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 does not brake the own vehicle when the own vehicle solid and a physical object solid which are solids indicating the transition of the own vehicle and a physical object 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 having elapsed from the present time intersect AND when there exists an intersecting point between an intersecting physical object and the own vehicle AND when the intersecting physical object is located on an extension region AND when an intersecting angle is in the range from a first threshold to a second threshold. Meanwhile, the driving assistance device 40 brakes the own vehicle when, while the own vehicle solid and the physical object solid intersect, there exists no intersecting point between the intersecting physical object and the own vehicle, when the intersecting physical object is not located on the extension region, when the intersecting angle is less than the first threshold, or when the intersecting angle is larger than the second threshold.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 movement path of the object 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 Application 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 oncoming vehicle and the vehicle are traveling near an intersection. In this case, if the road within the intersection is S-shaped, it is difficult to recognize the lanes within the intersection. Furthermore, 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 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 is simply traveling along the road within the intersection. 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 of claim 1 is a driving assistance device comprising: an acquisition unit (S100) that acquires information obtained by a forward sensor (12) that detects an object ahead 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) 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 distances in the left and right directions of the host vehicle, distances in the forward direction of the host vehicle, and time elapsed from the present intersects with an object solid (D2) that is a solid indicating a transition of an area (EA2) in which an object exists in the three-dimensional coordinate system. When the host vehicle solid intersects with the object solid, and when there is an intersection between the host vehicle and an intersecting object (Vo) that is an object intersecting with the host vehicle solid, and when there is an intersection between the left and right of the host vehicle and the object solid, the assistance unit When an intersecting object is located on an extended region (Ri), which is a region defined by the length of the lane on which the host vehicle is traveling in the forward direction and the distance from the host vehicle in the forward direction of the host vehicle, and when the intersection angle, which is the angle between the host vehicle's velocity vector and the intersecting object's velocity vector, is equal to or greater than a first threshold value and equal to or less than a second threshold value, the driving assistance device brakes the host vehicle without braking when the host vehicle's 3D object and the object 3D intersect and there is no intersection between the intersecting object and the host vehicle, brakes the host vehicle when the host vehicle 3D object and the object 3D intersect and the intersecting object is not located on the extended region, brakes the host vehicle when the host vehicle 3D object and the object 3D intersect and the intersection angle is less than the first threshold value, brakes the host vehicle when the host vehicle 3D object and the object 3D intersect and the intersection angle is greater than a second threshold value.

[0007] The invention described in claim 5 is a driving assistance method, which includes acquiring information obtained by a forward sensor (12) that detects an object ahead 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) 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 intersects with an object solid (D2) that is a solid indicating a transition of an area (EA2) in which an object exists in the three-dimensional coordinate system, and when the host vehicle solid intersects with the object solid, and when there is an intersection between the host vehicle and an intersecting object (Vo) that is an object intersecting with the host vehicle solid, and when the host vehicle is traveling in the left-right direction of the host vehicle, When an intersecting object is located on an extended region (Ri), which is a region defined by the length of the lane along which the vehicle is traveling and the distance from the vehicle in a forward direction, and when the intersection angle, which is the angle between the velocity vector of the vehicle and the 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 driving assistance method brakes the vehicle without braking when the vehicle 3D and the object 3D intersect and there is no intersection between the intersecting object and the vehicle, brakes the vehicle, and when the vehicle 3D and the object 3D intersect and the intersecting object is not located on the extended region, brakes the vehicle, and when the vehicle 3D and the object 3D intersect and the intersection angle is less than the first threshold value, brakes the vehicle, and when the vehicle 3D and the object 3D intersect and the intersection angle is greater than a second threshold value.

[0008] Furthermore, the invention of claim 6 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 an object ahead 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) that is a solid showing 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 intersects with an object solid (D2) that is a solid showing a transition of an area (EA2) in which an object exists in the three-dimensional coordinate system, and the assistance unit performs the following operations when the host vehicle solid and the object solid intersect with each other, and when there is an intersection between the host vehicle and an intersecting object (Vo) that is an object intersecting with the host vehicle solid, When an intersecting object is located on an extended region (Ri), which is an region defined by the length of the lane on which the host vehicle is traveling in the left-right direction of the host vehicle and the distance from the host vehicle in the forward direction of the host vehicle, and when the intersection angle, which is the angle between the host vehicle's velocity vector and the intersecting object's velocity vector, is greater than or equal to a first threshold value and less than a second threshold value, the host vehicle is not braked when the host vehicle's 3D and the object 3D intersect and there is no intersection between the intersecting object and the host vehicle; when the host vehicle's 3D and the object 3D intersect and the intersecting object is not located on the extended region, the host vehicle is braked; when the host vehicle's 3D and the object 3D intersect and the intersection angle is less than the first threshold value, the host vehicle is braked; and when the host vehicle's 3D and the object 3D intersect and the intersection angle is greater than a second threshold value, the host vehicle is braked.

[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] 1 is a diagram showing a vehicle, an oncoming vehicle, and an intersection. [Figure 12] 10A and 10B are diagrams for explaining a method for determining whether or not there is an intersection between the vehicle and an intersecting object, and whether or not the intersecting object is located on an extension area. [Figure 13] 10 is a diagram for explaining a method for determining whether or not an intersection exists between the vehicle and an intersecting object in the driving assistance device of the second embodiment. FIG. [Figure 14] FIG. 10 is a diagram showing a host vehicle, an oncoming vehicle, and an intersection in a driving assistance device according to a third embodiment. [Figure 15] FIG. 10 is a diagram showing a host vehicle, an oncoming vehicle, and an intersection in a driving assistance device according to a third embodiment. [Figure 16] FIG. 10 is a diagram showing a host vehicle, an oncoming vehicle, and an intersection in a driving assistance device according to a fourth embodiment. [Figure 17] FIG. 13 is a diagram showing a host vehicle, an oncoming vehicle, and an intersection in a driving assistance device according to a fifth embodiment. 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] 11, it is assumed that the moving object is an oncoming vehicle, and that the oncoming vehicle and a host vehicle 90 equipped with the collision determination device described in Patent Document 1 are traveling near an intersection. In this case, if the road within the intersection is S-shaped or the like, it is difficult to recognize the lanes within the intersection. Furthermore, the collision determination device of Patent Document 1 may erroneously determine that the oncoming vehicle will collide with the host vehicle 90 because the path of the oncoming vehicle intersects with the host vehicle solid D1. If it is erroneously determined that the oncoming vehicle will collide with the host vehicle 90, the host vehicle 90 is automatically braked or the like, even though the host vehicle 90 is simply traveling along the road within the intersection.

[0037] Therefore, in step S110 following step S108, the driving assistance device 40 determines whether or not the following condition F is satisfied. As a result, the driving assistance device 40 determines whether or not it is appropriate to perform driving assistance such as automatic braking.

[0038] Here, the condition F is met when all of the following conditions F1 to F3 are met. [Condition F1] There is an intersection between the host vehicle 90 and the intersecting object. [Condition F2] The intersecting object is located on the extension region Ri. [Condition F3] The intersection angle is equal to or greater than the first threshold and equal to or less than the second threshold.

[0039] The intersecting object in the above conditions F1, F2, and F3 is a moving object that intersects with the host vehicle solid D1 and the object solid D2.

[0040] 12, when there is an intersection between the host vehicle 90 and the intersecting object, the distance from the host vehicle 90 to the corner of the road in the longitudinal direction of the host vehicle 90 is shorter than the distance from the host vehicle 90 to the intersecting object in the longitudinal direction of the host vehicle 90. In FIG. 12, the intersecting object is indicated as Vo. The distance from the host vehicle 90 to the corner of the road in the longitudinal direction of the host vehicle 90 is indicated as Dc. The distance from the host vehicle 90 to the intersecting object in the longitudinal direction of the host vehicle 90 is indicated as Dt.

[0041] Therefore, the driving assistance device 40 uses image recognition, edge detection, etc. to extract a road corner ahead of the host vehicle 90 from the stationary objects identified in step S100. Furthermore, the driving assistance device 40 extracts the position of the extracted road corner from the position of the stationary object acquired in step S100. Furthermore, the driving assistance device 40 calculates the distance from the host vehicle 90 to the road corner in the longitudinal direction of the host vehicle 90 from the position of the extracted road corner. Furthermore, the driving assistance device 40 extracts the position of an intersecting object from the position of the moving object acquired in step S100. Furthermore, the driving assistance device 40 calculates the distance from the host vehicle 90 to the intersecting object in the longitudinal direction of the host vehicle 90 from the position of the extracted intersecting object. Then, the driving assistance device 40 compares these calculated distances to determine whether or not the condition F1 is met.

[0042] 12, the extension region Ri of condition F2 is a region defined by the length of the lane on which the host vehicle 90 is traveling in the left-right direction of the host vehicle 90 and the distance from the front end of the host vehicle 90 in the forward direction of the host vehicle 90. Note that the distance from the front end of the host vehicle 90 in the forward direction of the extension region Ri is a distance for determining whether or not an intersecting object is located on the extension region Ri, and is therefore greater than the distance from the host vehicle 90 to the intersecting object in the forward / backward direction of the host vehicle 90. Furthermore, here, the extension region Ri is a rectangular region.

[0043] Therefore, the driving assistance device 40 performs image recognition or the like on the captured image acquired in step S100 to calculate the length of the lane in which the host vehicle 90 is traveling in the left-right direction of the host vehicle 90. The driving assistance device 40 also calculates the distance from the front end of the host vehicle 90 in the forward direction of the host vehicle 90 in the extension region Ri from the distance from the host vehicle 90 to the intersecting object in the longitudinal direction of the host vehicle 90. Furthermore, the driving assistance device 40 calculates the extension region Ri from these calculated lengths and distances. The driving assistance device 40 then determines whether the position of the extracted intersecting object is located on the extension region Ri, thereby determining whether condition F2 is satisfied.

[0044] Here, the intersection angle of condition F3 is the angle formed by 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 condition F3 are set by experiment, simulation, or the like 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°.

[0045] Therefore, the driving assistance device 40 calculates the 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 the 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 the calculated intersection angle to determine whether or not condition F3 is satisfied.

[0046] Returning to the flowchart of FIG. 3 , the driving assistance device 40 determines that condition F is not satisfied when conditions F1 to F3 are 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 F3 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.

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

[0048] Specifically, the driving assistance device 40 extracts the DNN recognition score value of the road corner determined in step S110 from the DNN recognition score value of the object acquired in step S100. The driving assistance device 40 also determines whether the extracted DNN recognition score value of the road corner is equal to or greater than a threshold value, using the extracted DNN recognition score value of the road corner as a reliability for identifying the intersection. As a result, the driving assistance device 40 determines whether the reliability for identifying the intersection determined in step S110 is high. 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 for identifying the intersection is high.

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

[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 assists in driving 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, as shown in FIG. 11 , assume that the moving object is an oncoming vehicle, and the oncoming vehicle and the host vehicle 90 equipped with the collision determination device described in Patent Document 1 are traveling near an intersection. In this case, if the road within the intersection is S-shaped, for example, it is difficult to recognize the lanes within the intersection. Furthermore, the collision determination device of Patent Document 1 may erroneously determine that the oncoming vehicle will collide with the host vehicle 90 because the path of the oncoming vehicle intersects with the host vehicle solid body D1. If it is erroneously determined that the oncoming vehicle will collide with the host vehicle 90, automatic braking or the like is performed on the host vehicle 90, even though the host vehicle 90 is simply traveling along the road within the intersection. 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 all of the above conditions F1 to F3 are met. At this time, the driving assistance device 40 also does not activate the warning device 60. Furthermore, when the host vehicle solid D1 and the object solid D2 intersect and the above conditions F1 to F3 are not met, the driving assistance device 40 brakes 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] Here, if the reliability of the intersection identification is low, there is a high possibility that the driving assistance device 40 has mistakenly recognized that there is an intersection between the intersecting object and the vehicle 90, and therefore there is a high possibility that the vehicle 90 will collide with the intersecting object.

[0062] For this reason, when the driving assistance device 40 determines that there is an intersection between the intersecting object and the host vehicle 90 and the DNN recognition score value of the road corner 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 an intersection between the intersecting object and the host vehicle 90 and the DNN recognition score value of the road corner 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 road corner corresponds to a value related to the identification of the intersection.

[0063] This allows for appropriate driving assistance.

[0064] [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, and when the above conditions F1 to F3 are not satisfied, 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 the host vehicle solid D1 and the object solid D2 intersect, and when the above conditions F1 to F3 are not satisfied, 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 method by which the driving support device 40 determines whether or not the condition F1 is satisfied. The rest of the second embodiment is the same as the first embodiment.

[0068] 13, when an S-shaped road exists within an intersection, there are often stationary objects such as a crosswalk or a bus stop located in front of the intersection as seen from the vehicle 90. Furthermore, stationary objects such as bus stops may block the image of the corner of the road captured by the front camera 12, making it difficult to identify the corner of the road.

[0069] For this reason, the driving assistance device 40 of the second embodiment uses stationary objects such as crosswalks and bus stops in addition to road corners to determine whether the condition F1 is met.

[0070] Specifically, the driving assistance device 40 uses image recognition, edge detection, etc. to extract corners of stationary objects such as corners of the road ahead of the vehicle 90, corners of the crosswalk, and corners of bus stops from the stationary objects identified in step S100. Furthermore, the driving assistance device 40 extracts the positions of the corners of the road, corners of the crosswalk, and corners of bus stops from the positions of the stationary objects acquired in step S100.

[0071] The driving assistance device 40 also calculates the distance from the host vehicle 90 to the road corner in the longitudinal direction of the host vehicle 90 from the extracted position of the road corner. Furthermore, the driving assistance device 40 also calculates the distance from the host vehicle 90 to the road corner in the longitudinal direction of the host vehicle 90 from the extracted position of the crosswalk corner. Furthermore, the driving assistance device 40 also calculates the distance from the host vehicle 90 to the road corner in the longitudinal direction of the host vehicle 90 from the extracted position of the corner of the stationary object such as a bus stop. Furthermore, the driving assistance device 40 extracts the position of an intersecting object from the position of the moving object acquired in step S100. Furthermore, the driving assistance device 40 also calculates the distance from the host vehicle 90 to the road corner in the longitudinal direction of the host vehicle 90 from the extracted position of the intersecting object. In FIG. 13 , the distance from the host vehicle 90 to the road corner in the longitudinal direction of the host vehicle 90 is indicated as Dc. The distance from the host vehicle 90 to the corner of the crosswalk in the longitudinal direction of the host vehicle 90 is shown as Dw. The distance from the host vehicle 90 to the corner of a stationary object such as a bus stop in the longitudinal direction of the host vehicle 90 is shown as Ds. The distance from the host vehicle 90 to the intersecting object in the longitudinal direction of the host vehicle 90 is shown as Dt. The intersecting object is shown as Vo.

[0072] Then, the driving assistance device 40 compares these calculated distances to determine whether or not the condition F1 is met.

[0073] For example, suppose that the distance from the host vehicle 90 to a corner of the road in the longitudinal direction of the host vehicle 90 is shorter than the distance from the host vehicle 90 to an intersecting object in the longitudinal direction of the host vehicle 90. Also, suppose that the distance from the host vehicle 90 to a corner of a crosswalk in the longitudinal direction of the host vehicle 90 is shorter than the distance from the host vehicle 90 to the intersecting object in the longitudinal direction of the host vehicle 90. Also, suppose that the distance from the host vehicle 90 to a corner of a stationary object such as a bus stop in the longitudinal direction of the host vehicle 90 is shorter than the distance from the host vehicle 90 to the intersecting object in the longitudinal direction of the host vehicle 90. In this case, the driving assistance device 40 determines that an intersection exists between the host vehicle 90 and the intersecting object, that is, determines that condition F1 is satisfied.

[0074] Also, for example, the distance from the host vehicle 90 to the corner of the crosswalk in the longitudinal direction of the host vehicle 90 is set to be equal to or greater than the distance from the host vehicle 90 to the intersecting object in the longitudinal direction of the host vehicle 90. Alternatively, the distance from the host vehicle 90 to the corner of a stationary object such as a bus stop in the longitudinal direction of the host vehicle 90 is set to be equal to or greater than the distance from the host vehicle 90 to the intersecting object in the longitudinal direction of the host vehicle 90. In this case, the driving assistance device 40 determines that there is no intersection between the host vehicle 90 and the intersecting object, that is, determines that condition F1 is not satisfied.

[0075] As described above, the driving assistance device 40 of the second embodiment determines whether or not the condition F1 is satisfied. The second embodiment also provides the same effects as the first embodiment.

[0076] (Third embodiment) In the third embodiment, the driving scene of the host vehicle 90 is different from that in the first embodiment. Other than this, the third embodiment is the same as the first embodiment.

[0077] In the driving scene of the host vehicle 90 in the first embodiment, there is an S-shaped road within the intersection. In contrast to this, in the driving scene of the host vehicle 90 in the third embodiment, as shown in Fig. 14 and Fig. 15, the host vehicle 90 and an intersecting object pass through the intersection, and the host vehicle 90 and the intersecting object turn left or right on the same lane. Note that roads that create such a scene may be formed. Note that in Fig. 14 and Fig. 15, the intersecting object is indicated as Vo.

[0078] Even in such a situation, the driving assistance device 40 of this embodiment can be applied and provides the same effects as those of the first embodiment.

[0079] (Fourth embodiment) In the fourth embodiment, the driving scene of the host vehicle 90 is different from that in the first embodiment. Other than this, the fourth embodiment is the same as the first embodiment.

[0080] In the first embodiment, stationary objects such as a crosswalk and a bus stop are placed in front of the intersection when viewed from the vehicle 90. In contrast, in the fourth embodiment, as shown in Fig. 16, stationary objects such as a crosswalk and a bus stop are not placed. Also, in the fourth embodiment, instead of the entire intersecting object being located on the extension region Ri, only a part of the intersecting object is located on the extension region Ri. In Fig. 16, the intersecting object is indicated as Vo.

[0081] Even in such a situation, the driving assistance device 40 of this embodiment can be applied and provides the same effects as those of the first embodiment.

[0082] (Fifth embodiment) In the fifth embodiment, the shape of the extension region Ri is different from that in the first embodiment, but other than this, it is the same as the first embodiment.

[0083] Specifically, instead of being a rectangular region, the extension region Ri is made S-shaped as shown in Fig. 17. Note that the extension region Ri is not limited to being a rectangular region or an S-shaped region, and may be a polygonal region, an elliptical region, or the like.

[0084] Even if the extension region Ri has such a shape, the driving assistance device 40 of this embodiment can be applied and provides the same effects as those of the first embodiment.

[0085] (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.

[0086] 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.

[0087] In 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.

[0088] 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.

[0089] (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, and when there is an intersection between the host vehicle and an intersecting object (Vo) that is the object at which the object solid intersects with the host vehicle solid, and when the intersecting object is located on an extension area (Ri) that is an area defined by the length of the lane on which the host vehicle is traveling in the left-right direction of the host vehicle and the distance from the host vehicle in the forward direction of the host vehicle, and when an intersection angle that is an angle between the velocity vector of the host vehicle and the 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 vehicle solid and the object solid intersect with each other and there is no intersection between the intersecting object and the vehicle, the vehicle is braked; When the host vehicle solid and the object solid intersect with each other and the intersecting object is not located on the extension area, the host vehicle is 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 that brakes the host vehicle 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 2] The support unit When the vehicle solid and the object solid intersect, when the intersection is between the intersecting object and the vehicle, when the intersecting object is located on the extension area, and when the intersecting angle is equal to or greater than the first threshold value and equal to or less than the second threshold value, the warning device (60) is not activated, When the vehicle solid and the object solid intersect, and when the intersection is not between the intersecting object and the vehicle, the warning device is activated; When the vehicle solid and the object solid intersect with each other and the intersecting object is not located on the extension area, the warning device is activated; When the vehicle solid and the object solid intersect with each other and the intersection angle is less than the first threshold value, the warning device is activated; The driving assistance device according to Aspect 1, wherein the warning device is activated 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 3] The support unit When it is determined that the intersection is between the intersecting object and the host vehicle and the value relating to the identification of the intersection 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 intersection is between the intersecting object and the host vehicle and a value relating to the identification of the intersection 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 intersection 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, When the host vehicle solid and the object solid intersect, and when the intersecting object is not located on the extension area, and when the intersecting time is greater than the intersecting time threshold, the host vehicle is not braked, When the host vehicle solid and the object solid intersect, and when the intersection angle is less than the first threshold value, and when the intersection time is greater than the intersection time threshold value, the host vehicle is not braked, When the host vehicle solid and the object solid intersect, and when the intersection angle is greater than the second threshold value, and when the intersection time is greater than the intersection time threshold value, the host vehicle is not braked, when the host vehicle solid and the object solid intersect, when there is no intersection 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, braking the host vehicle; when the host vehicle solid and the object solid intersect, and when the intersecting object is not located on the extension area, and when the value relating to the intersecting time is equal to or less than the intersecting time threshold, braking the host vehicle; when the host vehicle solid and the object solid intersect, and when the intersection angle is less than the first threshold value, and when the value relating to the intersection time is equal to or less than the intersection time threshold value, braking the host vehicle; 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 the intersection angle is greater than the second threshold value, and when the value relating to the intersection time is equal to or less than the intersection time threshold value. [Point 5] 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, and when there is an intersection between the host vehicle and an intersecting object (Vo) that is the object at which the object solid intersects with the host vehicle solid, and when the intersecting object is located on an extension area (Ri) that is an area defined by the length of the lane on which the host vehicle is traveling in the left-right direction of the host vehicle and the distance from the host vehicle in the forward direction of the host vehicle, and when an intersection angle that is an angle between the velocity vector of the host vehicle and the 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 vehicle solid and the object solid intersect with each other and there is no intersection between the intersecting object and the vehicle, the vehicle is braked; When the host vehicle solid and the object solid intersect with each other and the intersecting object is not located on the extension area, the host vehicle is 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 method for braking the host vehicle 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] 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, and when there is an intersection between the host vehicle and an intersecting object (Vo) that is the object at which the object solid intersects with the host vehicle solid, and when the intersecting object is located on an extension area (Ri) that is an area defined by the length of the lane on which the host vehicle is traveling in the left-right direction of the host vehicle and the distance from the host vehicle in the forward direction of the host vehicle, and when an intersection angle that is an angle between the velocity vector of the host vehicle and the 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 vehicle solid and the object solid intersect with each other and there is no intersection between the intersecting object and the vehicle, the vehicle is braked; When the host vehicle solid and the object solid intersect with each other and the intersecting object is not located on the extension area, the host vehicle is 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 program that brakes the host vehicle when the host vehicle solid and the object solid intersect with each other and the intersection angle is greater than the second threshold value; [Explanation of symbols]

[0090] 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, and when there is an intersection between the host vehicle and an intersecting object (Vo) that is the object at which the object solid intersects with the host vehicle solid, and when the intersecting object is located on an extension area (Ri) that is an area defined by the length of the lane on which the host vehicle is traveling in the left-right direction of the host vehicle and the distance from the host vehicle in the forward direction of the host vehicle, and when an intersection angle that is an angle between the velocity vector of the host vehicle and the 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 vehicle solid and the object solid intersect with each other and there is no intersection between the intersecting object and the vehicle, the vehicle is braked; When the host vehicle solid and the object solid intersect with each other and the intersecting object is not located on the extension area, the host vehicle is 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 that brakes the host vehicle when the host vehicle solid and the object solid intersect with each other and the intersection angle is greater than the second threshold value.

2. The support unit When the vehicle solid and the object solid intersect, when the intersection is between the intersecting object and the vehicle, when the intersecting object is located on the extension area, and when the intersecting angle is equal to or greater than the first threshold value and equal to or less than the second threshold value, the warning device (60) is not activated, When the vehicle solid and the object solid intersect, and when the intersection is not between the intersecting object and the vehicle, the warning device is activated; When the vehicle solid and the object solid intersect with each other and the intersecting object is not located on the extension area, the warning device is activated; When the vehicle solid and the object solid intersect with each other and the intersection angle is less than the first threshold value, the warning device is activated; The driving support device according to claim 1 , wherein the warning device is activated when the host vehicle solid and the object solid intersect with each other and the intersection angle is greater than the second threshold value.

3. The support unit When it is determined that the intersection is between the intersecting object and the host vehicle and the value relating to the identification of the intersection 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 intersection is between the intersecting object and the host vehicle and a value relating to the identification of the intersection 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 intersection 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, When the host vehicle solid and the object solid intersect, and when the intersecting object is not located on the extension area, and when the intersecting time is greater than the intersecting time threshold, the host vehicle is not braked, When the host vehicle solid and the object solid intersect, and when the intersection angle is less than the first threshold value, and when the intersection time is greater than the intersection time threshold value, the host vehicle is not braked, When the host vehicle solid and the object solid intersect, and when the intersection angle is greater than the second threshold value, and when the intersection time is greater than the intersection time threshold value, the host vehicle is not braked, when the host vehicle solid and the object solid intersect, when there is no intersection 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, braking the host vehicle; when the host vehicle solid and the object solid intersect, and when the intersecting object is not located on the extension area, and when the value relating to the intersecting time is equal to or less than the intersecting time threshold, braking the host vehicle; when the host vehicle solid and the object solid intersect, and when the intersection angle is less than the first threshold value, and when the value relating to the intersection time is equal to or less than the intersection time threshold value, braking the host vehicle; 3. The driving assistance device according to claim 1, wherein the vehicle is braked when the vehicle solid and the object solid intersect, when the intersection angle is greater than the second threshold value, and when the value relating to the intersection time is equal to or less than the intersection time threshold value.

5. 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, and when there is an intersection between the host vehicle and an intersecting object (Vo) that is the object at which the object solid intersects with the host vehicle solid, and when the intersecting object is located on an extension area (Ri) that is an area defined by the length of the lane on which the host vehicle is traveling in the left-right direction of the host vehicle and the distance from the host vehicle in the forward direction of the host vehicle, and when an intersection angle that is an angle between the velocity vector of the host vehicle and the 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 vehicle solid and the object solid intersect with each other and there is no intersection between the intersecting object and the vehicle, the vehicle is braked; When the host vehicle solid and the object solid intersect with each other and the intersecting object is not located on the extension area, the host vehicle is 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 method for braking the host vehicle 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. 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, and when there is an intersection between the host vehicle and an intersecting object (Vo) that is the object at which the object solid intersects with the host vehicle solid, and when the intersecting object is located on an extension area (Ri) that is an area defined by the length of the lane on which the host vehicle is traveling in the left-right direction of the host vehicle and the distance from the host vehicle in the forward direction of the host vehicle, and when an intersection angle that is an angle between the velocity vector of the host vehicle and the 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 vehicle solid and the object solid intersect with each other and there is no intersection between the intersecting object and the vehicle, the vehicle is braked; When the host vehicle solid and the object solid intersect with each other and the intersecting object is not located on the extension area, the host vehicle is 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 program that brakes the host vehicle when the host vehicle solid and the object solid intersect with each other and the intersection angle is greater than the second threshold value;

Images