Vehicle driver assistance system, driver assistance method, and program thereof

Abstract

This reduces the likelihood of your vehicle colliding with a moving object that suddenly appears at an intersection. [Solution] High-risk intersection information is obtained from a first server to identify high-risk intersections where vehicles have previously come close to a moving object that suddenly appeared. The high-risk intersection information includes information that identifies the "type of moving object that suddenly appeared" that the vehicle approached. When the vehicle is approaching an intersection identified by the high-risk intersection information, the driver assistance system determines the target control position according to the type of moving object that suddenly appeared at that intersection. If the moving object is a pedestrian, the target control position is set to a predetermined position on the vehicle side outside the intersection, and if the moving object is a vehicle, the target control position is set to a predetermined position inside the intersection. When the distance between the vehicle and the target control position reaches a first distance (D1), the driver assistance system starts an alert activation operation, and when the distance between the vehicle and the target control position reaches a second distance (D2), it starts a gradual deceleration operation.

Claims

1. A vehicle driver assistance system equipped with a controller that performs preliminary driver assistance actions to reduce the risk of collision with a moving object that suddenly appears in front of the vehicle at an intersection the vehicle is approaching, The aforementioned controller, The preliminary operation start position, which is the position at which the preliminary driving assistance operation is initiated, is configured to be changed according to the type of flying object. Driving assistance system.

2. In the vehicle driving assistance device according to claim 1, The aforementioned controller, The preliminary operation start position is changed based on a target control position, which is a position corresponding to the position where the vehicle is estimated to be closest to the projecting object, and which changes according to the type of projecting object. It is configured in such a way. Driving assistance system.

3. In the vehicle driving assistance device according to claim 2, The target control position is a predetermined pedestrian position outside the intersection and closer to the vehicle than the intersection, when the type of the moving object is a pedestrian. Driving assistance system.

4. In the vehicle driving assistance device according to claim 2, The target control position is a predetermined position for other vehicles within the intersection, when the type of the moving object is a vehicle. Driving assistance system.

5. In the vehicle driving assistance device according to claim 2, The target control position is, when the type of the moving object is a bicycle, a predetermined bicycle-specific position outside the intersection and closer to the vehicle than the intersection. Driving assistance system.

6. In the vehicle driving assistance device according to claim 2, The aforementioned preliminary driving assistance action is an alerting action to the driver of the vehicle, The starting position for the warning activation operation, which is the preliminary operation start position, is a position that is a first distance closer to the vehicle itself from the target control position. Driving assistance system.

7. In the vehicle driving assistance device according to claim 2, The aforementioned preliminary driving assistance action is an alerting action to the driver of the vehicle, The starting position of the warning activation operation, which is the preliminary operation start position, is the position of the vehicle at the point in time when the estimated time required for the vehicle to reach the target control position becomes a predetermined first estimated arrival time. Driving assistance system.

8. In the vehicle driving assistance device according to claim 2, The aforementioned preliminary driving assistance operation is a gradual deceleration operation that slows down the vehicle at a predetermined deceleration rate. The starting position of the gradual deceleration operation, which is the preliminary operation starting position, is a position that is two distances closer to the vehicle itself from the target control position. Driving assistance system.

9. In the vehicle driving assistance device according to claim 2, The aforementioned preliminary driving assistance operation is a gradual deceleration operation that slows down the vehicle at a predetermined deceleration rate. The starting position of the gradual deceleration operation, which is the preliminary operation starting position, is the position of the vehicle at the point in time when the estimated time required for the vehicle to reach the target control position becomes a predetermined second estimated arrival time. Driving assistance system.

10. In the vehicle driving assistance device according to claim 2, The aforementioned preliminary driving assistance actions include an action to alert the driver of the vehicle and a gradual deceleration action that slows the vehicle down at a predetermined deceleration speed. The starting position of the warning activation operation, which is the preliminary operation start position, is a position that is a first distance closer to the vehicle itself from the target control position. The starting position of the gradual deceleration operation, which is the preliminary operation starting position, is a position that is two distances closer to the vehicle itself from the target control position. The second distance is shorter than the first distance. Driving assistance system.

11. In the vehicle driving assistance device according to claim 2, The aforementioned preliminary driving assistance actions include an action to alert the driver of the vehicle and a gradual deceleration action that slows the vehicle down at a predetermined deceleration speed. The starting position of the warning activation operation, which is the preliminary operation start position, is the position of the vehicle at the point in time when the estimated time required for the vehicle to reach the target control position becomes a predetermined first estimated arrival time. The starting position of the gradual deceleration operation, which is the preliminary operation starting position, is the position of the vehicle at the point in time when the estimated time becomes a predetermined second estimated arrival time. The second estimated arrival time is shorter than the first estimated arrival time. Driving assistance system.

12. In the vehicle driving assistance device according to claim 2, The aforementioned controller, The system is configured to change the target control position relative to the approaching intersection using high-risk intersection information, which is associated with information identifying high-risk intersections where there is a high probability of a moving object suddenly appearing, and the type of moving object that may suddenly appear at the high-risk intersection. Driving assistance system.

13. In the vehicle driving assistance device according to claim 12, The aforementioned controller, If the high-risk intersection information indicates that pedestrians or bicycles are among the moving objects that may suddenly appear at the intersection the vehicle is approaching, or that the proportion of pedestrians or bicycles among all moving objects that may suddenly appear at the intersection the vehicle is approaching is higher than a predetermined threshold proportion, the system is configured to change the target control position based on the assumption that the type of moving object that may suddenly appear at the intersection the vehicle is approaching is a pedestrian or bicycle. Driving assistance system.

14. In the vehicle driving assistance device according to claim 12, The aforementioned controller, The system is configured to obtain the high-risk intersection information for the intersection the vehicle is approaching from a server that generates the high-risk intersection information based on driving information showing the past driving conditions of other vehicles near the intersection and recognized object information regarding objects that those other vehicles recognized near the intersection. Driving assistance system.

15. In the vehicle driving assistance device according to claim 2, The aforementioned controller, The system is configured to identify the type of the moving object by utilizing communication information transmitted from a moving object located near the intersection the vehicle is approaching, and to change the target control position according to the type of moving object identified. Driving assistance system.

16. In a vehicle driving assistance device according to any one of claims 1 to 15, The aforementioned controller, The system is configured to allow the execution of the preliminary driving assistance operation when the intersection the vehicle is approaching is an intersection without traffic lights. Driving assistance system.

17. In the vehicle driving assistance device according to claim 16, The aforementioned controller, Based on images acquired by a camera mounted on the vehicle, if the system recognizes that the intersection the vehicle is approaching is one in which the intersecting road between the vehicle's road and the road it is traveling on is a blind spot in the vehicle's direction of travel, it is configured to allow the execution of the preliminary driving assistance operation. Driving assistance system.

18. In a vehicle driving assistance device according to any one of claims 8 to 11, The aforementioned controller, The vehicle is configured to perform collision avoidance braking to prevent a collision between itself and an obstacle when an obstacle is detected in front of it by the surrounding monitoring device mounted on the vehicle. Furthermore, During the execution of the aforementioned gradual deceleration operation, the system is configured to start the collision avoidance braking operation earlier compared to when the gradual deceleration operation is not being performed. Driving assistance system.

19. A driver assistance method that performs a preliminary driver assistance action to reduce the risk of collision with a moving object that suddenly appears in front of the vehicle at an intersection the vehicle is approaching, The steps include changing the target control position, which is the position corresponding to the position where the vehicle is estimated to be closest to the projecting moving object, according to the type of projecting moving object, The steps include changing the preliminary operation start position, which is the position at which the preliminary driving assistance operation is initiated, based on the target control position, Driving assistance methods including

20. A program that causes the computer installed in the vehicle to perform preliminary driving assistance actions to reduce the risk of collision with a moving object that suddenly appears in front of the vehicle at an intersection the vehicle is approaching, The program is sent to the computer, The steps include changing the target control position, which is the position corresponding to the position where the vehicle is estimated to be closest to the projecting moving object, according to the type of projecting moving object, The steps include changing the preliminary operation start position, which is the position at which the preliminary driving assistance operation is initiated, based on the target control position, A program that executes the command.

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