Preventive safety device and vehicle

Abstract

To provide a technique capable of performing appropriate arbitration between autonomous driving of vehicles and control based on preventive safety.SOLUTION: The present disclosure relates to a preventive safety device having a preventive safety function of performing control for preventive safety of vehicles. The preventive safety device includes one or more processors. The one or more processors receive an input of a driving signal from an autonomous driving device that performs autonomous driving of vehicles; determine whether a first operating condition is satisfied; determine, based on the driving signal, whether the autonomous driving device has an intention to perform vehicle control that causes the first operating condition to be satisfied, an intention to perform vehicle control that eliminates the satisfaction of the first operating condition, or an intention to stop the preventive safety function; when the autonomous driving device does not have any of the intentions, activate the preventive safety function in response to the first operating condition being satisfied; and when the autonomous driving device has any of the intentions, activate the preventive safety function in response to satisfaction of a second operating condition stricter than the first operating condition.SELECTED DRAWING: Figure 2

Description

Technical Field

[0001] The present disclosure relates to a technology for performing control related to vehicle preventive safety.

Background Art

[0002] Patent Document 1 discloses a method for shifting from an autonomous driving mode to a manual driving mode in an autonomous driving vehicle. In this method, whether or not the shift from the autonomous driving mode to the manual driving mode is permitted is determined from the location and driving scenario, and if permitted, the shift to the manual driving mode is performed.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] There are known autonomous driving vehicles that travel by autonomous driving. In addition, there is known a preventive safety device that activates a preventive safety function when a predetermined operating condition is satisfied, intervenes in the driver's driving, and performs vehicle control to avoid danger. Consider applying such a preventive safety device to an autonomous driving vehicle. If the preventive safety function is always activated and intervention is made in the autonomous driving when the same operating conditions as those during manual driving by the driver are satisfied, there is a risk that the driving plan for autonomous driving will be hindered. On the other hand, if the preventive safety function is not activated at all during autonomous driving, the effect of preventive safety of avoiding danger cannot be sufficiently obtained. Therefore, it is required to appropriately coordinate the autonomous driving of the vehicle and the control for preventive safety.

[0005] One object of the present disclosure is to provide a technology capable of appropriately coordinating the autonomous driving of a vehicle and the control for preventive safety.

Means for Solving the Problem

[0006] A first aspect relates to a preventive safety device having a preventive safety function for performing control for the preventive safety of a vehicle. The preventive safety device includes one or more processors. The one or more processors receive an input of a driving signal from an automatic driving device that performs automatic driving of the vehicle, determine whether a first activation condition for activating the preventive safety function is satisfied, and based on the driving signal, determine whether the automatic driving device intends to perform vehicle control that causes the first activation condition to be satisfied, intends to perform vehicle control that cancels the satisfaction of the first activation condition, or intends to stop the preventive safety function. When the automatic driving device does not have any of the above intentions, the preventive safety function is activated in response to the satisfaction of the first activation condition. When the automatic driving device has any of the above intentions, the preventive safety function is activated in response to the satisfaction of a second activation condition that is stricter than the first activation condition.

[0007] As a second aspect, in the preventive safety device according to the first aspect, the control for preventive safety may be to control the steering of the vehicle to suppress lane departure of the vehicle. Also, at this time, the intention to perform vehicle control that causes the first activation condition to be satisfied by the automatic driving device may be the intention of steering for lane change.

[0008] As a third aspect, in the preventive safety device according to the first aspect, the control for preventive safety may be to decelerate the vehicle to avoid a collision of the vehicle. Also, at this time, the intention to perform vehicle control that cancels the satisfaction of the first activation condition by the automatic driving device may be the intention of steering or decelerating to avoid an obstacle.

[0009] As a fourth aspect, in the preventive safety device according to the third aspect, the first activation condition may be that the collision margin time of the vehicle becomes smaller than a first threshold value, and the second activation condition may be that the collision margin time becomes smaller than a second threshold value. Note that the second threshold value is smaller than the first threshold value.

[0010] The fifth aspect relates to a vehicle including a preventive safety device according to any one of the first to fourth aspects, and an interface that receives an input of a driving signal from an automatic driving device.

Effect of the Invention

[0011] According to the present disclosure, it is possible to appropriately coordinate the automatic driving of a vehicle and the control by preventive safety.

Brief Description of the Drawings

[0012]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Mode for Carrying Out the Invention

[0013] Embodiments of the present disclosure will be described with reference to the accompanying drawings.

[0014] 1. Configuration of Vehicle FIG. 1 is a diagram showing an example of the configuration of a vehicle 1 according to the present embodiment. The vehicle 1 includes an automatic driving device 10, a vehicle control system 20, sensors 30, and an actuator 40. The automatic driving device 10, the vehicle control system 20, the sensors 30, and the actuator 40 are mounted on the vehicle 1. However, at least a part of the automatic driving device 10 and the vehicle control system 20 may be arranged in an external device outside the vehicle 1 to remotely control the vehicle 1. That is, the automatic driving device 10 and the vehicle control system 20 may be dispersedly arranged between the vehicle 1 and the external device.

[0015] The automatic driving device 10 performs automatic driving of the vehicle 1. The automatic driving device 10 is, for example, an ECU (Electronic Control Unit) that can be retrofitted to the vehicle 1. Alternatively, the automatic driving device 10 may be a device fixed to the vehicle 1. Further, the automatic driving device 10 may be included in the vehicle control system 20. As the automatic driving performed by the automatic driving device 10, for example, in the level definition of SAE (Society of Automotive Engineers), automatic driving at level 4 or higher that does not assume the presence of a driver is assumed.

[0016] The automatic driving device 10 acquires sensor information from the sensors 30. The sensors 30 include recognition sensors, vehicle state sensors, and position sensors. The recognition sensors recognize (detect) the situation around the vehicle 1. Examples of the recognition sensors include cameras, millimeter-wave radars, LIDAR (Laser Imaging Detection and Ranging), etc. The vehicle state sensors detect the state of the vehicle 1. The vehicle state sensors include speed sensors, acceleration sensors, yaw rate sensors, steering angle sensors, etc. The position sensors detect the position and orientation of the vehicle 1. An example of the position sensor is a GPS (Global Positioning System) sensor.

[0017] The sensor information acquired by the automatic driving device 10 from the sensors 30 includes recognition sensor information acquired by the recognition sensors, vehicle state information acquired by the vehicle state sensors, and position information acquired by the position sensors. Note that the sensors 30 may include sensors other than the recognition sensors, vehicle state sensors, and position sensors.

[0018] The automatic driving device 10 formulates a driving plan for the vehicle 1 by using the acquired sensor information. The driving plan is formulated so that the vehicle 1 travels along the optimal route to the destination while complying with traffic rules. In formulating the driving plan, in addition to the sensor information, map information that the automatic driving device 10 stores in advance or that is provided by a management server that manages the automatic driving of the vehicle 1 may be used. The driving plan includes operations such as maintaining the current driving lane and changing lanes. Then, the automatic driving device 10 generates a target trajectory necessary for the vehicle 1 to travel according to the driving plan based on the recognition sensor information and the like included in the sensor information. The target trajectory includes a set of target positions of the vehicle 1 within the road on which the vehicle 1 travels and a target speed for each target position.

[0019] In order to make the vehicle 1 follow the generated target trajectory, the automatic driving device 10 calculates the deviation (lateral deviation, yaw angle deviation, speed deviation, etc.) between the vehicle 1 and the target trajectory, and controls the steering, braking, and driving of the vehicle 1 so that the deviation decreases. In addition, the automatic driving device 10 also operates devices such as the blinker mounted on the vehicle 1 as necessary. For example, when the driving plan includes changing lanes, the automatic driving device 10 controls the steering of the vehicle 1 to follow the target trajectory while operating the blinker. These controls and operations are performed by the automatic driving device 10 outputting a "driving signal" to the vehicle control system 20, and the driving control device 23 described later operating the actuator 40 according to the driving signal. The driving signal is a signal including a control request for requesting control of the steering, braking, or driving of the vehicle 1 and an operation request related to the operation of a device such as a blinker, and is input to the vehicle control system 20.

[0020] The vehicle control system 20 includes an interface 21, a pre-crash safety device 22, and a driving control device 23. The devices included in the vehicle control system 20 may each be constituted by a single ECU.

[0021] The preventive safety device 22 has a preventive safety function for the preventive safety of the vehicle 1. The preventive safety device 22 includes one or more processors 221 (hereinafter simply referred to as the processor 221) and one or more storage devices 222 (hereinafter simply referred to as the storage device 222). The processor 221 executes various processes. The storage device 222 stores various programs and various data. By the processor 221 executing the programs stored in the storage device 222, various processes by the preventive safety device 22, including processes for activating the preventive safety function, are realized.

[0022] The interface 21 is an interface for receiving the input of the driving signal output from the automatic driving device 10. The driving signal may include an override request and a driving mode signal in addition to the control request and the operation request. The override request is a signal for requesting the automatic driving device 10 to stop the preventive safety function. The driving mode signal is a signal indicating a driving mode such as a manual driving mode in which manual driving is performed by the driver or an automatic driving mode in which automatic driving is performed by the automatic driving device 10. The driving signal received by the interface 21 is input to the preventive safety device 22 and the driving control device 23.

[0023] The preventive safety device 22 receives the input of the driving signal from the automatic driving device 10 via the interface 21. Further, the preventive safety device 22 acquires sensor information from the sensors 30 for the preventive safety of the vehicle 1. The sensor information acquired by the preventive safety device 22 includes at least recognition sensor information.

[0024] The preventive safety function is a function that supports driving by controlling the vehicle 1 to avoid risks to the vehicle 1. When a predetermined condition is satisfied, the preventive safety device 22 activates the preventive safety function and intervenes in manual driving or automatic driving to control the steering, braking, or both of the vehicle 1. The risk to the vehicle 1 here means a type of risk that can be detected by the sensors 30 and can be avoided by controlling the vehicle 1. Typical examples thereof are collision with an obstacle and deviation from the lane in which the vehicle 1 is traveling. When the preventive safety device 22 detects a situation in which these risks may occur from sensor information, particularly recognition sensor information, it activates the preventive safety function.

[0025] For example, when a situation in which a collision with an obstacle may occur is detected, collision avoidance control is activated. When the collision avoidance control is activated, the braking of the vehicle 1 is controlled to avoid a collision of the vehicle 1, and the vehicle 1 is decelerated. Here, the obstacle includes an object, a person, another vehicle, etc. existing around the road. The obstacle is detected by a recognition sensor. The speed of the vehicle 1 is obtained from a vehicle state sensor. When the time to collision (TTC) to the obstacle becomes less than the first threshold value, it is determined that there is a possibility of a collision with the obstacle.

[0026] Also, when a situation in which the vehicle 1 may deviate from the lane is detected, lane departure suppression control is activated. For example, the white line around the vehicle 1 is detected by a recognition sensor (e.g., a camera), and the margin distance between the vehicle 1 and the white line is calculated. As another example, the margin distance between the vehicle 1 and the white line is obtained from the position of the white line registered in the map information and the position information of the vehicle 1. Further, the time to departure may be calculated from the margin distance and the speed of the vehicle 1. When the margin distance or the time to departure falls below the threshold value, it is determined that the vehicle 1 may deviate from the lane. When the lane departure suppression control is activated, the steering of the vehicle 1 is controlled so that the vehicle 1 moves toward the center of the lane to suppress the lane departure of the vehicle 1.

[0027] Such control of the vehicle 1 by the preventive safety device 22 is performed by the running control device 23 operating the actuator 40 in response to a control request output from the preventive safety device 22.

[0028] The running control device 23 receives a control request and an operation request from the automatic driving device 10 via the interface 21, and a control request from the preventive safety device 22. The control request from the automatic driving device 10 includes an acceleration request, a deceleration request, and a steering request. The control request from the preventive safety device 22 includes a deceleration request and a steering request. The running control device 23 operates the actuator 40 according to the input control request or operation request. The actuator 40 includes a steering actuator for steering the wheels of the vehicle 1, a driving actuator for driving the vehicle 1, a braking actuator for braking the vehicle 1, and an actuator for operating the blinker.

[0029] Also, when requests from both the automatic driving device 10 and the preventive safety device 22 are input, the running control device 23 selects which request to give priority to and operates the actuator 40 according to one of the requests. The selection method can be arbitrarily set, but usually, the input of the control request from the preventive safety device 22 is given priority. By operating the actuator 40 according to the control request from the preventive safety device 22 that is given priority over the request from the automatic driving device 10, the preventive safety device 22 can intervene in the automatic driving. In this way, the automatic driving by the automatic driving device 10 and the control of the vehicle 1 by the preventive safety function are performed.

[0030] 2. Coordination between Automatic Driving and Preventive Safety Here, consider the conditions under which the preventive safety function intervenes in the automated driving. If the preventive safety device 22 always activates the preventive safety function and intervenes in the automated driving when a certain condition is met, there is a risk of hindering the driving plan of the automated driving device 10. On the other hand, if the preventive safety function is not activated at all during automated driving, there is a risk that the driving safety of the vehicle 1 will not be sufficiently protected. Therefore, the automated driving function and the preventive safety function need to be appropriately coordinated. According to the preventive safety device 22 according to the present embodiment, appropriate coordination between the automated driving by the automated driving device 10 and the preventive safety function of the preventive safety device 22 can be achieved. To achieve appropriate coordination, the preventive safety device 22 determines whether the automated driving device 10 has a "driving intention". Then, the preventive safety device 22 changes the operating conditions for activating the preventive safety function according to the presence or absence of the driving intention of the automated driving device 10.

[0031] Figure 2 is a flowchart showing an example of the processing performed by the preventive safety device 22. This processing is repeatedly executed in a predetermined control cycle. This processing is realized by the processor 221 executing a program stored in the storage device 222. With reference to the flowchart of Figure 2, the operating conditions will be described.

[0032] In step S110, the preventive safety device 22 (processor 221) determines whether the "first operating condition" is satisfied. If the first operating condition is satisfied (step S110; Yes), the processing proceeds to step S120. On the other hand, if the first operating condition is not satisfied (step S110; No), the processing in the current cycle ends.

[0033] The first operating condition is the normal condition for activating the preventive safety function. The first operating condition may be the same as the operating condition of the preventive safety function during manual driving. To determine the establishment of the first operating condition, a collision margin time, a deviation margin time, etc. are used. For example, the first operating condition for collision avoidance control may be that the collision margin time of vehicle 1 is less than the first threshold value. Also, for example, the first operating condition for lane departure suppression control may be that the margin distance from the white line or the deviation margin time is below the threshold value. The preventive safety device 22 can determine the establishment of the first operating condition based on the sensor information acquired from the sensors 30.

[0034] In step S120, the processor 221 determines whether vehicle 1 is in the process of automatic driving. If vehicle 1 is in the process of automatic driving (step S120; Yes), the process proceeds to step S130. On the other hand, if vehicle 1 is not in the process of automatic driving (step S120; No), the process proceeds to step S150.

[0035] The processor 221 can determine whether vehicle 1 is in the process of automatic driving based on the driving signal output from the automatic driving device 10. The processor 221 may determine whether vehicle 1 is in the process of automatic driving based on the driving mode signal. Alternatively, the processor 221 may determine that vehicle 1 is in the process of automatic driving when a control request is output from the automatic driving device 10, and determine that it is not in the process of automatic driving when it is not. As yet another example, the processor 221 acquires information regarding operations of the steering wheel, accelerator pedal, brake pedal, etc. of vehicle 1 by the driver from the actuator 40, or acquires information from a seating sensor or the like, and determines that it is in the process of automatic driving when there is no operation of vehicle 1 by the driver, or when the driver is not in vehicle 1.

[0036] In step S130, the processor 221 determines whether the automatic driving device 10 has a driving intention. If the automatic driving device 10 has a driving intention (step S130; Yes), the process proceeds to step S140. On the other hand, if the automatic driving device 10 does not have a driving intention (step S130; No), the process proceeds to step S150.

[0037] The processor 221 determines whether the automatic driving device 10 has a driving intention based on the driving signal. FIG. 3 is a table showing a specific example of a driving signal indicating that the automatic driving device 10 has a driving intention. The driving intention is the intention of the automatic driving device 10 to perform vehicle control that causes the first operating condition to be satisfied, the intention to perform vehicle control that cancels the satisfaction of the first operating condition, or the intention to stop the preventive safety function.

[0038] First, the preventive safety function corresponding to the first operating condition determined to be satisfied in step S110 will be described in terms of the driving intention during lane departure suppression control. The intention to perform vehicle control that causes the first operating condition to be satisfied is the intention to change the lane of vehicle 1. This is because when the automatic driving device 10 attempts to change the lane of vehicle 1, vehicle 1 is controlled to travel in the direction of deviating from the lane. The intention to change the lane of vehicle 1 appears in the driving signal as a turn signal operation request, a steering request in the direction of deviating from the lane where the required steering angle is greater than the threshold value, or a steering request in the direction of deviating from the lane where the change speed of the required steering angle is higher than the threshold value.

[0039] Although not shown in the table, the intention to perform vehicle control that causes the first operating condition to be satisfied may further include the intention to overtake vehicle 1. The driving signal indicating the intention to overtake vehicle 1 is the same as the driving signal indicating the intention to change the lane of vehicle 1.

[0040] Also, the intention to perform vehicle control to cancel the establishment of the first operating condition is the intention to steer in the direction of the center of the lane. This is because if the automatic driving device 10 steers the vehicle 1 in the direction of returning to the center of the lane by itself, the risk of deviating from the lane is eliminated. The intention to steer in the direction of the center of the lane appears in the driving signal as a steering request in the direction of the center of the lane where the required steering angle is greater than the threshold value, or a steering request in the direction of the center of the lane where the change speed of the required steering angle is higher than the threshold value.

[0041] Also, the intention to stop the preventive safety function by the automatic driving device 10 appears as an override request. When at least any one of the above requests is included in the driving signal received by the processor 221 from the automatic driving device 10, the processor 221 determines that the automatic driving device 10 has a driving intention. Conversely, when none of the above requests is included in the driving signal, the processor 221 determines that the automatic driving device 10 has no driving intention.

[0042] Next, the preventive safety function corresponding to the first operating condition determined to be established in step S110 will be described in terms of the driving intention during collision avoidance control. The intention to perform vehicle control to cancel the establishment of the first operating condition is the intention to steer or decelerate the vehicle 1 to avoid an obstacle. The intention to steer the vehicle 1 to avoid an obstacle appears as a turn signal operation request, a steering request in the direction of avoiding the obstacle where the required steering angle is greater than the threshold value, or a steering request in the direction of avoiding the obstacle where the change speed of the required steering angle is higher than the threshold value. The intention to decelerate the vehicle 1 to avoid an obstacle appears in the driving signal as a deceleration request where the required amount is greater than the threshold value, or a deceleration request where the change speed of the required amount is higher than the threshold value.

[0043] Also, the intention to stop the preventive safety function by the automatic driving device 10 appears as an override request. When at least any one of the above requests is included in the driving signal received by the processor 221 from the automatic driving device 10, the processor 221 determines that the automatic driving device 10 has a driving intention. Conversely, when none of the above requests is included in the driving signal, the processor 221 determines that the automatic driving device 10 has no driving intention.

[0044] Referring to FIG. 2 again, in step S140, the processor 221 determines whether the second operating condition is satisfied. If the second operating condition is satisfied (step S140; Yes), the process proceeds to step S150. On the other hand, if the second operating condition is not satisfied (step S140; No), step S150 is not performed and the process ends.

[0045] The second operating condition is a condition for activating the preventive safety function when the automatic driving device 10 has a driving intention. The second operating condition is a condition that is stricter than the first operating condition, that is, a condition that is less likely to be satisfied. When the preventive safety function is collision avoidance control, the following conditions are exemplified as the first operating condition and the second operating condition. For example, the first operating condition may be that the collision margin time is less than a first threshold value (e.g., 2.0 seconds), and the second operating condition may be that the collision margin time is less than a second threshold value (e.g., 1.0 second). The second threshold value is smaller than the first threshold value.

[0046] Also, the following conditions are exemplified when the preventive safety function is lane departure suppression control. For example, the first operating condition is that the departure margin time of the vehicle 1 is less than a threshold value. And the second operating condition may be that the departure margin time is less than a threshold value and the collision risk is greater than a threshold value. The magnitude of the collision risk may be calculated based on the distance between the parallel vehicle traveling in the adjacent lane and the vehicle 1 such that the magnitude of the collision risk increases as the distance between the parallel vehicle and the vehicle 1 decreases. The parallel vehicle is detected by a recognition sensor. The magnitude of the collision risk may alternatively be obtained from the lateral speed or acceleration of the vehicle 1. For example, when the lateral acceleration and acceleration of the vehicle 1 are greater than the average values of the lateral speed and acceleration during a lane change during manual driving, it may be determined that the collision risk is greater than a threshold value.

[0047] In step S150, the processor 221 activates the preventive safety function and outputs a control request for steering or deceleration of the vehicle 1 to the driving control device 23. When the preventive safety function is activated, the series of processes ends.

[0048] As shown in the above processing, according to this embodiment, the activation condition of the preventive safety function is changed depending on whether the automatic driving device 10 has a driving intention. When the automatic driving device 10 does not have a driving intention, the preventive safety function is activated in response to the establishment of the first activation condition, which is the normal activation condition. In this way, when there is no fear of inhibiting the driving plan of the automatic driving device 10, the effect of preventive safety for avoiding danger can be exerted.

[0049] On the other hand, when the automatic driving device 10 has a driving intention, the preventive safety function is activated in response to the establishment of the second activation condition, which is stricter than the first activation condition. When the automatic driving device 10 has an intention to perform vehicle control that causes the establishment of the first activation condition as a driving intention, the situation where the first activation condition is established is considered to be the result of the automatic driving device 10 normally performing automatic driving. Further, when the automatic driving device 10 has an intention to perform vehicle control that cancels the establishment of the first activation condition as a driving intention, it is considered that the automatic driving device 10 is trying to cancel the situation where the first activation condition is established by controlling the vehicle 1 itself. Therefore, if the preventive safety function is activated immediately even in such a case, there is a possibility of inhibiting the driving plan for automatic driving. Similarly, when the automatic driving device 10 has an intention to stop the preventive safety function, there is a possibility that the preventive safety function operates more than necessary and inhibits the driving plan for automatic driving.

[0050] According to this embodiment, when the automatic driving device 10 has a driving intention, the preventive safety function does not operate only when the first activation condition is established. This can prevent the driving plan of the automatic driving device 10 from being inhibited more than necessary due to the operation of the preventive safety function. Also, even when the automatic driving device 10 has a driving intention, when the second activation condition is established, the preventive safety function is activated. Therefore, in a necessary scenario, the preventive safety function can be activated regardless of the state of automatic driving by the automatic driving device 10, and the safety of the vehicle 1 can be ensured. In this way, automatic driving and preventive safety can be appropriately reconciled.

[0051] 3. Examples of Applicable Scenes Regarding the processing by the preventive safety device 22, specific scenes will be shown and described with reference to FIGS. 4 and 5. In FIGS. 4 and 5, the arrows indicated by solid lines represent the control of the vehicle 1 by the automatic driving device 10, and the arrows indicated by dotted lines represent the control of the vehicle 1 when the preventive safety function is activated.

[0052] FIG. 4 shows a scene where the first activation condition for lane departure suppression control is satisfied. Here, the first activation condition is that the departure margin time becomes smaller than the threshold value, and the second activation condition is that the departure margin time becomes smaller than the threshold value and the collision risk obtained based on the distance between the vehicle 1 and the vehicle running parallel to it becomes larger than the threshold value.

[0053] The vehicle 1 is in automatic driving, and the automatic driving device 10 outputs a steering request in the direction of deviating from the lane and a turn signal operation request whose required value is larger than the threshold value. That is, the automatic driving device 10 has a driving intention. Therefore, the preventive safety device 22 does not activate the preventive safety function only in response to the satisfaction of the first activation condition, but determines whether the second activation condition is satisfied.

[0054] Here, since there is no vehicle running in the adjacent lane, the collision risk is less than the threshold value, and the second activation condition is not satisfied. Therefore, the preventive safety device 22 does not activate the preventive safety function. In this way, the driving plan of the automatic driving device 10 is not hindered, and the vehicle 1 can change lanes by automatic driving.

[0055] FIG. 5 shows a scene where the first activation condition for collision avoidance control is satisfied. Here, the first activation condition is that the collision margin time becomes smaller than the first threshold value, and the second activation condition is that the collision margin time becomes smaller than the second threshold value. In the example of FIG. 5, the first activation condition is satisfied because the collision margin time with the other vehicle 2 which is an obstacle becomes smaller than the first threshold value.

[0056] Vehicle 1 is in the process of autonomous driving, and the autonomous driving device 10 outputs a steering request in the direction of deviating from the lane where the required value is greater than the threshold value and an operation request for the blinker. That is, the autonomous driving device 10 has a driving intention. Therefore, the preventive safety device 22 does not activate the preventive safety function only in response to the establishment of the first operating condition, but determines whether the second operating condition is established.

[0057] Here, since the collision margin time is not less than the second threshold value, the second operating condition is not established. Therefore, the preventive safety device 22 does not activate the preventive safety function. In this way, the driving plan of the autonomous driving device 10 is not hindered, and the vehicle 1 can change lanes by autonomous driving.

[0058] As described above, according to the preventive safety device 22 according to the present embodiment, it is possible to prevent unnecessary intervention in autonomous driving and hinder the driving plan for autonomous driving. In addition, in both scenes of FIGS. 4 and 5, when the second operating condition is established, the preventive safety device 22 activates the preventive safety function to control the braking and steering of the vehicle 1. Therefore, when necessary, regardless of the driving intention of the autonomous driving device 10, the effect of the preventive safety function can also be exerted. In this way, it is possible to appropriately mediate between autonomous driving and preventive safety.

Description of Reference Numerals

[0059] 1... Vehicle 10... Autonomous driving device 20... Vehicle control system 21... Interface 22... Preventive safety device 23... Driving control device 30... Sensors 40... Actuators 221... Processor 222... Storage device

Claims

1. A pre - safety device having a pre - safety function for controlling the vehicle's pre - safety, comprising one or more processors, wherein the one or more processors, receive an input of a driving signal from an automatic driving device that performs automatic driving of the vehicle, determine whether a first activation condition for activating the pre - safety function is satisfied, based on the driving signal, determine whether the automatic driving device intends to perform vehicle control that causes the first activation condition to be satisfied, whether the automatic driving device intends to perform vehicle control that cancels the satisfaction of the first activation condition, or whether the automatic driving device intends to stop the pre - safety function, when the automatic driving device has none of the intentions, activate the pre - safety function in response to the satisfaction of the first activation condition, when the automatic driving device has any of the intentions, activate the pre - safety function in response to the satisfaction of a second activation condition that is more stringent than the first activation condition, the control for pre - safety is to control the steering of the vehicle to suppress lane departure of the vehicle, the intention of the automatic driving device to perform vehicle control that causes the first activation condition to be satisfied is an intention of steering for lane change Pre - safety device.

2. The pre - safety device according to claim 1, and an interface that receives the input of the driving signal from the automatic driving device A vehicle comprising the same.

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