Vehicle driving assistance device, vehicle driving assistance method, and program

Abstract

To provide a driving support device for a vehicle that can notify a vehicle occupant of the presence of a pedestrian while reducing the possibility that the occupant feels bothered by the notification. [Solution] The vehicle driving assistance device comprises a first pedestrian recognition means that recognizes pedestrians located in front of the vehicle based on image data acquired by a forward camera (21), and a second pedestrian recognition means that acquires pedestrian information that identifies the pedestrian's location via communication from a terminal device carried by the pedestrian; when the vehicle is approaching an intersection without traffic lights, a value corresponding to the number of pedestrians crossing the intersection is acquired based on the recognition result of the first pedestrian recognition means; when the pedestrian traffic volume is equal to or less than a first threshold and it is determined based on the pedestrian information that a warning condition is met, the device causes an alarm to perform an alarm operation; and when the pedestrian traffic volume is greater than the first threshold, the second pedestrian recognition means is not caused to communicate and the alarm device is not caused to perform an alarm operation.

Description

[Technical Field]

[0001] The present invention relates to a vehicle driving assistance device, a driving assistance method, and a program therefor that notify a vehicle occupant of the presence of a pedestrian when the vehicle passes through an intersection without traffic lights. [Background technology]

[0002] The conventional device is mounted on a vehicle and communicates wirelessly with a pedestrian's mobile terminal device. If the pedestrian's mobile terminal device is located within a warning area that is pre-included in map information, it transmits a driving caution notification to the vehicle. When the conventional device receives a driving caution notification, it alerts the driver of the vehicle by displaying a message and sounding an alarm. If the conventional device receives more than a predetermined number of driving caution notifications, it transmits a transmission stop notification to some of the mobile terminal devices that have transmitted the driving caution notifications, in order to stop the transmission of the driving caution notifications. This prevents the driver from feeling annoyed by the notifications that are sent more than necessary, and furthermore, since the mobile terminal device that receives the transmission stop notification stops wireless communication with the vehicle, it is possible to prevent the remaining battery power of the mobile terminal device from decreasing (see Patent Document 1). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Laid-Open No. 2016-218687 Summary of the Invention

[0004] However, in conventional devices, regardless of whether the driver can see many pedestrians, an alarm sounds each time the driver receives a driving caution notification until the number of driving caution notifications reaches a predetermined number. Therefore, when the driver can see many pedestrians and is therefore paying sufficient attention to pedestrians, the driver is likely to find the alarm sounds annoying.

[0005] The present invention has been made to solve the above problems. That is, one of the objects of the present invention is to provide a driving assistance device for a vehicle that can notify a vehicle occupant (e.g., a driver) of the presence of a pedestrian while reducing the likelihood that the occupant will find the notification annoying.

[0006] A driving assistance device (DS) for a vehicle according to one aspect of the present invention includes: a first pedestrian recognition means (20) for recognizing a pedestrian located in front of the vehicle based on image data acquired by photographing a scene in front of the vehicle using a camera; a second pedestrian recognition means (80) for acquiring, via communication, pedestrian information including pedestrian position information for identifying the position of the pedestrian from a terminal device carried by the pedestrian; an alarm device (60, 61, 62) capable of performing an alarm operation to notify an occupant of the vehicle of the presence of a pedestrian; Notification control means (10) for controlling the notification device; Equipped with.

[0007] Furthermore, the notification control means When the vehicle is approaching an intersection without a traffic light, a pedestrian traffic volume (A) corresponding to the number of pedestrians crossing the intersection in a direction intersecting with the traveling direction of the vehicle is acquired based on the recognition result of the first pedestrian recognition means (S510 to S570); If the pedestrian traffic volume (A) is equal to or less than a first threshold (AthLarge) (S240: Yes), it is determined whether or not an attention calling condition is met based on the pedestrian information acquired by the second pedestrian recognition means (S260), and when it is determined that the attention calling condition is met (S260: Yes), it causes the notification device to perform the notification operation (S280, S290), If the pedestrian traffic volume (A) is greater than the first threshold (AthLarge) (S240: No), the second pedestrian recognition means is not caused to perform the communication (S242), and the notification device is not caused to perform the notification operation (S244). It is structured as follows.

[0008] The terminal device carried by the pedestrian may transmit the pedestrian information to a server such as an information center, and the second pedestrian recognition means may receive the pedestrian information from the server. Alternatively, the second pedestrian recognition means may directly communicate with the terminal device carried by the pedestrian and receive the pedestrian information from the terminal device.

[0009] There is a strong correlation between the number of pedestrians visually recognized by the occupant and the pedestrian traffic volume obtained based on image data captured by a camera. Therefore, when a vehicle is approaching an intersection without traffic lights and the pedestrian traffic volume is greater than the first threshold, it is considered that the occupant visually recognizes the presence of many pedestrians and is therefore paying sufficient attention to pedestrians. Therefore, in this case, the above-mentioned aspect does not cause the alarm device to perform an alarm operation. As a result, the occupant does not find the alarm operation annoying. Furthermore, in this case, the above-mentioned aspect does not cause the second pedestrian recognition means to perform communication to acquire pedestrian information. Therefore, an increase in the communication volume of the second pedestrian recognition means can be avoided.

[0010] In one aspect of the present invention, The alarm device is configured to be able to perform, as the alarm operation, a display alarm operation of notifying the occupant of the presence of the pedestrian by display and an alarm sound alarm operation of notifying the occupant of the presence of the pedestrian by sound.

[0011] In this aspect, the notification control means When the pedestrian traffic volume (A) is equal to or less than a second threshold (AthSmall) that is smaller than the first threshold (AthLarge) (S270: Yes), if it is determined that the attention calling condition is met (S260: Yes), the notification device is caused to perform the display notification operation without performing the alarm sound notification operation (S280), When the pedestrian traffic volume (A) is greater than the second threshold (AthSmall) and equal to or less than the first threshold (AthLarge) (S270: No), if it is determined that the attention calling condition is met (S260: Yes), the notification device is caused to execute both the alarm sound notification operation and the display notification operation (S290). It is structured as follows.

[0012] When the pedestrian traffic volume (A) is equal to or less than the second threshold (AthSmall), the vehicle is considered to be traveling on a road in a sparsely populated area, and it is considered unlikely that a pedestrian will suddenly appear from a blind spot. Therefore, in this case, even if the attention-attention condition is met, only the display notification operation is performed, and the audible warning operation is not performed. Therefore, the occupant does not find the notification operation particularly bothersome. In contrast, when the pedestrian traffic volume (A) is greater than the second threshold (AthSmall) and equal to or less than the first threshold (AthLarge), the vehicle is considered to be traveling on a road in a relatively densely populated area, and it is more likely that the occupant is not paying sufficient attention to pedestrians compared to when the pedestrian traffic volume (A) is greater than the first threshold (AthLarge). Therefore, in this case, when the attention-attention condition is met, both the display notification operation and the audible warning operation are performed. This allows the occupant to pay sufficient attention to pedestrians who may suddenly appear from a blind spot.

[0013] In one aspect of the present invention, The notification control means As the pedestrian traffic volume, the time average value of the number of pedestrians present on the crosswalk that is located at the intersection and crosses the direction of travel of the vehicle and is closer to the vehicle is obtained (S510 to S570).

[0014] This makes it possible to easily obtain pedestrian traffic volume.

[0015] In the above description, to facilitate understanding of the present invention, the names and / or symbols used in the embodiments described below are enclosed in parentheses for the configurations of the invention corresponding to those embodiments. However, the components of the present invention are not limited to the embodiments defined by the names and / or symbols. The present invention also covers a vehicle driving assistance method and a program therefor. [Brief explanation of the drawings]

[0016] [Figure 1] 1 is a schematic configuration diagram of a vehicle driving assistance device according to an embodiment of the present invention; [Figure 2] A routine executed by the CPU of the driving assistance ECU shown in Figure 1. [Figure 3] 10 is a plan view showing the relationship between the pedestrian and the attention area used to determine whether the attention condition is met when the pedestrian is located on the right side of the vehicle's traveling direction; FIG. [Figure 4] 10 is a plan view showing the relationship between the pedestrian and the attention area used to determine whether the attention condition is met when the pedestrian is located on the left side of the vehicle's traveling direction; FIG. [Figure 5] A routine executed by the CPU of the driving assistance ECU shown in Figure 1. DETAILED DESCRIPTION OF THE INVENTION

[0017] A vehicle driving assistance device DS (hereinafter referred to as "device DS") according to an embodiment of the present invention includes the components shown in Fig. 1 and is applied to (mounted on) a host vehicle HV. The host vehicle HV may be any of a vehicle powered by an internal combustion engine, an electric vehicle, a hybrid vehicle, etc.

[0018] In this specification, an "ECU" is an electronic control unit having a microcomputer including a CPU (processor), ROM, RAM, and a writable non-volatile memory as its main device. The ECU is also called a controller or a computer. The multiple ECUs shown in FIG. 1 are connected to each other via a CAN (Controller Area Network) so that they can exchange information. Some or all of the multiple ECUs shown in FIG. 1 may be integrated into a single ECU.

[0019] The driving assistance ECU 10 executes a notification control, which will be described later, to notify the occupants, including the driver, of the presence of a pedestrian, as one of the driving assistance controls. The notification control is also called a warning control.

[0020] The front camera device 20 includes a front camera 21 and an image ECU 22. The front camera 21 captures an image of a scene ahead of the host vehicle HV (a scene ranging from the left diagonal front to the right diagonal front of the host vehicle) every time a predetermined time dT elapses, and acquires image data. The image ECU 22 generates camera information by analyzing the image data from the front camera 21, and transmits the camera information to the driving assistance ECU 10.

[0021] The camera information includes lane marking information such as the position of the lane markings on the lane the vehicle HV is traveling in, the type of lane markings, and the position of the crosswalk, as well as camera object information such as the position, relative longitudinal speed, relative lateral speed, and type of the photographed object relative to the vehicle HV. The types included in the camera object information include other vehicles and pedestrians.

[0022] The radar device 30 is a well-known device that acquires information about an object present ahead of the host vehicle HV using millimeter-wave band radio waves, and includes a radar 31 and a radar ECU 32. The radar 31 transmits information about the transmitted and received millimeter waves to the radar ECU 32. The radar ECU 32 acquires radar information based on the information from the radar 31 and transmits the radar information to the driving assistance ECU 10. The radar information includes the distance from the host vehicle HV to the object, the "direction and relative speed" of the object with respect to the host vehicle HV, and the type of object. Types of objects included in the radar information include other vehicles and pedestrians.

[0023] The powertrain ECU 40 controls the powertrain actuator 41 to control the power source and the power transmission device, thereby adjusting the driving force of the host vehicle HV.

[0024] The brake ECU 50 controls the brake actuator 51 to control the braking device and adjust the braking force applied to the host vehicle HV.

[0025] The warning ECU 60, in response to an instruction from the driving assistance ECU 10, causes the warning display device 61 to display a display indicating the position and moving direction of a pedestrian. This display is for notifying the occupants, including the driver, of the presence of a pedestrian. The operation of causing the warning display device 61 to display is referred to as a display notification operation. Furthermore, in response to an instruction from the driving assistance ECU 10, the warning ECU 60 causes the warning sound generation device 62 to generate a sound (e.g., a warning sound) for notifying the occupants, including the driver, of the presence of a pedestrian. The operation of generating a warning sound from the warning sound generation device 62 is referred to as a warning sound notification operation.

[0026] The navigation ECU 70, together with a GPS receiver 71, a map information storage device 72 that stores map information, and a display touch panel 73, constitutes an in-vehicle navigation system. The navigation ECU 70 acquires the current position of the host vehicle HV based on the GPS signal received by the GPS receiver 71. The current position is specified by latitude and longitude. The map information includes the positions of intersections and information on whether or not the intersections are equipped with traffic lights.

[0027] The communication ECU 80 communicates with devices external to the vehicle HV wirelessly and over a network, and acquires various information from the external devices. Examples of the external devices include a server at an information center and a pedestrian portable terminal (e.g., a mobile phone) carried by a pedestrian. The pedestrian portable terminal is sometimes simply referred to as a "terminal device."

[0028] The driving assistance ECU 10 receives the detection values ​​(output values) of the following "sensors and switches." An accelerator pedal operation amount sensor 91 detects an accelerator pedal operation amount AP. A brake pedal operation amount sensor 92 detects a brake pedal operation amount BP. A vehicle speed sensor 93 detects the speed of the host vehicle HV (i.e., host vehicle speed) Vh. A steering angle sensor 94 that detects the steering angle SA of the host vehicle HV.

[0029] (Outline of notification control) A pedestrian mobile terminal (e.g., a mobile phone) carried by a pedestrian acquires its own position (i.e., pedestrian position information) represented by latitude and longitude and its own moving direction represented by an azimuth angle based on a GPS signal. The pedestrian mobile terminal transmits pedestrian information including its own position and moving direction to a server at an information center (not shown) via wireless communication.

[0030] When the host vehicle HV approaches an "intersection without traffic lights," the device DS calculates the time average number of pedestrians on the crosswalk at the intersection as pedestrian traffic volume A based on camera information. Note that this crosswalk is a crosswalk on the host vehicle's side of the intersection that intersects (typically perpendicular to) the traveling direction of the host vehicle and that the host vehicle is approaching. For convenience, this crosswalk is also referred to as an "intersection crosswalk."

[0031] The device DS changes the notification method for notifying the occupants, including the driver, of the host vehicle HV of the presence of a pedestrian in accordance with the pedestrian traffic volume A, as will be described below.

[0032] (Case 1) When pedestrian traffic volume A is extremely small (A≦Athsmall) In this case, the device DS acquires pedestrian information of a pedestrian approaching the intersection crosswalk from the server via wireless communication. The device DS determines whether or not a warning condition, which will be described later, is satisfied based on the pedestrian information, and if it determines that the warning condition is satisfied, performs a display notification operation. In this case, the device DS does not perform an audible warning operation. This is because the road on which the host vehicle HV is traveling is a road with a low pedestrian traffic volume A (e.g., a rural road), and it is considered unlikely that a pedestrian will suddenly appear from a blind spot at the intersection. Therefore, if an audible warning operation is performed, it is highly likely that the occupants, including the driver, will find the audible warning annoying.

[0033] (Case 2) When pedestrian traffic volume A is medium (AthSmall <A≦AthLarge) In this case, the device DS wirelessly acquires pedestrian information about pedestrians approaching the intersection crosswalk from a server. The device DS determines whether or not a warning condition (described later) is satisfied based on the pedestrian information, and if it determines that the warning condition is satisfied, performs both a visual notification operation and an audible warning operation. This allows occupants, including the driver, to pay sufficient attention to pedestrians at intersections on roads where there is a relatively high possibility that a pedestrian may suddenly appear from a blind spot. Such intersections are, for example, intersections in residential areas.

[0034] (Case 3) When pedestrian traffic volume A is very large (AthLarge <A) In this case, the device DS does not perform either a visual notification operation or an audible warning operation, regardless of whether the attention-warning condition is met. This is because it is assumed that the occupants, including the driver, can see many pedestrians and are paying sufficient attention to them. Such an intersection is, for example, an intersection in a busy shopping district. Furthermore, in this case, the device DS does not need to determine whether the attention-warning condition is met, and therefore does not need pedestrian information. Therefore, the device DS does not obtain pedestrian information about pedestrians approaching the crosswalk from the server. As a result, the amount of communication between the device DS and the server can be reduced.

[0035] (Specific operation) <Notification control> The CPU of the driving assistance ECU 10 (hereinafter simply referred to as "CPU") executes a routine shown in the flowchart of FIG. 2 every time a predetermined time (calculation period) d1 elapses.

[0036] When an appropriate time arrives, the CPU starts processing from step 200 (hereinafter, "step" will be abbreviated as "S") in Fig. 2 and proceeds to S210. In S210, the CPU determines whether the distance Dis between the host vehicle and the intersection to which the host vehicle is currently approaching is within a threshold distance Dth, based on "the host vehicle's current position and map information" obtained through the navigation ECU 70.

[0037] If the distance Dis is greater than the threshold distance Dth, the CPU proceeds directly from S210 to S295 and provisionally ends this routine.

[0038] On the other hand, if the distance Dis is within the threshold distance Dth, the CPU proceeds from S210 to S220 and determines whether the intersection the vehicle is currently approaching is an intersection without traffic lights based on map information obtained through the navigation ECU 70.

[0039] If the intersection that the vehicle is approaching is an intersection with traffic lights, the CPU proceeds directly from S220 to S295 and temporarily ends this routine.

[0040] If the intersection that the vehicle is approaching is an intersection without traffic lights, the CPU proceeds from S220 to S230 and reads the "pedestrian traffic volume A at the intersection crosswalk" that has been calculated separately by the routine shown in Figure 5, which will be described later.

[0041] Next, the CPU proceeds to S240, where it determines whether the pedestrian traffic volume A is equal to or less than the first threshold AthLarge.

[0042] If the pedestrian traffic volume A is equal to or less than the first threshold AthLarge, the CPU proceeds from S240 to S250. In S250, the CPU acquires pedestrian information (position and movement direction) of pedestrians present near the intersection crosswalk from the server via wireless communication using the communication ECU 80. The pedestrian information includes at least pedestrian position information. The CPU can also recognize the movement direction of pedestrians from changes over time in the pedestrian position information.

[0043] Next, the CPU proceeds to S260 and determines whether the warning condition is met. More specifically, the CPU estimates the pedestrian's position and movement direction relative to the host vehicle based on the host vehicle's current position and pedestrian information. Furthermore, the CPU determines whether the pedestrian is moving leftward from a position in front of the host vehicle to enter the intersection crosswalk. Additionally, the CPU determines whether the pedestrian is moving rightward from a position in front of the host vehicle to enter the intersection crosswalk.

[0044] When it is determined that a pedestrian is moving leftward from a position in front of the vehicle to the right and entering a crosswalk at an intersection, the CPU determines whether the pedestrian is located within the first area S1 shown in FIG. 3. If the pedestrian is located within the first area S1, the CPU determines that the attention warning condition is met. In the example shown in FIG. 3, pedestrian tp1 satisfies the attention warning condition, and pedestrian tp2 does not. The first area S1 is also referred to as the right-side attention warning area.

[0045] The first area S1 is a trapezoidal (inverted trapezoidal) area formed in an area to the right of the traveling direction of the host vehicle HV. The traveling direction of the host vehicle HV is determined based on the steering angle SA. More specifically, the first area S1 is a trapezoidal area whose lower base is the front end of the host vehicle HV, whose upper base is a length W1, whose height is a side of length L1 extending in the traveling direction of the host vehicle, and whose upper base is perpendicular to an extension of the left side of the host vehicle. The upper base extends to the right from the point where it intersects with the extension of the left side of the host vehicle. The height L1 increases as the host vehicle speed Vh increases. The length W1 of the upper base increases as the speed of the pedestrian increases in the left-right direction (the direction approaching the traveling direction of the host vehicle HV).

[0046] In contrast, if it is determined that a pedestrian is moving from a position to the left in front of the host vehicle to the right and entering a crosswalk at an intersection, the CPU determines whether the pedestrian is located within the second region S2 shown in FIG. 4. If the pedestrian is located within the second region S2, the CPU determines that the attention warning condition is met. The second region S2 is a "substantially trapezoidal (inverted trapezoidal) region formed in the front left region of the host vehicle HV" that is symmetrical to the first region S1 shown in FIG. 3 with respect to the vehicle traveling direction passing through the center of the vehicle's width direction. In the example shown in FIG. 4, pedestrian tp3 is a pedestrian who satisfies the attention warning condition, and pedestrian tp4 is a pedestrian who does not satisfy the attention warning condition. The second region S2 is also referred to as the left attention warning region.

[0047] If there is no pedestrian in either the first area S1 or the second area S2, the CPU determines that the warning condition is not met. In this case, the CPU proceeds directly from S260 to S295 and provisionally ends this routine.

[0048] On the other hand, if it is determined that the caution condition is met, the CPU proceeds from S260 to S270 and determines whether the pedestrian traffic volume A is equal to or less than the second threshold AthSmall. The second threshold AthSmall is smaller than the first threshold AthLarge.

[0049] If the pedestrian traffic volume A is equal to or less than the second threshold AthSmall, the CPU proceeds from S270 to S280 and performs a display notification operation. This display notification operation causes the warning display device 61 to display a message indicating the pedestrian's position and movement direction relative to the vehicle. In this case, the CPU does not perform an audible alarm notification operation. The CPU then proceeds to S295.

[0050] On the other hand, if the pedestrian traffic volume A is greater than the second threshold AthSmall, the CPU proceeds from S270 to S290 and performs both the display notification operation and the audible alarm notification operation. In this case, the display notification operation causes the warning display device 61 to display a display indicating the "position and direction of movement of the pedestrian relative to the vehicle." Furthermore, the audible alarm notification operation causes the audible alarm generator 62 to sound a buzzer. Note that the audible alarm notification operation may also cause the audible alarm generator 62 to emit a voice message indicating the direction in which the pedestrian is approaching the intersection crosswalk (e.g., "A pedestrian is approaching from the right"). The CPU then proceeds to S295.

[0051] Furthermore, when the CPU proceeds to S240, if the pedestrian traffic volume A is greater than the first threshold AthLarge, the CPU proceeds from S240 to S242. In S242, the CPU stops (prohibits) acquiring pedestrian information from the server via wireless communication using the communication ECU 80. In other words, the CPU does not receive pedestrian information from the server. Next, the CPU proceeds to S244, where it prohibits (stops) both the "display notification operation and the alarm sound notification operation" based on the pedestrian information. Thereafter, the CPU proceeds directly to S295, where it provisionally ends this routine. As a result, neither the display notification operation nor the alarm sound notification operation is performed, and pedestrian information is not acquired from the server via wireless communication using the communication ECU 80.

[0052] <Calculation of pedestrian traffic volume A> 5 every time a predetermined time (calculation period) dT elapses. That is, the CPU executes this routine every time the front camera 21 acquires image data.

[0053] When an appropriate time arrives, the CPU starts the process from S500 in Fig. 5 and proceeds to S510. In S510, the CPU determines whether the current time is just after the distance Dis between the host vehicle and the intersection the host vehicle is approaching has become within the threshold distance Dth, based on the "current position of the host vehicle and map information" obtained through the navigation ECU 70.

[0054] If the current time is not "the time immediately after the distance Dis becomes within the threshold distance Dth," the CPU proceeds directly from S510 to S550.

[0055] On the other hand, if the current time is "the time immediately after the distance Dis becomes within the threshold distance Dth," the CPU proceeds from S510 to S520 and determines whether the intersection the vehicle is currently approaching is an intersection without traffic lights based on map information obtained through the navigation ECU 70.

[0056] If the intersection that the host vehicle is approaching is an intersection with traffic lights, the CPU proceeds directly from S520 to S550.

[0057] If the intersection that the vehicle is approaching is an intersection without traffic lights, the CPU proceeds from S520 to S530 and sets the value of the cumulative number N to "0."

[0058] Next, the CPU proceeds to S540 and sets the value of the pedestrian count integrated value S to 0. After that, the CPU proceeds to S550.

[0059] At S550, the CPU increments the value of the cumulative count N by "1." Next, the CPU proceeds to S560, where it updates the cumulative pedestrian count S by adding the instantaneous pedestrian count P to the cumulative pedestrian count S held at that time. The instantaneous pedestrian count P is the number of pedestrians on the intersection crosswalk. As mentioned above, an intersection crosswalk is a crosswalk that intersects with the vehicle's direction of travel and is the crosswalk on the vehicle's side of the intersection that the vehicle is approaching. The instantaneous pedestrian count P is obtained based on camera information.

[0060] Next, the CPU proceeds to S570, where it calculates the pedestrian traffic volume A at the intersection crosswalk by dividing the pedestrian count integrated value S by the value of the integrated count N. That is, the CPU calculates the time average number of pedestrians present on the intersection crosswalk as the pedestrian traffic volume A. This pedestrian traffic volume A is used in the processing of S270 described above. The CPU then proceeds to S595, where it provisionally ends this routine.

[0061] As described above, when the pedestrian traffic volume A is greater than the first threshold AthLarge, the device DS determines that the occupants, including the driver, are visually aware of the presence of many pedestrians, and therefore does not cause the alarm ECU 60, which is an alarm device, to perform the alarm operation (both the visual alarm operation and the alarm sound alarm operation). Therefore, the device DS can prevent the occupants, including the driver, from feeling bothered by the alarm operation. Furthermore, in this case, the device DS does not cause the communication ECU 80, which is the second pedestrian recognition means, to communicate with the server to acquire pedestrian information. Therefore, an increase in the amount of communication between the communication ECU 80 and the server can be avoided.

[0062] The present invention is not limited to the above-described embodiment and modifications, and various modifications may be adopted within the scope of the present invention. For example, a LiDAR may be used instead of or in addition to the radar device 30.

[0063] Furthermore, the communication ECU 80 may directly communicate with the pedestrian mobile terminal and receive pedestrian information from the pedestrian mobile terminal instead of communicating with a server. Furthermore, the present invention may be applied to an autonomous vehicle. For example, the present invention is applicable to an autonomous vehicle in an autonomous driving mode or a vehicle that has transitioned from the autonomous driving mode to a driver-driven mode.

[0064] In addition, the device DS may transmit instructions to the power train ECU 40 and the brake ECU 50 to execute collision avoidance assistance control (e.g., automatic braking) when the possibility of a collision between the pedestrian and the host vehicle becomes equal to or greater than a threshold based on the camera information and radar information. Furthermore, the device DS may calculate, based on the camera information, the time average number of pedestrians present on a road along the traveling direction of the host vehicle HV and near the "intersection without traffic lights" that the host vehicle HV is approaching, as "pedestrian traffic volume A, which is a value corresponding to the number of pedestrians crossing the intersection crosswalk." [Explanation of symbols]

[0065] 10... driving assistance ECU, 20... forward camera device, 30... radar device, 50... brake ECU, 60... alarm ECU, 61... warning display device, 62... alarm sound generation device, 70... navigation ECU, 80... communication ECU.

Claims

1. a first pedestrian recognition means for recognizing a pedestrian located in front of the vehicle based on image data acquired by photographing a scene in front of the vehicle using a camera; a second pedestrian recognition means for acquiring, via communication, pedestrian information including pedestrian position information for identifying the position of the pedestrian from a terminal device carried by the pedestrian; a warning device capable of performing a warning operation to warn an occupant of the vehicle of the presence of a pedestrian; notification control means for controlling the notification device; Equipped with The notification control means When the vehicle is approaching an intersection without a traffic light, a pedestrian traffic volume is acquired based on the recognition result of the first pedestrian recognition means, the pedestrian traffic volume being a value corresponding to the number of pedestrians crossing the intersection in a direction intersecting with the traveling direction of the vehicle; When the pedestrian traffic volume is equal to or less than a first threshold, the second pedestrian recognition means determines whether or not an attention-calling condition is satisfied based on the pedestrian information acquired by the second pedestrian recognition means, and when it is determined that the attention-calling condition is satisfied, causes the notification device to perform the notification operation; When the pedestrian traffic volume is greater than the first threshold, the second pedestrian recognition means is not caused to perform the communication, and the notification device is not caused to perform the notification operation. It was configured as follows: Vehicle driving assistance device.

2. The vehicle driving assistance device according to claim 1, the notification device is configured to be able to execute, as the notification operation, a display notification operation of notifying the occupant of the presence of the pedestrian by display and an alarm sound notification operation of notifying the occupant of the presence of the pedestrian by sound, The notification control means When the pedestrian traffic volume is equal to or less than a second threshold value that is smaller than the first threshold value, if it is determined that the attention-attracting condition is satisfied, the notification device executes the display notification operation without executing the alarm sound notification operation, When the pedestrian traffic volume is greater than the second threshold value and is equal to or less than the first threshold value, if it is determined that the attention-attention condition is met, the notification device executes both the alarm sound notification operation and the display notification operation. It was configured as follows: Driving assistance device.

3. 3. The vehicle driving assistance device according to claim 2, The notification control means As the pedestrian traffic volume, a time average value of the number of pedestrians present on a crosswalk that is located at the intersection and crosses the direction of travel of the vehicle and is closer to the vehicle is obtained. Driving assistance device.

4. a first step of recognizing a pedestrian located in front of the vehicle based on image data acquired by photographing a scene in front of the vehicle using a camera; a second step of acquiring, when the vehicle is approaching an intersection without a traffic light, a pedestrian traffic volume, which is a value corresponding to the number of pedestrians crossing the intersection in a direction intersecting with the traveling direction of the vehicle, based on the recognition result in the first step; a third step of acquiring pedestrian information including pedestrian position information that identifies the position of the pedestrian from a terminal device carried by the pedestrian via communication when the pedestrian traffic volume is equal to or less than a first threshold, determining whether or not a warning condition is met based on the acquired pedestrian information, and, when it is determined that the warning condition is met, causing a warning device to perform a warning operation to notify an occupant of the vehicle of the presence of the pedestrian; a fourth step of stopping the acquisition of the pedestrian information from the terminal device through communication and not causing the notification device to perform the notification operation when the pedestrian traffic volume is greater than the first threshold value; A vehicle driving assistance method including:

5. A program to be executed by a computer mounted on a vehicle, The program is written to the computer. a first step of recognizing a pedestrian located in front of the vehicle based on image data acquired by photographing a scene in front of the vehicle using a camera; a second step of acquiring, when the vehicle is approaching an intersection without a traffic light, a pedestrian traffic volume, which is a value corresponding to the number of pedestrians crossing the intersection in a direction intersecting with the traveling direction of the vehicle, based on the recognition result in the first step; a third step of acquiring pedestrian information including pedestrian position information that identifies the position of the pedestrian from a terminal device carried by the pedestrian via communication when the pedestrian traffic volume is equal to or less than a first threshold, determining whether or not a warning condition is met based on the acquired pedestrian information, and, when it is determined that the warning condition is met, causing a warning device to perform a warning operation to notify an occupant of the vehicle of the presence of the pedestrian; a fourth step of stopping the acquisition of the pedestrian information from the terminal device through communication and not causing the notification device to perform the notification operation when the pedestrian traffic volume is greater than the first threshold value; A program that executes the following.

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