os. The position of the stationary object is shown as Ps. The coordinates of the position of the stationary object are shown as xs, ys, and zs.

[0039] Furthermore, the driving assistance device 40 calculates a range of a predetermined size between the host vehicle 90 and the moving object from the coordinates of the position of the extracted intersecting object. In FIG. 12, the range of the predetermined size is indicated as Rd. Here, the range of the predetermined size is assumed to be rectangular, but is not limited to being rectangular. The range of the predetermined size may be a polygonal shape, a circular shape, an elliptical shape, or the like.

[0040] The driving support device 40 also determines whether the coordinates of the extracted position of the stationary object are within the calculated range, thereby determining whether there is a stationary object between the host vehicle 90 and the intersecting object.

[0041] Then, when the coordinates of the extracted position of the stationary object are within the calculated range, the driving assistance device 40 determines that there is a stationary object between the host vehicle 90 and the intersecting object. Furthermore, when the coordinates of the extracted position of the stationary object are outside the calculated range, the driving assistance device 40 determines that there is no stationary object between the host vehicle 90 and the intersecting object.

[0042] In addition, instead of the above method, the driving assistance device 40 may determine whether or not there is a stationary object between the vehicle 90 and the intersecting object by using the distance from the stationary object to the intersecting object in the left-right direction of the vehicle 90, as shown in Figure 13.

[0043] Here, it is assumed that a three-dimensional coordinate system is generated in which the position of the stationary object is used as a reference, the distance to the right of the host vehicle 90 is X, the distance in the forward direction of the host vehicle 90 is Y, and the distance in the upward direction of the host vehicle 90 is Z. In this case, when there is a stationary object between the host vehicle 90 and the intersecting object, the distance from the stationary object to the intersecting object in the left-right direction of the host vehicle 90 is a positive value. Furthermore, when there is no stationary object between the host vehicle 90 and the intersecting object, the distance from the stationary object to the intersecting object in the left-right direction of the host vehicle 90 is a negative value. Note that in FIG. 13, the distance from the stationary object to the intersecting object in the left-right direction of the host vehicle 90 is indicated as Dst. The intersecting object is indicated as Vo. The stationary object is indicated as Os.

[0044] Therefore, the driving assistance device 40 determines whether the distance from the stationary object to the intersecting object in the left-right direction of the vehicle 90 is positive or negative, thereby determining whether or not there is a stationary object between the vehicle 90 and the intersecting object.

[0045] Therefore, when the distance from the stationary object to the intersecting object in the left-right direction of the host vehicle 90 is a positive value, the driving assistance device 40 determines that a stationary object exists between the host vehicle 90 and the intersecting object. Furthermore, when the distance from the stationary object to the intersecting object in the left-right direction of the host vehicle 90 is a negative value, the driving assistance device 40 determines that no stationary object exists between the host vehicle 90 and the intersecting object. Note that when the distance from the stationary object to the intersecting object in the left-right direction of the host vehicle 90 is zero, the driving assistance device 40 determines that a stationary object exists between the host vehicle 90 and the intersecting object. When the distance from the stationary object to the intersecting object in the left-right direction of the host vehicle 90 is zero, the driving assistance device 40 may also determine that no stationary object exists between the host vehicle 90 and the intersecting object.

[0046] 3, when the driving assistance device 40 determines that there is no stationary object between the host vehicle 90 and the intersecting object, it determines that the situation is appropriate for providing driving assistance such as automatic braking. Then, the processing of the driving assistance device 40 proceeds to step S114. Furthermore, when the driving assistance device 40 determines that there is a stationary object between the host vehicle 90 and the intersecting object, it determines that the situation is not appropriate for providing driving assistance such as automatic braking. Then, the processing of the driving assistance device 40 proceeds to step S112.

[0047] In step S112 following step S110, the driving assistance device 40 determines whether the reliability of the identification of the stationary object determined in step S110 is high or not. As a result, the driving assistance device 40 re-determines whether the situation is appropriate to perform driving assistance such as automatic braking.

[0048] Specifically, the driving assistance device 40 extracts the DNN recognition score value of the stationary object determined in step S110 from the DNN recognition score value of the object acquired in step S100. Furthermore, the driving assistance device 40 determines whether the extracted DNN recognition score value of the stationary object is equal to or greater than a threshold value, using the extracted DNN recognition score value of the stationary object as the reliability of the stationary object identification. As a result, the driving assistance device 40 determines whether the reliability of the stationary object identification determined in step S110 is high. Note that the threshold value for the DNN recognition score value is set by experiment, simulation, or the like so that it can be determined whether the reliability of the stationary object identification is high.

[0049] Then, when the DNN recognition score value of the stationary object is equal to or greater than the threshold, the driving assistance device 40 determines that the reliability of the identification of the stationary object determined in step S110 is high. At this time, the driving assistance device 40 determines that the situation is not appropriate for providing driving assistance such as automatic braking because there is a stationary object between the host vehicle 90 and the intersecting object. Thereafter, the processing of the driving assistance device 40 returns to step S100. Furthermore, when the DNN recognition score value of the stationary object is less than the threshold, the driving assistance device 40 determines that the reliability of the identification of the stationary object determined in step S110 is low. At this time, the driving assistance device 40 determines that the situation is appropriate for providing driving assistance such as automatic braking because it is doubtful whether there is a stationary object between the host vehicle 90 and the intersecting object. Thereafter, the processing of the driving assistance device 40 proceeds to step S114.

[0050] Step S114 is a situation in which it is appropriate to perform driving assistance such as automatic braking. Therefore, in step S114, the driving assistance device 40 calculates an intersection time Tc, which is the time it takes for the host vehicle solid D1 and the object solid D2 to intersect. This calculated intersection time Tc corresponds to the time to collision TTC. The time to collision TTC is the time predicted to be required until the host vehicle 90 collides with a moving object. TTC stands for Time To Collision.

[0051] Therefore, in step S116 following step S114, the driving assistance device 40 determines whether the intersection time Tc calculated in step S114 is equal to or less than an intersection time threshold Tc_th. As a result, the driving assistance device 40 determines whether there is a high possibility of a collision between the host vehicle 90 and the intersecting object. Note that the intersection time threshold Tc_th is set by experiment, simulation, or the like so as to be a timing at which a collision between the host vehicle 90 and the intersecting object can be appropriately avoided.

[0052] When the intersection time Tc is greater than the intersection time threshold Tc_th, the driving assistance device 40 determines that the time to collision TTC is relatively long and therefore the possibility of a collision between the host vehicle 90 and the intersecting object is low. At this time, the driving assistance device 40 does not need to provide driving assistance for the host vehicle 90, and so the processing by the driving assistance device 40 returns to step S100. On the other hand, when the intersection time Tc is equal to or less than the intersection time threshold Tc_th, the driving assistance device 40 determines that the time to collision TTC is relatively short and therefore the possibility of a collision between the host vehicle 90 and the intersecting object is high. Thereafter, the processing by the driving assistance device 40 proceeds to step S118.

[0053] In step S118 following step S116, the driving assistance device 40 executes automatic braking and a warning as driving assistance because there is a high possibility of a collision between the host vehicle 90 and the intersecting object.

[0054] Specifically, the driving assistance device 40 outputs a signal to the braking device 50 to brake the host vehicle 90. As a result, the braking device 50 applies braking force to the wheels of the host vehicle 90. Furthermore, the driving assistance device 40 outputs a signal to the warning device 60 to activate the warning device 60. As a result, the warning device 60 notifies the driver of the host vehicle 90 of a collision between the host vehicle 90 and the object using text display, sound, and light. As a result, a collision between the host vehicle 90 and the intersecting object is appropriately avoided.

[0055] As described above, the driving assistance device 40 provides driving assistance for the vehicle 90. Next, how the driving assistance device 40 provides appropriate driving assistance will be described.

[0056] The driving assistance device 40 of this embodiment serves as an acquisition unit that acquires information obtained by the front camera 12 and information about the host vehicle 90. The driving assistance device 40 also serves as an assistance unit that provides driving assistance for the host vehicle 90 based on whether the host vehicle solid D1 and the object solid D2 intersect. The front camera 12 corresponds to a forward sensor that detects objects in front of the host vehicle 90. The information obtained by the front camera 12 here includes the captured image of the front camera 12, the identification, position, relative speed, and DNN recognition score value of the object shown in the captured image. The information about the host vehicle 90 here includes the vehicle speed and yaw rate of the host vehicle 90.

[0057] As described above, assume that a host vehicle 90 equipped with a collision determination device such as that described in Patent Document 1 is traveling on a road where the moving object is an oncoming vehicle and where stationary objects such as a pole, a white line, a curb, a guardrail, and a median strip are in the middle, as shown in FIG. 11 . In this case, when the host vehicle 90 changes lanes, the collision determination device may erroneously determine that the host vehicle 90 will collide with the oncoming vehicle because the host vehicle solid D1 and the object solid D2 intersect. If it is erroneously determined that the host vehicle 90 will collide with the oncoming vehicle, the host vehicle 90 may automatically brake, even though the host vehicle 90 only intends to change lanes. Therefore, the collision determination device described in Patent Document 1 may not be able to provide appropriate driving assistance because it only considers the host vehicle 90 and the moving object.

[0058] In contrast, the driving assistance device 40 of this embodiment does not brake the host vehicle 90 when the host vehicle solid D1 and the object solid D2 intersect and there is a stationary object between the intersecting object and the host vehicle 90. At this time, the driving assistance device 40 also does not activate the warning device 60. Furthermore, the driving assistance device 40 brakes the host vehicle 90 when the host vehicle solid D1 and the object solid D2 intersect and there is no stationary object between the intersecting object and the host vehicle 90. At this time, the driving assistance device 40 also activates the warning device 60.

[0059] This allows for appropriate driving assistance.

[0060] Furthermore, the driving assistance device 40 of the first embodiment also provides the following effects.

[0061] [1-1] Here, if the reliability of identifying stationary objects is low, there is a high possibility that the driving assistance device 40 has mistakenly recognized that there is a stationary object between the intersecting object and the vehicle 90, and therefore the vehicle 90 is likely to collide with the intersecting object.

[0062] For this reason, when the driving assistance device 40 determines that there is a stationary object between the intersecting object and the host vehicle 90 and the DNN recognition score value of the stationary object is equal to or greater than the threshold, the driving assistance device 40 does not brake the host vehicle 90. At this time, the driving assistance device 40 also does not activate the warning device 60. Furthermore, when the driving assistance device 40 determines that there is a stationary object between the intersecting object and the host vehicle 90 and the DNN recognition score value of the stationary object is less than the threshold, the driving assistance device 40 brakes the host vehicle 90. At this time, the driving assistance device 40 also activates the warning device 60. Note that the DNN recognition score value of the stationary object corresponds to a value related to the identification of the stationary object.

[0063] This allows for appropriate driving assistance.

[0064] [1-2] Here, when the intersection time Tc is relatively short, the host vehicle 90 is likely to collide with the intersecting object. Furthermore, when the intersection time Tc is relatively long, the host vehicle 90 is unlikely to collide with the intersecting object.

[0065] Therefore, when the host vehicle solid D1 and the object solid D2 intersect, when there is no stationary object between the intersecting object and the host vehicle 90, and when the value related to the intersection time Tc is greater than the intersection time threshold Tc_th, the driving assistance device 40 does not brake the host vehicle 90. At this time, the driving assistance device 40 also does not activate the warning device 60. Furthermore, when there is no stationary object between the intersecting object and the host vehicle 90, and when the value related to the intersection time Tc is equal to or less than the intersection time threshold Tc_th, the driving assistance device 40 brakes the host vehicle 90. At this time, the driving assistance device 40 also activates the warning device 60.

[0066] This allows for appropriate driving assistance.

[0067] (Second embodiment) The second embodiment differs from the first embodiment in the configuration of the driving assistance system 1 and the processing of the driving assistance device 40. Other than this, the second embodiment is similar to the first embodiment.

[0068] Specifically, as shown in FIG. 14, the driving assistance system 1 includes a front camera 12, a vehicle speed sensor 18, a yaw rate sensor 20, a driving assistance device 40, a braking device 50, and an alarm device 60, as well as a steering angle sensor 22.

[0069] The steering angle sensor 22 is attached to, for example, a steering rod of the host vehicle 90. Furthermore, the steering angle sensor 22 outputs to the driving assistance device 40 a signal corresponding to the steering angle of the steering wheel associated with the operation of the driver of the host vehicle 90.

[0070] In addition to the above information, the driving assistance device 40 also acquires the steering angle of the host vehicle 90 from the steering angle sensor 22 in step S100.

[0071] The processes from step S102 to step S108 following step S100 are the same as those in the first embodiment.

[0072] In step S110 following step S108, as shown in the flowchart of Fig. 15, the driving assistance device 40 determines whether or not condition F is satisfied, which includes whether or not a stationary object is present between the host vehicle 90 and the intersecting object in the first embodiment. As a result, the driving assistance device 40 determines whether or not it is appropriate to perform driving assistance such as automatic braking in the current situation.

[0073] Here, the condition F is met when all of the following conditions F1 to F5 are met. [Condition F1] There is a stationary object between the host vehicle 90 and the intersecting object. [Condition F2] The intersection angle is equal to or greater than the first threshold and equal to or less than the second threshold. [Condition F3] The steering angle of the host vehicle 90 is equal to or greater than the steering angle threshold value. [Condition F4] The amount of change in the steering angle of the vehicle 90 is equal to or greater than the change amount threshold value. [Condition F5] The turning radius of the host vehicle 90 is equal to or smaller than the turning radius threshold value.

[0074] The condition F1 is determined in the same manner as in the first embodiment. The intersection angle of the condition F2 is the angle between the velocity vector of the host vehicle 90 and the velocity vector of the intersecting object. Furthermore, the first threshold and the second threshold of the condition F2 are set by experiments, simulations, etc. so that the driving assistance device 40 determines that the intersecting object is an object facing the host vehicle 90. Therefore, the first threshold is, for example, 150°. The second threshold is 210°.

[0075] The steering angle threshold value of the condition F3 is set by experiment, simulation, or the like so that the driving assistance device 40 determines that the host vehicle 90 is turning.

[0076] Like the steering angle threshold value of condition F3, the change amount threshold value of condition F4 is set by experiment, simulation, or the like so that the driving assistance device 40 determines that the host vehicle 90 is turning.

[0077] The turning radius threshold of condition F5, like the steering angle threshold of condition F3 and the change amount threshold of condition F4, is set by experiment, simulation, or the like so that the driving assistance device 40 determines that the host vehicle 90 is turning.

[0078] Therefore, the driving assistance device 40 determines whether or not the condition F1 is satisfied, similarly to the first embodiment.

[0079] Furthermore, the driving assistance device 40 calculates a velocity vector of the host vehicle 90 from the vehicle speed and yaw rate of the host vehicle 90 acquired in step S100. The driving assistance device 40 also extracts the relative velocity of the intersecting object with respect to the host vehicle 90 from the relative velocity of the moving object with respect to the host vehicle 90 acquired in step S100. The driving assistance device 40 then calculates the velocity vector of the intersecting object from the extracted relative velocity of the intersecting object with respect to the host vehicle 90. The driving assistance device 40 also calculates an intersection angle from the calculated velocity vector of the host vehicle 90 and the velocity vector of the intersecting object. The driving assistance device 40 then uses this calculated intersection angle to determine whether or not condition F2 is satisfied.

[0080] Furthermore, the driving assistance device 40 determines whether or not the condition F3 is satisfied, using the steering angle of the host vehicle 90 acquired in step S100.

[0081] The driving assistance device 40 also calculates the amount of change in the steering angle of the host vehicle 90 from the steering angle of the host vehicle 90 in the current control cycle and the steering angle of the host vehicle 90 in the previous control cycle. Furthermore, the driving assistance device 40 uses the calculated amount of change in the steering angle of the host vehicle 90 to determine whether or not condition F4 is satisfied.

[0082] Furthermore, the driving support device 40 uses the turning radius calculated in step S102 to determine whether or not the condition F5 is met.

[0083] Then, when conditions F1 to F5 are not satisfied, the driving assistance device 40 determines that condition F is not satisfied. At this time, the driving assistance device 40 determines that the situation is appropriate for providing driving assistance such as automatic braking. Thereafter, the processing of the driving assistance device 40 proceeds to step S114. Furthermore, when conditions F1 to F5 are all satisfied, the driving assistance device 40 determines that condition F is satisfied. At this time, the driving assistance device 40 determines that the situation is not appropriate for providing driving assistance such as automatic braking. Thereafter, the processing of the driving assistance device 40 proceeds to step S112. The processing from step S112 to step S118 is the same as in the first embodiment.

[0084] As described above, the driving assistance system 1 including the driving assistance device 40 of the second embodiment is configured, and the driving assistance device 40 performs driving assistance for the host vehicle 90. The second embodiment also achieves the same effects as the first embodiment. The second embodiment also achieves the following effects.

[0085] [2-1] Here, as shown in FIG. 11, when the intersecting object is an oncoming vehicle or the like, and there is a stationary object between the intersecting object and the host vehicle 90, the collision determination device described in Patent Document 1 is likely to erroneously determine that the oncoming vehicle has collided with the host vehicle 90.

[0086] Therefore, the driving assistance device 40 does not brake the host vehicle 90 when the host vehicle solid D1 and the object solid D2 intersect, when there is a stationary object between the intersecting object and the host vehicle 90, and when the intersection angle is equal to or greater than the first threshold and equal to or less than the second threshold. At this time, the driving assistance device 40 also does not activate the warning device 60. Furthermore, the driving assistance device 40 brakes the host vehicle 90 when the host vehicle solid D1 and the object solid D2 intersect and the intersection angle is less than the first threshold. At this time, the driving assistance device 40 also activates the warning device 60. Furthermore, the driving assistance device 40 brakes the host vehicle 90 when the host vehicle solid D1 and the object solid D2 intersect and the intersection angle is greater than the second threshold. At this time, the driving assistance device 40 also activates the warning device 60.

[0087] This makes it easier to provide appropriate driving assistance when the vehicle solid D1 and the object solid D2 intersect, when there is a stationary object between the intersecting object and the vehicle 90, and when the intersecting object is an oncoming vehicle or the like.

[0088] [2-2] Furthermore, when there is a stationary object between the intersecting object and the host vehicle 90, when the host vehicle 90 turns, the behavior of the host vehicle 90 is likely to be a lane change.

[0089] For this reason, the driving assistance device 40 does not brake the host vehicle 90 in the following cases. At this time, the driving assistance device 40 also does not activate the warning device 60. The following cases are when the host vehicle solid D1 and the object solid D2 intersect, when there is a stationary object between the intersecting object and the host vehicle 90, when the steering angle of the host vehicle 90 is equal to or greater than the steering angle threshold, when the amount of change in the steering angle is equal to or greater than the change amount threshold, and when the turning radius of the host vehicle 90 is equal to or less than the turning radius threshold.

[0090] Furthermore, the driving assistance device 40 brakes the host vehicle 90 in the following cases. At this time, the driving assistance device 40 also activates the warning device 60. The following cases are when the host vehicle solid D1 and the object solid D2 intersect and the steering angle of the host vehicle 90 is less than the steering angle threshold. Or when the host vehicle solid D1 and the object solid D2 intersect and the amount of change in the steering angle of the host vehicle 90 is less than the change amount threshold. Or when the host vehicle solid D1 and the object solid D2 intersect and the turning radius of the host vehicle 90 is greater than the turning radius threshold.

[0091] This makes it easier to provide appropriate driving assistance when the host vehicle solid D1 and the object solid D2 intersect, when there is a stationary object between the intersecting object and the host vehicle 90, and when the host vehicle 90 is turning.

[0092] (Other embodiments) The present disclosure is not limited to the above-described embodiments, and appropriate modifications can be made to the above-described embodiments. Furthermore, it goes without saying that the elements constituting the embodiments in the above-described embodiments are not necessarily essential unless they are specifically stated as essential or are considered to be clearly essential in principle.

[0093] The acquisition unit, support unit, and methods described herein may be implemented by a special-purpose computer configured with a processor and memory programmed to perform one or more functions embodied in a computer program. Alternatively, the acquisition unit, support unit, and methods described herein may be implemented by a special-purpose computer configured with a processor configured with one or more dedicated hardware logic circuits. Alternatively, the acquisition unit, support unit, and methods described herein may be implemented by one or more special-purpose computers configured with a processor and memory programmed to perform one or more functions in combination with a processor configured with one or more hardware logic circuits. Furthermore, the computer program may be stored as instructions executed by a computer on a computer-readable non-transitory storage medium.

[0094] In each of the above embodiments, the host vehicle existence area EA1 and the object existence area EA2 are rectangular areas. However, the host vehicle existence area EA1 and the object existence area EA2 are not limited to rectangular areas and may be polygonal or elliptical areas.

[0095] In the above embodiments, an oncoming vehicle is exemplified as a moving object, but the moving object may be a moving vehicle, a pedestrian, or the like.

[0096] In each of the above embodiments, the front camera 12 is used to detect an object ahead of the vehicle 90. However, the use of the front camera 12 is not limited to this, and object detection ahead of the vehicle 90 may be performed by using a sensor that emits a search wave such as a millimeter wave, infrared light, or ultrasonic wave.

[0097] (Aspects of the present disclosure) [Point 1] A driving assistance device, an acquisition unit (S100) that acquires information obtained by a forward sensor (12) that detects an object in front of the host vehicle (90) and information about the host vehicle; an assistance unit (S108 to S118) that provides driving assistance for the host vehicle based on whether or not a host vehicle solid (D1) that is a solid indicating a transition of an area (EA1) in which the host vehicle exists in a three-dimensional coordinate system consisting of a distance in the left-right direction of the host vehicle, a distance in the forward direction of the host vehicle, and a time elapsed from the present time intersects with an object solid (D2) that is a solid indicating a transition of an area (EA2) in which the object exists in the three-dimensional coordinate system; Equipped with The support unit When the host vehicle solid and the object solid intersect with each other, and when there is a stationary object (Os) between the host vehicle and an intersecting object (Vo) that is the object intersecting with the host vehicle solid, the host vehicle is not braked, A driving assistance device that brakes the host vehicle when the host vehicle solid and the object solid intersect and when the stationary object is not between the intersecting object and the host vehicle. [Point 2] The support unit When the vehicle solid and the object solid intersect, and when the stationary object is between the intersecting object and the vehicle, the warning device (60) is not activated, The driving assistance device according to Aspect 1, wherein the warning device is activated when the vehicle solid and the object solid intersect and when there is no stationary object between the intersecting object and the vehicle. [Point 3] The support unit When it is determined that the stationary object is between the intersecting object and the host vehicle and the value relating to the identification of the stationary object is equal to or greater than a threshold value, the host vehicle is not braked, The driving assistance device according to aspect 1 or 2, wherein when it is determined that the stationary object is between the intersecting object and the host vehicle and a value relating to the identification of the stationary object is less than the threshold value, the driving assistance device brakes the host vehicle. [Point 4] The support unit When the host vehicle solid and the object solid intersect, and when there is no stationary object between the intersecting object and the host vehicle, and when a value relating to an intersection time (Tc) which is the time when the host vehicle solid and the object solid intersect is greater than an intersection time threshold (Tc_th), the host vehicle is not braked, A driving assistance device according to any one of aspects 1 to 3, wherein the driving assistance device brakes the host vehicle when the host vehicle solid and the object solid intersect, when there is no stationary object between the intersecting object and the host vehicle, and when the value relating to the intersection time is equal to or less than the intersection time threshold. [Point 5] The support unit When the host vehicle solid and the object solid intersect, and when the stationary object is between the intersecting object and the host vehicle, and when an intersection angle formed by a velocity vector of the host vehicle and a velocity vector of the intersecting object is equal to or greater than a first threshold value and equal to or less than a second threshold value, the host vehicle is not braked, When the host vehicle solid and the object solid intersect with each other and the intersection angle is less than the first threshold value, braking the host vehicle; A driving assistance device according to any one of Aspects 1 to 4, wherein the host vehicle is braked when the host vehicle solid and the object solid intersect with each other and the intersection angle is greater than the second threshold value. [Point 6] The support unit When the host vehicle solid and the object solid intersect, and when the stationary object is between the intersecting object and the host vehicle, and when the steering angle of the host vehicle is equal to or greater than a steering angle threshold, and when the amount of change in the steering angle is equal to or greater than a change amount threshold, and when the turning radius of the host vehicle is equal to or less than a turning radius threshold, the host vehicle is not braked, When the host vehicle solid and the object solid intersect with each other and the steering angle is less than the steering angle threshold, the host vehicle is braked; When the host vehicle solid and the object solid intersect with each other and the amount of change is less than the amount of change threshold, the host vehicle is braked; A driving assistance device according to any one of Aspects 1 to 5, wherein the host vehicle is braked when the host vehicle solid and the object solid intersect and the turning radius is greater than the turning radius threshold. [Point 7] A driving assistance method, acquiring information obtained by a forward sensor (12) that detects an object in front of the host vehicle (90) and information about the host vehicle; providing driving assistance for the host vehicle based on whether or not a host vehicle solid (D1) which is a solid indicating a transition of an area (EA1) in which the host vehicle exists in a three-dimensional coordinate system consisting of a distance in the left-right direction of the host vehicle, a distance in the forward direction of the host vehicle, and a time elapsed from the present time intersects with an object solid (D2) which is a solid indicating a transition of an area (EA2) in which the object exists in the three-dimensional coordinate system; Includes When the host vehicle solid and the object solid intersect with each other, and when there is a stationary object (Os) between the host vehicle and an intersecting object (Vo) that is the object intersecting with the host vehicle solid, the host vehicle is not braked, A driving assistance method for braking the host vehicle when the host vehicle solid and the object solid intersect and when the stationary object is not between the intersecting object and the host vehicle. [Point 8] A driving assistance program, Driving assistance devices, an acquisition unit (S100) that acquires information obtained by a forward sensor (12) that detects an object in front of the host vehicle (90) and information about the host vehicle; an assistance unit (S108 to S118) that provides driving assistance for the host vehicle based on whether or not a host vehicle solid (D1) that is a solid indicating a transition of an area (EA1) in which the host vehicle exists in a three-dimensional coordinate system consisting of a distance in the left-right direction of the host vehicle, a distance in the forward direction of the host vehicle, and a time elapsed from the present time intersects with an object solid (D2) that is a solid indicating a transition of an area (EA2) in which the object exists in the three-dimensional coordinate system; It functions as The support unit When the host vehicle solid and the object solid intersect with each other, and when there is a stationary object (Os) between the host vehicle and an intersecting object (Vo) that is the object intersecting with the host vehicle solid, the host vehicle is not braked, a driving assistance program that brakes the host vehicle when the host vehicle solid and the object solid intersect and when the stationary object is not between the intersecting object and the host vehicle; [Explanation of symbols]

[0098] 12 Front camera 18 Vehicle speed sensor 20 Yaw rate sensor 40 Driving assistance devices 50 Braking device 60 Alarm device 90 Vehicle

Claims

1. A driving assistance device, an acquisition unit (S100) that acquires information obtained by a forward sensor (12) that detects an object in front of the host vehicle (90) and information about the host vehicle; an assistance unit (S108 to S118) that provides driving assistance for the host vehicle based on whether or not a host vehicle solid (D1) that is a solid indicating a transition of an area (EA1) in which the host vehicle exists in a three-dimensional coordinate system consisting of a distance in a left-right direction of the host vehicle, a distance in a forward direction of the host vehicle, and a time elapsed from the present time intersects with an object solid (D2) that is a solid indicating a transition of an area (EA2) in which the object exists in the three-dimensional coordinate system; Equipped with The support unit When the host vehicle solid and the object solid intersect with each other, and when there is a stationary object (Os) between the host vehicle and an intersecting object (Vo) that is the object intersecting with the host vehicle solid, the host vehicle is not braked, A driving assistance device that brakes the host vehicle when the host vehicle solid and the object solid intersect and when the stationary object is not between the intersecting object and the host vehicle.

2. The support unit When the vehicle solid and the object solid intersect, and when the stationary object is between the intersecting object and the vehicle, the warning device (60) is not activated, 2. The driving support device according to claim 1, wherein the warning device is activated when the vehicle solid and the object solid intersect and when there is no stationary object between the intersecting object and the vehicle.

3. The support unit When it is determined that the stationary object is between the intersecting object and the host vehicle and the value relating to the identification of the stationary object is equal to or greater than a threshold value, the host vehicle is not braked, The driving assistance device according to claim 1 or 2, wherein when it is determined that the stationary object is between the intersecting object and the host vehicle and a value relating to the identification of the stationary object is less than the threshold value, the device brakes the host vehicle.

4. The support unit When the host vehicle solid and the object solid intersect, when there is no stationary object between the intersecting object and the host vehicle, and when a value relating to an intersection time (Tc) which is the time when the host vehicle solid and the object solid intersect is greater than an intersection time threshold (Tc_th), the host vehicle is not braked, 3. The driving assistance device according to claim 1, wherein the vehicle is braked when the vehicle solid and the object solid intersect, when there is no stationary object between the intersecting object and the vehicle, and when the value relating to the intersection time is equal to or less than the intersection time threshold.

5. The support unit When the host vehicle solid and the object solid intersect, and when the stationary object is between the intersecting object and the host vehicle, and when an intersection angle formed by a velocity vector of the host vehicle and a velocity vector of the intersecting object is equal to or greater than a first threshold value and equal to or less than a second threshold value, the host vehicle is not braked, When the host vehicle solid and the object solid intersect with each other and the intersection angle is less than the first threshold value, the host vehicle is braked; The driving assistance device according to claim 1 or 2, wherein the host vehicle is braked when the host vehicle solid and the object solid intersect with each other and the intersection angle is greater than the second threshold value.

6. The support unit When the host vehicle solid and the object solid intersect, and when the stationary object is between the intersecting object and the host vehicle, and when the steering angle of the host vehicle is equal to or greater than a steering angle threshold, and when the amount of change in the steering angle is equal to or greater than a change amount threshold, and when the turning radius of the host vehicle is equal to or less than a turning radius threshold, the host vehicle is not braked, When the host vehicle solid and the object solid intersect with each other and the steering angle is less than the steering angle threshold, the host vehicle is braked; When the host vehicle solid and the object solid intersect with each other and the amount of change is less than the amount of change threshold, braking the host vehicle; 3. The driving support device according to claim 1, wherein the host vehicle is braked when the host vehicle solid and the object solid intersect and the turning radius is greater than the turning radius threshold value.

7. A driving assistance method, acquiring information obtained by a forward sensor (12) that detects an object in front of the host vehicle (90) and information about the host vehicle; providing driving assistance for the host vehicle based on whether or not a host vehicle solid (D1) which is a solid indicating a transition of an area (EA1) in which the host vehicle exists in a three-dimensional coordinate system consisting of a distance in the left-right direction of the host vehicle, a distance in the forward direction of the host vehicle, and a time elapsed from the present time intersects with an object solid (D2) which is a solid indicating a transition of an area (EA2) in which the object exists in the three-dimensional coordinate system; Including, When the host vehicle solid and the object solid intersect with each other, and when there is a stationary object (Os) between the host vehicle and an intersecting object (Vo) that is the object intersecting with the host vehicle solid, the host vehicle is not braked, A driving assistance method for braking the host vehicle when the host vehicle solid and the object solid intersect and when the stationary object is not between the intersecting object and the host vehicle.

8. A driving assistance program, Driving assistance devices, an acquisition unit (S100) that acquires information obtained by a forward sensor (12) that detects an object in front of the host vehicle (90) and information about the host vehicle; an assistance unit (S108 to S118) that performs driving assistance for the host vehicle based on whether or not a host vehicle solid (D1) that is a solid indicating a transition of an area (EA1) in which the host vehicle exists in a three-dimensional coordinate system consisting of a distance in the left-right direction of the host vehicle, a distance in the forward direction of the host vehicle, and a time elapsed from the present time intersects with an object solid (D2) that is a solid indicating a transition of an area (EA2) in which the object exists in the three-dimensional coordinate system; It functions as The support unit When the host vehicle solid and the object solid intersect with each other, and when there is a stationary object (Os) between the host vehicle and an intersecting object (Vo) that is the object intersecting with the host vehicle solid, the host vehicle is not braked, a driving assistance program that brakes the host vehicle when the host vehicle solid and the object solid intersect and when the stationary object is not between the intersecting object and the host vehicle;

Images