Vehicle control device, vehicle control method, and program thereof

Abstract

The present invention provides a vehicle control device, a vehicle control method, and a program thereof that can terminate the display of a warning about a collision risk object at a more appropriate time. [Solution] The vehicle control device (DS) includes a warning device (WD) which includes a warning display device (61) configured to display a warning to the user of the vehicle (HV), and a controller (10) which causes the warning display device to start displaying a warning when it determines that there is a collision risk object that poses a collision risk to the vehicle. The controller continues to display the warning while the collision risk object is present until the time when the user performs a specific driving operation to reduce the collision risk after visually checking the displayed warning, and terminates the display of the warning at the time the specific operation is performed.

Description

Technical Field

[0001] The present invention relates to a vehicle control device, a vehicle control method, and a program therefor that issue an alarm for reducing collision risk to a vehicle user.

Background Art

[0002] One conventional vehicle control device (hereinafter referred to as "conventional device") is configured to erase an image when it determines that a driver, who is a user of the vehicle, has visually observed a screen of a display displaying the image for more than a predetermined time (see, for example, Patent Document 1).

Prior Art Literature

Patent Literature

[0003]

Patent Document 1

Summary of the Invention

[0004] When an alarm for reducing collision risk is displayed on the display screen, even if the driver has visually observed the alarm for a predetermined time or longer, the driver may not recognize that there is a collision risk. Therefore, if the alarm is erased at the time point when the driver has visually observed the alarm for the predetermined time or longer as in the conventional device, the driver may not perform an appropriate driving operation to reduce the collision risk. On the other hand, if the alarm is continuously displayed, the possibility that the driver continues to visually observe the displayed alarm increases, so a situation may occur where the driver does not sufficiently visually check an object having a collision risk (hereinafter may be referred to as "collision risk object"), surrounding conditions of the vehicle, and the like. Therefore, continuously displaying the alarm cannot be said to be appropriate either.

[0005] The present invention has been made to solve the problem described above. That is, one of the objects of the present invention is to provide a vehicle control device, a vehicle control method, and a program therefor that can terminate the display of an alarm regarding a collision risk object at a more appropriate time point.

[0006] One embodiment of the vehicle control device according to the present invention is: The system includes a warning device (WD) which includes a warning display device (61) configured to display a warning to the vehicle user, and a controller (10) which, when it determines that there is a collision risk object that poses a collision risk to the vehicle (S210), causes the warning display device to start displaying the warning (S230).

[0007] Furthermore, the controller (10) is configured to delay the timing of ending the display of the alarm (S430, S450) when the user has not performed the specific driving operation to reduce the collision risk after visually checking the displayed alarm (XR(n)=1) (S420:Yes, S430:No), compared to when the user has performed the specific driving operation after visually checking the displayed alarm (XR(n)=1) (S420:Yes, S430:Yes).

[0008] In this configuration, if the user only visually observes the warning but does not perform specific driving maneuvers to reduce the risk of collision, the warning display will end later than if the user performed specific driving maneuvers after visually observing the warning. Therefore, the user can be reliably made to understand the meaning of the warning. On the other hand, if the user performs specific driving maneuvers after visually observing the warning, the warning display will end relatively quickly. Therefore, the situation in which the warning continues to be displayed for an unnecessarily long period of time is avoided. As a result, the user can perform specific driving maneuvers while more reliably recognizing collision risk objects and the surrounding conditions of the vehicle.

[0009] In one embodiment of the above-described vehicle control device, the controller is configured to continue displaying the warning while the collision risk object is present, until the user visually confirms the displayed warning and performs the specific driving operation, and to terminate the display of the warning at the time the specific operation is performed (S210:No, S250, S410 to S450).

[0010] In this embodiment, the display of the warning ends when the user visually confirms the displayed warning and performs the specific driving operation (i.e., at the time of execution of the specific operation). Therefore, the display of the warning can be terminated earlier. As a result, the user can perform the specific driving operation with greater certainty after recognizing the collision risk object and the surrounding conditions of the vehicle.

[0011] In one embodiment of the above-described vehicle control device, The alarm device (WD) includes an alarm sound generator (62) configured to generate an alarm sound, The controller (10) is When it is determined that the collision risk object is present, the alarm sound generator is instructed to start generating the alarm sound (S210: Yes, S230), As long as the collision risk object is present, the alarm sound generator will continue to generate the alarm sound regardless of whether the user has performed the specified operation (S510, S250). It is structured in this way.

[0012] In this embodiment, the display of the warning ends when the user visually confirms the displayed warning and performs the specific driving operation (i.e., at the time of execution of the specific operation), but the warning sound continues to be emitted until the collision risk object is no longer present. Therefore, it is possible to ensure that the user continues to perform the specific driving operation more reliably.

[0013] In the above description, to aid in understanding the present invention, the names and / or reference numerals used in the embodiments described later are indicated in parentheses for the components of the invention corresponding to those embodiments. However, the components of the present invention are not limited to the embodiments defined by the above names and / or reference numerals. The present invention also extends to vehicle control methods and programs thereof. [Brief explanation of the drawing]

[0014] [Figure 1] This is a schematic diagram of a vehicle control device according to an embodiment of the present invention. [Figure 2]This is the routine executed by the CPU of the vehicle control ECU shown in Figure 1. [Figure 3] This is the routine executed by the CPU of the vehicle control ECU shown in Figure 1. [Figure 4] This is the routine executed by the CPU of the vehicle control ECU shown in Figure 1. [Figure 5] This is the routine executed by the CPU of a modified vehicle control ECU shown in Figure 1. [Modes for carrying out the invention]

[0015] An embodiment of the present invention, the "vehicle control device DS (hereinafter referred to as "device DS")", comprises the components shown in Figure 1. Device DS is applicable to vehicle HVs. The vehicle HV may be any of the following: a vehicle equipped with an internal combustion engine, an electric vehicle, or a hybrid vehicle.

[0016] In this specification, "ECU" refers to an electronic control unit comprising a microcomputer including a CPU (processor), ROM, and RAM. An ECU is also referred to as a controller or computer. The multiple ECUs shown in Figure 1 are connected to each other via a CAN (Controller Area Network) to enable information exchange. Some or all of these multiple ECUs may be integrated into a single ECU.

[0017] The vehicle control ECU 10 transmits and receives signals with the components shown in Figure 1. The vehicle control ECU 10 is also called the driver assistance ECU. The vehicle control ECU 10 provides warnings (display of warnings and generation of warning sounds) to reduce the possibility of the vehicle HV colliding with an object (hereinafter sometimes referred to as "collision risk").

[0018] The camera device 20 includes a camera 21 and an image ECU 22. The camera 21 photographs a scene in front of the vehicle HV every time a predetermined time elapses, and acquires image data representing an image of the photographed scene. The image ECU 22 generates camera object information based on the image data. The camera object information includes the "position (vertical position and horizontal position) and type" of an object existing in front of the vehicle HV.

[0019] The radar device 30 is a known device that acquires information about an object existing in front of the vehicle HV using radio waves in the millimeter wave band. The radar device 30 includes a radar 31 and a radar ECU 32. The radar 31 transmits millimeter waves into a predetermined detection range and receives millimeter waves reflected by an object every time a predetermined time elapses. The radar ECU 32 acquires radar object information based on information about the millimeter waves transmitted and received by the radar 31. The radar object information includes a distance to the object, an azimuth of the object, a relative velocity (longitudinal relative velocity) of the object, and the like.

[0020] The vehicle control ECU 10 generates final object information (i.e., fused object information) by integrating the camera object information and the radar object information. Therefore, the camera device 20 and the radar device 30 constitute an object information acquisition device that acquires vehicle periphery information related to the situation (objects, road signs, etc.) in front of the host vehicle. The fused object information is also referred to as forward object information. Note that the image ECU 22 or the radar ECU 32 may generate the fused object information and transmit the fused object information to the vehicle control ECU 10.

[0021] The powertrain ECU 40 can adjust the driving force of the vehicle HV generated by a driving device (not shown) of the vehicle HV by driving a powertrain actuator 41 in accordance with an instruction from the vehicle control ECU 10 or an operation of an accelerator pedal by a user (e.g., a driver) of the vehicle HV. The driving device includes a driving source such as an internal combustion engine and an electric motor, and a power transmission device such as a transmission.

[0022] The brake ECU 50 adjusts the braking force generated by the vehicle hybrid's braking system by driving the brake actuator 51 in response to instructions from the vehicle control ECU 10 or the operation of the brake pedal by the vehicle hybrid's user (for example, the driver seated in the driver's seat). Thus, the brake ECU 50 can control the deceleration of the vehicle hybrid.

[0023] The alarm ECU 60, together with the alarm display device 61 and the alarm sound generator 62, constitutes the alarm system WD. In response to instructions from the vehicle control ECU 10, the alarm ECU 60 can display a predetermined alarm (alarm image, alarm sign, and alarm light) on the alarm display device 61 and generate a predetermined alarm sound on the alarm sound generator 62. The alarm display device 61 only needs to be able to display the alarm in a position visible to the vehicle HV user (e.g., driver), and may be any of the following: a normal display, a display device integrated into the instrument panel, or a head-up display.

[0024] The driver monitoring device (driver monitor) 70 is a device that acquires driver information, which is information representing the status of the driver, who is the user of the hybrid vehicle (HV). The driver information includes the direction of the driver's gaze in the HV. The driver monitoring device 70 includes a driver monitor camera 71 and a driver monitor ECU 72, and is disclosed, for example, in Japanese Patent Publication No. 2019-87029 and Japanese Patent Publication No. 2013-152700.

[0025] The driver monitor camera 71 captures the face, including the eyes, of the driver of the vehicle HV at predetermined intervals and generates face image data. The driver monitor ECU 72 acquires the above driver information based on the face image data transmitted from the driver monitor camera 71 and transmits it to the vehicle control ECU 10.

[0026] The vehicle control ECU10 receives the detected or output values ​​of the following "sensors and switches". • An accelerator pedal operation amount sensor 81 detects the amount of accelerator pedal operation amount AP of a hybrid vehicle. • Brake pedal operation amount sensor 82 detects the brake pedal operation amount BP of the vehicle HV. • A vehicle speed sensor 83 detects the speed of the vehicle HV (i.e., the vehicle speed Vh). • Steering angle sensor 84 for detecting the steering angle Sa of the vehicle HV. • A shift position sensor 85 detects the shift position Sp of the drive system of a hybrid vehicle.

[0027] (Summary of operation) The device DS determines, based on fusion object information, whether or not an object posing a collision risk (hereinafter sometimes referred to as a "collision risk object") is present in front of the vehicle HV. If the device DS determines that a collision risk object is present, it issues a warning to the vehicle HV user (e.g., the driver) to inform them of the presence of the collision risk object. This warning includes the display of a warning (warning image and warning lamp, etc.) using the warning display device 61 and the generation of a warning sound (buzzer and voice message, etc.) using the warning sound generator 62.

[0028] As long as a collision risk object is present, if the warning display continues, the vehicle HV user (e.g., the driver) is likely to continue looking at the displayed warning and / or look at the warning frequently, which may result in the vehicle HV user not adequately checking the "collision risk object and surrounding conditions, etc." that they should be checking. Therefore, it is conceivable that the warning display should be terminated when the driver's gaze continues to be directed towards the displayed warning for a period of time exceeding a threshold.

[0029] However, even if a user of a hybrid vehicle (e.g., the driver) visually observes the warning for longer than the threshold time, it does not necessarily mean that the user understands the meaning of the warning. Therefore, if the warning display is terminated when the user has visually observed the warning for longer than the threshold time, there is a possibility that the user may not take appropriate driving actions to reduce the risk of collision. Appropriate driving actions taken by the user to reduce the risk of collision are referred to as "specific driving actions."

[0030] Therefore, the device DS terminates the display of the warning when both of the following conditions are met: first, the user has visually observed the warning after the warning display has started; and second, the driver has initiated a specific driving operation, which is a driving operation to reduce the risk of collision, after visually observing the warning. In other words, when the first condition is met but the second condition is not met, the device DS delays the termination timing of the warning (at least the display of the warning) compared to when both conditions are met, thereby extending the display time of the warning. This allows the device DS to terminate the display of the warning at an appropriate time. Note that the first condition may also be a condition that is met when the user visually observes the warning for a period of time longer than a threshold after the warning display has started.

[0031] (Specific operation) The CPU of the vehicle control ECU 10 executes the routines shown in Figures 2 to 4 at predetermined intervals (calculation cycles). In the following, "step" will be denoted as "S".

[0032] <Alarm started> At a predetermined timing, the CPU proceeds from S200 to S210 in Figure 2 and determines, based on the fusion object information, whether or not there is an object n in front of the vehicle HV that has the potential to collide with the vehicle HV (i.e., a collision risk) at that moment. An object n that has a collision risk is an object that, if the vehicle HV maintains its current driving state, has a higher-than-certain probability of colliding with it, and can be said to be an object that the vehicle HV user (e.g., driver) should be aware of.

[0033] More specifically, for example, the CPU determines whether object n exists within the area through which the vehicle HV will travel (i.e., the vehicle travel area) assuming the vehicle HV maintains its current speed Vh and direction of travel for a predetermined time. If the CPU determines that object n exists within the vehicle travel area, it calculates the collision margin time TTC, which is the time required for the vehicle HV to collide with object n. The collision margin time TTC is calculated by dividing the distance between the vehicle HV and object n (i.e., the longitudinal distance) by the magnitude of the relative velocity of object n (i.e., the longitudinal relative velocity). The CPU determines that object n poses a collision risk when the collision margin time TTC is less than or equal to the threshold time (collision determination threshold time) TTCth. Note that the method for determining whether or not object n poses a collision risk is not limited to this method. For example, the CPU may determine that object n poses a collision risk when object n is located in a predetermined warning area defined in front of the vehicle HV. For example, the length of the area in front of the vehicle HV in this predetermined warning area increases as the longitudinal relative velocity of object n with respect to the vehicle HV in the direction of travel increases, and the length of the area in the width direction of the vehicle HV in this predetermined area increases as the lateral relative velocity of object n in the direction perpendicular to the direction of travel of the vehicle HV increases.

[0034] If the CPU determines that there is an object n that poses a collision risk, it proceeds from S210 to S220 and determines whether the value of the alarm display history flag XW(n) for object n is "0". When the value of the alarm display history flag XW(n) is "1", it indicates that an alarm (including an alarm display) has already been issued for object n, and when the value is "0", it indicates that no alarm has yet been issued for object n.

[0035] Furthermore, flags such as the alarm display history flag XW(n) and the alarm display visual confirmation flag XR(n), described later, are set to "0" by an initialization routine (not shown) executed by the CPU when the vehicle HV's activation switch (e.g., ignition key switch or ready switch) is changed from the off position to the on position.

[0036] If the value of the alarm display history flag XW(n) is "0", the CPU proceeds from S220 to S230 and starts an alarm for object n. That is, the CPU starts "displaying an alarm using the alarm display device 61 and generating an alarm sound using the alarm sound generator 62" to inform and warn the driver, who is the user of the vehicle HV, that "object n that poses a collision risk" is present.

[0037] Next, the CPU proceeds to S240, where it sets the value of the alarm display history flag XW(n) to "1" and the value of the alarm display visual confirmation flag XR(n) to "0". After that, the CPU proceeds to S295, and provisionally terminates this routine. When the value of the alarm display visual confirmation flag XR(n) is "1", it indicates that the duration for which the driver's line of sight coincided with the direction toward the alarm display device 61 has been equal to or greater than the time corresponding to the visual confirmation threshold time T1th (see S360 in Figure 3). In other words, when the value of the alarm display visual confirmation flag XR(n) is "1", it indicates that the driver has a history of visually confirming an alarm related to object n.

[0038] Furthermore, when the CPU proceeds to S210, if there is no object n with a collision risk, the CPU proceeds from S210 to S250 and terminates any alarms that have been issued. In other words, alarms are issued during the period in which object n with a collision risk is present. Next, the CPU proceeds to S260, sets the value of the alarm display history flag XW(n) to "0", and then proceeds directly to S295 to terminate this routine.

[0039] In addition, when the CPU proceeds to S220, if the value of the alarm display history flag XW(n) is "1" (i.e., an alarm has already been triggered for object n), the CPU proceeds directly from S220 to S295 and terminates this routine.

[0040] <Visual inspection> At a predetermined timing, the CPU proceeds from S300 to S310 in Figure 3 to determine whether or not an alarm for object n is currently being issued. If an alarm for object n is being issued, the CPU proceeds from S310 to S320 to obtain information identifying the driver's line of sight from the driver monitor ECU 72 and to determine whether or not the driver's line of sight is directed toward the alarm display device 61. In other words, the CPU determines whether or not the driver is visually viewing the displayed alarm.

[0041] If the driver's gaze direction does not coincide with the direction towards the warning display device 61, the CPU proceeds from S320 to S330 and sets the value of timer T to "0". After that, the CPU proceeds directly to S395 and terminates this routine.

[0042] In contrast, if the driver's line of sight coincides with the direction toward the warning display device 61, the CPU proceeds from S320 to S340 and increases the value of Timer T by "1". Next, the CPU proceeds to S350 and determines whether the value of Timer T is greater than or equal to the visual threshold time T1th. The visual threshold time T1th only needs to be "1" or greater. When the visual threshold time T1th is "1", the determination condition in S350 is met at the moment the driver's line of sight is toward the warning display device 61. When the visual threshold time T1th is greater than "1", the determination condition in S350 is met when the duration of the driver's line of sight toward the warning display device 61 has continued for a predetermined time (i.e., the time corresponding to the visual threshold time T1th).

[0043] If the value of timer T is less than the visual threshold time T1th, the CPU proceeds directly from S350 to S395.

[0044] In contrast, if the value of timer T is greater than or equal to the visual threshold time T1th, the CPU determines that the first condition described above has been met. In this case, the CPU proceeds from S350 to S360, sets the value of the alarm display visual flag XR(n) for object n to "1", and then proceeds to S395.

[0045] Furthermore, if the CPU is not currently executing an alarm for object n when it proceeds to S310, the CPU proceeds to S395 via S330.

[0046] <Alarm end> At a predetermined time, the CPU proceeds from S400 to S410 in Figure 4 to determine whether or not an alarm for object n is currently being issued. If no alarm for object n is currently being issued, the CPU proceeds directly from S410 to S495 to terminate this routine.

[0047] In response to this, if an alarm is currently being triggered for object n, the CPU proceeds from S410 to S420 to determine whether the value of the alarm display visual flag XR(n) is "1". If the value of the alarm display visual flag XR(n) is not "1", the CPU proceeds directly from S420 to S495 to terminate this routine.

[0048] In contrast, if the value of the warning display visual flag XR(n) is "1", the CPU proceeds from S420 to S430 to determine whether the driver performed a driving operation to reduce the risk of collision with object n (i.e., a specific driving operation). A specific driving operation is sometimes referred to as a "collision risk reduction operation".

[0049] More specifically, the CPU determines that a driver has performed a specific driving operation when any of the following driving operations 1 to 4 are performed. In the following, the point in time when the value of the warning display visual confirmation flag XR(n) changes from "0" to "1" is referred to as the display visual confirmation point. Furthermore, the specific driving operation is not limited to driving operations 1 to 4; for example, a specific driving operation may be determined to have been performed when the deceleration of the vehicle HV exceeds a predetermined deceleration expected when strong braking is performed.

[0050] (Driving operation 1) An operation to change the brake pedal operation amount BP to a value greater than the "brake pedal operation amount at the time of visual inspection" (brake pedal depressing operation). (Driving Operation 2) An operation in which the brake pedal operation amount BP is maintained at a value equal to or greater than the predetermined threshold operation amount BPth required for strong braking for a certain period of time or longer (strong braking operation). (Driving Operation 3) An operation to downshift (downshift operation) after the time the display is visually confirmed. Note that a downshift operation is an operation that increases the gear ratio (or final reduction ratio) by a predetermined value or more. Whether or not a downshift operation has been performed is determined, for example, based on the output signal of the shift position sensor 85. (Driving operation 4) After the time of visual confirmation of the display, the steering angle St is changed from the steering angle at the time of visual confirmation of the display to a steering angle that changes the direction of travel of the vehicle HV to a direction that avoids collision with object n (collision avoidance steering operation).

[0051] If no specific driving maneuvers are performed to reduce the risk of collision with object n, the CPU proceeds directly from S430 to S495 and terminates this routine. Therefore, in this case, the alarm continues.

[0052] In contrast, if a specific driving operation is performed to reduce the risk of collision with object n, the CPU proceeds from S430 to S450 and terminates the alarm (i.e., the display of the alarm and the generation of the alarm sound). After that, the CPU proceeds to S495.

[0053] As explained above, the DS device extends the display time of the warning by delaying the end of the warning display compared to when the user (e.g., driver) performs a specific driving action to reduce the risk of collision, even if they have only visually observed the displayed warning. This ensures that the user is able to reliably understand the meaning of the warning. On the other hand, the DS device ends the warning display relatively quickly when the user performs a specific driving action after visually observing the warning. This avoids the situation where the warning remains displayed for an unnecessarily long period. As a result, the user can perform specific driving actions while more reliably recognizing collision risk objects and the surrounding conditions of the vehicle.

[0054] (modified version) A modified version of the apparatus DS according to an embodiment of the present invention differs from apparatus DS in that its CPU, when both the first and second conditions are met, only terminates the display of the alarm, and the generation of the alarm sound continues until there is no longer an object n that poses a collision risk.

[0055] More specifically, the CPU of the modified vehicle control ECU 10 executes the routine shown in the flowchart in Figure 5, instead of Figure 4, at predetermined intervals. The routine in Figure 5 is the same as the routine in Figure 4, but with S450 replaced by S510. The steps in Figure 5 other than S510 are the same as those in Figure 4. At S510, the CPU terminates the display of the warning for object n. However, at S510, the CPU does not terminate the generation of the warning sound for object n. In this case, the generation of the warning sound is terminated at S250 in Figure 2 when there is no longer any object n that poses a collision risk.

[0056] According to this modification, the display of the "warning for collision risk object n" for collision risk object n ends when the user (e.g., the driver) visually sees the displayed "warning for collision risk object n" and performs the specified driving operation (i.e., at the time the specified operation is performed), but the warning sound continues to be emitted until collision risk object n is no longer present. Therefore, this modification makes it possible to more reliably ensure that the user continues to perform the specified driving operation.

[0057] The present invention is not limited to the embodiments and modifications described above, and various modifications can be adopted within the scope of the present invention. For example, the present invention is applicable to a vehicle in autonomous driving mode, or to an autonomous vehicle in a state where the driving mode has transitioned from autonomous driving to manual driving by a driver. Furthermore, the object information acquisition device may consist only of the camera device 20, or only of the radar device 30. The object information acquisition device may also consist of a LiDAR (Light Detection and Ranging) system. [Explanation of symbols]

[0058] 10...Vehicle control ECU, 20...Camera device, 30...Radar device, 40...Powertrain ECU, 50...Brake ECU, WD...Warning device, 60...Warning ECU, 61...Warning display device, 62...Warning sound generator, 70...Driver monitoring device.

Claims

1. An alarm system including an alarm display device configured to display an alarm to the vehicle user, A controller that, when it determines that there is a collision risk object that poses a collision risk to the vehicle, causes the warning display device to start displaying the warning, In a vehicle control device equipped with, The aforementioned controller, If the user does not perform the specific driving operation to reduce the collision risk after visually viewing the displayed warning, the timing at which the warning display ends is delayed compared to when the user performs the specific driving operation after visually viewing the displayed warning. Vehicle control device.

2. In the vehicle control device according to claim 1, The aforementioned controller, The system is configured to continue displaying the warning while the collision risk object is present, until the user visually confirms the displayed warning and performs the specific driving operation, at which point the warning display ends. Vehicle control device.

3. In the vehicle control device according to claim 2, The alarm device includes an alarm sound generator configured to generate an alarm sound, The aforementioned controller, When it is determined that the collision risk object is present, the alarm sound generator is instructed to start generating the alarm sound. As long as the collision risk object is present, the alarm sound generator will continue to generate the alarm sound regardless of whether the user has performed the specified operation. It is configured in such a way. Vehicle control device.

4. A step of determining whether or not there is a collision risk object that poses a collision risk to the vehicle, The steps include: when it is determined that the aforementioned collision risk object is present, the vehicle's warning display device is set to start displaying a warning; The steps include ending the display of the warning at the earlier of the following two points in time: when the collision risk object is no longer present, or when the user of the vehicle visually confirms the displayed warning and performs a specific driving operation to reduce the collision risk; A vehicle control method including the following.

5. A program to be executed by the computer installed in the vehicle, The program is sent to the computer, A step of determining whether or not there is a collision risk object that poses a collision risk to the vehicle, The steps include: when it is determined that the aforementioned collision risk object is present, the vehicle's warning display device is set to start displaying a warning; The steps include ending the display of the warning at the earlier of the following two points in time: when the collision risk object is no longer present, or when the user of the vehicle visually confirms the displayed warning and performs a specific driving operation to reduce the collision risk; To execute program.

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