Driving Support Device, Driving Support Method, and Program

Abstract

To execute appropriate avoidance control when avoiding a collision between a reversing vehicle and a moving object.SOLUTION: A driving support device 6 includes: a storage section 61 for storing control information associating each of a plurality of risk ranks indicating risk of a collision between a reversing vehicle that is reversing and a moving object, and avoidance control capable of avoiding the collision between the reversing vehicle and the moving object, with each other; an area identification section 621 for identifying an entry area that the moving object present around the reversing vehicle enters, out of a plurality of areas set along an estimated route of the reversing vehicle; and an avoidance control section 627 for causing the reversing vehicle to execute the avoidance control associated with the risk rank corresponding to the estimated entry area, on the basis of the control information.SELECTED DRAWING: Figure 2

Description

Technical Field

[0001] The present invention relates to a driving support device, a driving support method, and a program for supporting the driving of a vehicle.

Background Art

[0002] Techniques for avoiding collisions between a reversing vehicle and a moving object approaching the vehicle are known. Patent Document 1 discloses a technique for activating the automatic brake of a vehicle when the predicted path of a reversing vehicle and the predicted path of a moving object intersect.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] However, in the technique of Patent Document 1, even in a situation where the reversing vehicle and the moving object are far apart and a collision can be avoided by turning or the like, if the predicted path of the vehicle and the predicted path of the moving object intersect, the automatic brake may be activated to avoid a collision between the vehicle and the moving object.

[0005] Therefore, the present invention has been made in view of these points, and an object thereof is to execute appropriate avoidance control when avoiding a collision between a reversing vehicle and a moving object.

Means for Solving the Problems

[0006] In a first aspect of the present invention, there is provided a storage unit that stores control information associating each of a plurality of risk levels indicating the risk of collision between a reversing vehicle moving backward and a moving object with avoidance control capable of avoiding a collision between the reversing vehicle and the moving object, a region specifying unit that specifies an entry region into which a moving object existing around the reversing vehicle enters, among a plurality of regions set along an estimated path of the reversing vehicle, and an avoidance control unit that causes the reversing vehicle to execute avoidance control associated with the risk level corresponding to the estimated entry region based on the control information.

[0007] The apparatus may further include a determination unit that determines a speed rank corresponding to the speed of the moving object determined by the speed of the reversing vehicle and the relative speed of the moving object with respect to the reversing vehicle, the storage unit stores the control information associating each of the plurality of risk levels, each of the plurality of speed ranks corresponding to the speed of the moving object, and the avoidance control, and the avoidance control unit may cause the reversing vehicle to execute avoidance control associated with the risk level of the entry region and the speed rank.

[0008] The apparatus may further include an estimation unit that estimates a margin time until the reversing vehicle and the moving object collide, the storage unit stores the control information associating each of the plurality of risk levels, each of the plurality of speed ranks corresponding to the speed of the moving object, each of the plurality of levels corresponding to the margin time, and the avoidance control, the estimation unit estimates, as the margin time, a time determined by the distance between an intersection position where the estimated path of the reversing vehicle and the estimated path of the moving object intersect and the position of the reversing vehicle and the speed of the reversing vehicle, and the avoidance control unit may cause the reversing vehicle to execute avoidance control associated with the risk level of the entry region, the speed rank, and the level corresponding to the estimated margin time.

[0009] Each of the plurality of avoidance controls of the control information has a priority set, and the area specifying unit estimates an entry area into which each of the plurality of moving objects around the backward vehicle enters. The avoidance control unit may cause the backward vehicle to execute the avoidance control with the highest priority among the plurality of avoidance controls associated with the risk level of the entry area of each moving object.

[0010] The plurality of avoidance controls include a braking control that generates a braking force capable of avoiding a collision between the backward vehicle and the moving object for the backward vehicle and is assigned the highest priority, a control that outputs a warning sound for notifying that the moving object is approaching the backward vehicle and is assigned the lowest priority, and a warning control that outputs an alarm sound for notifying a collision between the backward vehicle and the moving object and is assigned a priority between the highest priority and the lowest priority.

[0011] It has a type specifying unit that specifies the type of the moving object, and the avoidance control unit may cause the backward vehicle to execute the risk level of the entry area and the avoidance control associated with the type of the moving object by referring to the control information in which the type of the moving object is associated with the avoidance control.

[0012] The risk level is associated with a vehicle and a pedestrian as the types of the moving object, an avoidance control corresponding to the vehicle, and an avoidance control corresponding to the pedestrian. The type specifying unit estimates whether the moving object is a vehicle or a pedestrian. When the moving object is estimated to be a vehicle, the avoidance control unit causes the backward vehicle to execute the estimated risk level of the entry area and the avoidance control associated with the vehicle. When the moving object is estimated to be a pedestrian, the avoidance control unit may cause the backward vehicle to execute the estimated risk level of the entry area and the avoidance control associated with the pedestrian.

[0013] In a second aspect of the present invention, there is provided a driving support method including: a step of identifying an entry area into which a moving object enters, among a plurality of areas set along an estimated path of a reverse vehicle, by a processor mounted on the reverse vehicle moving backward; and a step of causing the reverse vehicle to execute avoidance control associated with a risk level corresponding to the estimated entry area, based on control information associating each of a plurality of risk levels indicating a risk of collision between the reverse vehicle and the moving object with avoidance control capable of avoiding a collision between the reverse vehicle and the moving object.

[0014] In a third aspect of the present invention, there is provided a program for causing a processor mounted on a reverse vehicle moving backward to function as a specifying unit that specifies an entry area into which a moving object enters, among a plurality of areas set along an estimated path of the reverse vehicle, and an avoidance control unit that causes the reverse vehicle to execute avoidance control associated with a risk level corresponding to the estimated entry area, based on control information associating each of a plurality of risk levels indicating a risk of collision between the reverse vehicle and the moving object with avoidance control capable of avoiding a collision between the reverse vehicle and the moving object.

Advantages of the Invention

[0015] According to the present invention, there is an effect that appropriate avoidance control can be executed when avoiding a collision between a reverse vehicle and a moving object.

Brief Description of the Drawings

[0016]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Figure 6

Embodiments for Carrying Out the Invention

[0017] [Configuration of Driving Support Device 6] The configuration of the driving support device 6 will be described with reference to FIGS. 1 and 2. FIG. 1 is a diagram for explaining the outline of the driving support device 6. FIG. 2 is a diagram for explaining the configuration of the driving support device 6.

[0018] The reverse vehicle 1 is a vehicle moving in reverse. The reverse vehicle 1 is, for example, a truck, but may also be a passenger car. The estimated route 11 is the estimated route of the reverse vehicle 1. The estimated route 11 is estimated based on, for example, the angle and angular velocity of the steering wheel of the reverse vehicle 1 and the speed and acceleration of the reverse vehicle 1. As the method for estimating the estimated route 11, known techniques can be used. The reverse vehicle 1 is equipped with a detection device 3, a braking device 4, a speaker 5, and a driving support device 6.

[0019] A plurality of regions are set along the estimated route 11. The plurality of regions are the first region 12A, the second region 12B, and the third region 12C in order from the closest to the reverse vehicle 1. High risk level ranks are set for the first region 12A, the second region 12B, and the third region 12C in order from the closest to the reverse vehicle 1. Specifically, the highest risk level rank [A] is set for the first region 12A. The lowest risk level rank [C] is set for the third region 12C. The risk level rank [B] between the highest risk level rank [A] and the lowest risk level rank [C] is set for the second region 12B.

[0020] The moving objects 21, 22, and 23 are objects existing around the estimated route 11. In the following description, when it is not necessary to distinguish between the moving objects 21, 22, and 23, they are referred to as the moving object 2. The moving object 2 is, for example, another vehicle (motorcycle or passenger car), a pedestrian, or a bicycle, but is not limited thereto.

[0021] The detection device 3 detects a moving object 2 around the reverse-moving vehicle 1. For example, the detection device 3 analyzes a captured image of the area behind the reverse-moving vehicle 1 in the traveling direction to detect the relative position, relative distance, and relative speed of the moving object 2 with respect to the reverse-moving vehicle 1. The detection device 3 may detect the relative position and relative speed of the moving object 2 with respect to the reverse-moving vehicle 1 by analyzing the scanning data of a LIDAR (Laser Imaging Detection and Ranging) that scans the area behind the reverse-moving vehicle 1 in the traveling direction, or may detect the relative position and relative speed of the moving object 2 with respect to the reverse-moving vehicle 1 by other methods. Further, the detection device 3 may detect the type of the moving object 2 by analyzing the captured image or the scanning data. Specifically, the detection device 3 detects whether the moving object 2 is a light vehicle such as a pedestrian or a bicycle, or a vehicle.

[0022] The braking device 4 is a brake that brakes the reverse-moving vehicle 1. For example, the braking device 4 is at least one of a drum brake and an auxiliary brake. The drum brake obtains braking force by pressing a brake shoe against a drum that rotates together with the wheels of the reverse-moving vehicle 1. The auxiliary brake is at least one of a retarder that obtains braking force by directly applying a load to the rotation of the output shaft of the engine of the reverse-moving vehicle 1, and an exhaust brake that enhances the effect of the engine brake by utilizing the rotational resistance of the engine.

[0023] The speaker 5 is a device that outputs sound. The speaker 5 is controlled by the driving support device 6 to output sound. Note that the speaker 5 may be a buzzer that outputs a beep sound or a transmission sound.

[0024] The driving support device 6 causes the reverse-moving vehicle 1 to execute avoidance control to avoid a collision between the reverse-moving vehicle 1 and the moving object 2. The driving support device 6 causes the reverse-moving vehicle 1 to execute avoidance control capable of avoiding a collision between the reverse-moving vehicle 1 and the moving object 2 according to an entry area into which the moving object 2 enters among a plurality of areas along the estimated route 11, thereby avoiding a collision between the reverse-moving vehicle 1 and the moving object 2. Hereinafter, the specific configuration of the driving support device 6 will be described.

[0025] The driving support device 6 includes a storage unit 61 and a control unit 62. The storage unit 61 is a storage medium including a ROM (Read Only Memory), a RAM (Random Access Memory), a hard disk, and the like. The storage unit 61 stores programs executed by the control unit 62.

[0026] The control unit 62 is a computing resource including a processor such as a CPU (Central Processing Unit). By executing the programs stored in the storage unit 61, the control unit 62 realizes functions as a region specifying unit 621, a speed rank determining unit 622, a rank setting unit 623, a TTC estimating unit 624, a level setting unit 625, a type specifying unit 626, and an avoidance control unit 627.

[0027]

[0028] The region specifying unit 621 specifies an entry region into which the moving object 2 enters among a plurality of regions along the estimated route 11. The region specifying unit 621 specifies the entry region for the moving object 2 that enters the estimated route 11 among the moving objects 2 existing within a predetermined range including the reverse vehicle 1. Specifically, the region specifying unit 621 specifies the entry region for at least any one of the moving object 2 existing within the detection range of the LIDAR and the moving object 2 existing within the range that can be imaged by an imaging device that images the rear of the reverse vehicle 1 and the moving object 2.The area specific part 621 estimates the estimated path of each moving object 2 acquired from the detection device 3 based on the relative position, relative distance, and relative speed of each moving object 2. Note that the area specific part 621 may estimate by other methods. In the present embodiment, the area specific part 621 estimates the estimated path 211 of the moving object 21, the estimated path 221 of the moving object 22, and the estimated path 231 of the moving object 23. Further, the detection device 3 may estimate the intersection position CP where the estimated path 11 of the reverse vehicle 1 and the estimated path of the moving object 2 intersect. Then, the area specific part 621 specifies, as an entry area, the area through which the estimated path of each moving object 2 passes among a plurality of areas. For a specific example, since the estimated path 211 of the moving object 21 is included in the first area 12A, the area specific part 621 specifies the first area 12A as the entry area of the moving object 21. The area specific part 621 specifies an entry area for the moving object 2 among a plurality of moving objects 2 for which entry into the estimated path is estimated.

[0029] The speed rank determination part 622 determines a speed rank according to the speed of the moving object 2. The speed rank determination part 622 estimates the speed of each moving object 2 for which the entry area is estimated. For example, the speed rank determination part 622 estimates the speed of the moving object 2 based on the speed of the reverse vehicle 1 and the relative speed of the moving object 2 with respect to the reverse vehicle 1. The speed rank determination part 622 may estimate the speed of the moving object 2 by other methods.

[0030] The speed rank determination part 622 determines, as the speed rank of the moving object 2, the speed rank corresponding to the estimated speed of the moving object 2 among a plurality of predetermined speed ranks for the moving object 2 for which the speed is estimated. The plurality of speed ranks correspond to a plurality of speed ranges. The speed rank determination part 622 determines, as the speed rank of the moving object 2, the speed rank corresponding to the speed range in which the estimated speed of the moving object 2 is included. The plurality of speed ranges include, for example, a first speed range greater than 15 kilometers per hour, a second speed range greater than 10 kilometers per hour and less than or equal to 15 kilometers per hour, and a third speed range less than or equal to 10 kilometers per hour.

[0031] When the speed of the moving object 2 is included in the first speed range, the speed rank determination unit 622 determines the speed rank of the moving object 2 as [Speed Rank 1]. When the speed of the moving object 2 is included in the second speed range, the speed rank determination unit 622 determines [Speed Rank 2] as the speed rank of the moving object 2. When the speed of the moving object 2 is included in the third speed range, the speed rank determination unit 622 determines [Speed Rank 3] as the speed rank of the moving object 2. For a specific example, the speed rank determination unit 622 determines [Speed Rank 1] for the moving object 2 traveling at 20 kilometers per hour.

[0032] The rank setting unit 623 specifies the entry area and sets a risk rank indicating the risk of collision between the moving object 2 for which the speed rank has been determined and the backward vehicle 1. For example, the rank setting unit 623 sets a risk rank corresponding to the entry area and the speed rank for the moving object 2. Specifically, the rank setting unit 623 refers to rank setting information in which each of a plurality of entry areas is associated with each of a plurality of speed ranks, and sets a risk rank corresponding to the entry area and the speed rank of the moving object 2 for the moving object 2. FIG. 3 is a data table showing an example of the rank setting information. The rank setting information is stored, for example, in the storage unit 61. For a specific example, the rank setting unit 623 sets the risk rank of the moving object 21 estimated to enter the first area 12A and having [Speed Rank 1] set to [A-1].

[0033] The TTC (Time to Collision) estimation unit 624 estimates the intersection position CP between the estimated path of the moving object 2 and the estimated path of the reverse vehicle 1. The TTC estimation unit 624 estimates the intersection position CP between the estimated path of the moving object 2 and the estimated path of the reverse vehicle 1. The TTC estimation unit 624 estimates the remaining time until the moving object 2 and the reverse vehicle 1 that have estimated the intersection position CP collide. For example, the TTC estimation unit 624 estimates the remaining time based on the distance between the estimated intersection position CP and the position of the reverse vehicle 1 and the speed of the reverse vehicle 1. Specifically, the TTC estimation unit 624 estimates, as the remaining time, the time required to travel the distance along the estimated path 11 of the reverse vehicle 1 from the position of the reverse vehicle 1 to the intersection position CP when maintaining the speed of the reverse vehicle 1 at the current time. The remaining time until the reverse vehicle 1 reaches the estimated intersection position CP is the time to collision (TTC) when the reverse vehicle 1 and the moving object 2 continue to move.

[0034] The level setting unit 625 sets the TTC level corresponding to the estimated remaining time as the TTC level of the moving object 2. The level setting unit 625 refers to level setting information associating each of a plurality of remaining time ranges with the TTC level corresponding to each range, and sets the TTC level associated with the range in which the estimated remaining time is included as the TTC level of the moving object 2. The level setting information is stored, for example, in the storage unit 61. FIG. 4 is a data table showing an example of the level setting information.

[0035] As shown in FIG. 4, the ranges of a plurality of reaction times include, but are not limited to, five time ranges. The first time range is 0.0 seconds or more and less than 0.3 seconds. The second time range is 0.3 seconds or more and less than 0.5 seconds. The third time range is 0.5 seconds or more and less than 1.0 seconds. The fourth time range is 1.0 seconds or more and less than 1.5 seconds. The fifth time range is 1.5 seconds or more. To each range, a higher risk level is associated with a smaller minimum value of the range. The highest risk level [Level 1] is associated with the first time range with the smallest minimum value of the range, and the lowest risk level [Level 5] is associated with the fifth range with the largest minimum value of the range. By way of a specific example, when the reaction time until the collision between the moving object 21 and the reverse vehicle 1 is 0.2 seconds, the level setting unit 625 sets the TTC level of the moving object 21 to [Level 1].

[0036] The type specifying unit 626 specifies the type of the moving object 2 for which the risk level is set. For example, the type specifying unit 626 estimates whether the moving object 2 is a vehicle or a pedestrian. Specifically, the type specifying unit 626 specifies whether the moving object 2 is a pedestrian, a light vehicle such as a bicycle, or a vehicle by analyzing the captured image and the scanning data of the detection device 3. Note that the type specifying unit 626 may acquire information indicating the type of the moving object 2 from the detection device 3. In this case, the type specifying unit 626 acquires information indicating whether the moving object 2 is a pedestrian or a vehicle. Further, the type specifying unit 626 specifies the type of each of the plurality of moving objects 2 for which the risk level is set.

[0037] The avoidance control unit 627 causes the reverse vehicle 1 to execute avoidance control capable of avoiding a collision between the moving object 2 for which the risk level and the TTC level are set and the reverse vehicle 1. For example, the avoidance control unit 627 causes the reverse vehicle 1 to execute avoidance control associated with the set risk level. Specifically, the avoidance control unit 627 refers to control information associating each of a plurality of risk levels with the avoidance control corresponding to each risk level, and causes the reverse vehicle 1 to execute the avoidance control associated with the risk level of the moving object 2. The control information is stored in the storage unit 61. FIG. 5 is a data table showing an example of the control information.

[0038] As shown in FIG. 5, the control information associates each of a plurality of risk levels with a plurality of avoidance controls. Specifically, the control information associates each of the plurality of risk levels with a plurality of TTC levels corresponding to the margin time, and a plurality of avoidance controls.

[0039] The plurality of avoidance controls include a braking control, an alert control, and a warning control. The braking control is a control for generating a braking force capable of avoiding a collision between the reverse vehicle 1 and the moving object 2 in the braking device 4 of the reverse vehicle 1. In other words, the braking control is a control for generating a braking force that decelerates the reverse vehicle 1 to a stop before the margin time elapses in the braking device 4. The braking control is assigned the highest priority (3).

[0040] The alert control is a control for outputting an alert sound for notifying that the moving object 2 is approaching the reverse vehicle 1. The alert control is, for example, a control for outputting a relatively small sound from the speaker 5. To give a specific example, the alert control is a control for outputting the sound "pee" from the speaker 5. The alert control is assigned the lowest priority (1).

[0041] The warning control is a control for outputting a warning sound for notifying a collision between the reverse vehicle 1 and the moving object 2. The warning control is, for example, a control for outputting a sound that is louder than the sound output by the alert control and has a shorter output cycle as the distance between the reverse vehicle 1 and the moving object 2 is shorter from the speaker 5. Specifically, the warning control is a control for outputting the sound "pi", and then shortening the interval until the sound "pi" is output again as the distance between the reverse vehicle 1 and the moving object 2 is shorter, and outputting the sound "pi". The warning control is assigned a priority (2) between the highest priority (3) and the lowest priority (1).

[0042] Among a plurality of avoidance controls, some of the avoidance controls are associated with the type of the moving object 2. In other words, in the control information, a plurality of avoidance controls corresponding to a vehicle and a pedestrian are associated with the risk level and the TTC level as the type of the moving object 2. As a specific example, for the risk level [A-3] and the TTC level [Level 3], [Braking control (3)] as an avoidance control corresponding to the type of the moving object 2 (pedestrian) and [Alarm control (2)] as an avoidance control corresponding to the type of the moving object 2 (vehicle) are associated.

[0043] The avoidance control unit 627 controls at least one of the braking device 4 and the speaker 5 of the reverse vehicle 1 so as to execute the avoidance control associated with the risk level and the TTC level of the moving object 2. As a specific example, when the risk level [A-1] and the TTC level [Level 1] are set for the moving object 21, the avoidance control unit 627 controls the braking device 4 so as to execute [Braking control (3)] associated with the risk level [A-1] and the TTC level [Level 1]. Further, as another example, when the risk level [C-2] and the TTC level [Level 3] are set for the moving object 23, the avoidance control unit 627 controls the speaker 5 so as to execute [Activation control (1)] associated with the risk level [C-2] and the TTC level [Level 3]. By doing so, the avoidance control unit 627 can cause the reverse vehicle 1 to execute an appropriate avoidance control according to the risk level of the moving object 2 and the remaining time until the collision for the moving object 2 that may collide with the reverse vehicle 1.

[0044] When it is estimated that a plurality of moving objects 2 will enter a region, the avoidance control unit 627 causes the reverse vehicle 1 to execute an avoidance control with a higher priority than other avoidance controls. For example, the avoidance control unit 627 causes the reverse vehicle 1 to execute the avoidance control with the highest priority among a plurality of avoidance controls associated with the risk level of the entry region of each moving object 2. Specifically, the avoidance control unit 627 refers to the control information, identifies the avoidance control associated with the risk level and TTC level of each moving object 2, and causes the reverse vehicle 1 to execute the avoidance control with the highest priority among the identified plurality of avoidance controls. For example, when [braking control (3)] and [alert control (1)] are identified, the avoidance control unit 627 controls the braking device 4 to execute the [braking control (3)] with the highest priority. Thereby, the avoidance control unit 627 can cause the reverse vehicle 1 to execute an avoidance control corresponding to a moving object 2 with a higher risk at the time of collision. Note that the avoidance control unit 627 may also control the speaker 5 to execute the [alert control (1)] simultaneously with the [braking control (3)].

[0045] The avoidance control unit 627 may cause the reverse vehicle 1 to execute an avoidance control according to the type of the moving object 2. For example, the avoidance control unit 627 refers to the control information and causes the reverse vehicle 1 to execute the avoidance control associated with the risk level and type of the moving object 2. Specifically, when the moving object 2 is a pedestrian, the avoidance control unit 627 causes the reverse vehicle 1 to execute an avoidance control with a higher priority than when the moving object 2 is a vehicle.

[0046] Specifically, when the moving object 2 with the danger level rank [A-3] and the TTC level [Level 3] set is a vehicle, the avoidance control unit 627 causes the reverse vehicle 1 to execute the [warning control (2)] associated with the danger level rank set for the moving object 2 and the type of the moving object 2 (vehicle) (see FIG. 5). Further, when the moving object 2 with the danger level rank [A-3] and the TTC level [Level 3] set is a pedestrian, the avoidance control unit 627 causes the reverse vehicle 1 to execute the [braking control (3)] that has a higher priority than the [warning control (2)] associated with the danger level rank set for the moving object 2 and the type of the moving object 2 (pedestrian) and also associated with (vehicle). Thereby, the avoidance control unit 627 can improve the safety for pedestrians who are more likely to suffer greater damage at the time of collision than vehicles. Note that the avoidance control unit 627 may also cause the reverse vehicle 1 to execute the avoidance control associated with the type of the moving object 2 (pedestrian) even when the moving object 2 is a light vehicle such as a bicycle.

[0047] [Process for avoiding collision] FIG. 6 is a flowchart showing an example of the process for avoiding a collision. The process for avoiding a collision between the reverse vehicle 1 and the moving object 2 is executed when the reverse vehicle 1 starts to reverse.

[0048] The area specifying unit 621 estimates the entry area of the moving object 2 around the reverse vehicle 1 (step S1). Specifically, the reverse vehicle 1 estimates the entry area through which the estimated path of the moving object 2 passes among a plurality of areas set along the estimated path 11 of the reverse vehicle 1. The speed rank determination unit 622 determines the speed rank of the moving object 2 (step S2). Specifically, the speed rank determination unit 622 estimates the speed of the moving object 2 determined by the speed of the reverse vehicle 1 and the relative speed of the moving object 2 with respect to the reverse vehicle 1, and determines the speed rank corresponding to the estimated speed.

[0049] The rank setting unit 623 sets the danger level rank corresponding to the entry area and the speed rank for the moving object 2 (step S3). Specifically, the rank setting unit 623 refers to the rank setting information (see FIG. 3) and sets the danger level rank associated with the estimated entry area and the set speed rank for the moving object 2.

[0050] The TTC estimation unit 624 estimates the remaining time until a collision between the moving object 2, for which the entry area and speed have been estimated, and the reverse vehicle 1 (step S4). Specifically, the TTC estimation unit 624 estimates, as the remaining time, the time required to travel the distance along the estimated path 11 of the reverse vehicle 1 from the position of the reverse vehicle 1 to the intersection position CP between the estimated path of the moving object 2 and the estimated path of the reverse vehicle 1.

[0051] The level setting unit 625 sets a TTC level corresponding to the estimated remaining time (step S5). Specifically, the level setting unit 625 refers to the level setting information (see FIG. 4) and sets, for the moving object 2, the TTC level associated with the range in which the remaining time is included.

[0052] The avoidance control unit 627 identifies avoidance control corresponding to the risk level and the TTC level (step S6). Specifically, the avoidance control unit 627 refers to the control information (see FIG. 5) and identifies the avoidance control associated with the risk level and the TTC level.

[0053] The avoidance control unit 627 determines whether or not it has identified avoidance control for all the moving objects 2 for which the risk level and the TTC level have been set (step S7). If there is a moving object 2 for which the avoidance control has not been identified (No in step S7), the avoidance control unit 627 repeats steps S1 to S6 until it has identified avoidance control for all the moving objects 2 for which the risk level has been set. Note that the avoidance control unit 627 may execute the processing of steps S1 to S7 in parallel for each of the plurality of moving objects 2.

[0054] When the avoidance control unit 627 has identified avoidance control for all the moving objects 2 for which the risk level has been set (Yes in step S7), it causes the reverse vehicle 1 to execute the avoidance control with the highest priority among the identified plurality of avoidance controls (step S8).

[0055] (Modification Example 1) It is considered that there is no risk of collision between the moving object 2 for which the entry area is not estimated and the reverse vehicle 1. Therefore, the rank setting unit 623 does not set a risk level for the moving object 2 for which the entry area is not estimated. In other words, the rank setting unit 623 does not set a risk level for the moving object 2 that does not enter any of the plurality of areas. For a specific example, the rank setting unit 623 does not estimate the speed, type, and margin time of the moving object 22 whose estimated path 221 does not pass through any of the plurality of areas. As a result, the driving support device 6 does not need to perform a plurality of processes related to setting the risk level and specifying the avoidance control for the moving object 22 that has no risk of colliding with the reverse vehicle 1, so that the processing load of the driving support device 6 can be reduced.

[0056] (Modification 2) The storage unit 61 may store control information corresponding to each type of the plurality of moving objects 2. For example, the storage unit 61 stores vehicle control information corresponding to a vehicle and pedestrian control information corresponding to a pedestrian. In this case, the avoidance control unit 627 specifies, from the vehicle control information, the avoidance control associated with the risk level of the moving object 2 that is a vehicle, and specifies, from the pedestrian control information, the avoidance control associated with the risk level of the moving object 2 that is a pedestrian.

[0057] [Effect of the driving support device 6] As described above, the driving support device 6 estimates an entry area into which the moving object 2 around the reverse vehicle 1 enters, among the plurality of areas in which high risk level ranks are set in the order of proximity to the reverse vehicle 1 along the estimated path 11 of the reverse vehicle 1. Then, the driving support device 6 refers to the control information associating the plurality of risk levels with the avoidance control corresponding to each risk level and capable of avoiding the collision between the reverse vehicle 1 and the moving object 2, and causes the reverse vehicle 1 to execute the avoidance control associated with the risk level of the entry area of the moving object 2.

[0058] Accordingly, when the moving object 2 enters a region close to the reverse vehicle 1, for example, the driving support device 6 causes the reverse vehicle 1 to execute avoidance control associated with a high risk level, and when the moving object 2 enters a region far from the reverse vehicle 1, causes the reverse vehicle 1 to execute avoidance control associated with a low risk level. By doing so, the driving support device 6 can cause the reverse vehicle 1 to execute appropriate avoidance control according to the risk level of the moving object 2 that may cause a collision.

[0059] As described above, the present invention has been described using embodiments. However, the technical scope of the present invention is not limited to the scope described in the above embodiments, and various modifications and changes are possible within the scope of the gist. For example, all or part of the device can be configured by being functionally or physically dispersed and integrated in any unit. Also, new embodiments resulting from any combination of a plurality of embodiments are included in the embodiments of the present invention. The effects of the new embodiments resulting from the combination have the effects of the original embodiments combined.

Explanation of Reference Numerals

[0060] 1 Reverse vehicle 2 Moving object 3 Detection device 4 Braking device 5 Speaker 6 Driving support device 61 Storage unit 62 Control unit 621 Region specifying unit 622 Speed rank determining unit 623 Rank setting unit 624 TTC estimating unit 625 Level setting unit 626 Type specifying unit 627 Avoidance control unit

Claims

1. A storage unit that stores control information associating each of a plurality of risk levels indicating the risk of collision between a reversing vehicle moving backward and a moving object with avoidance control capable of avoiding a collision between the reversing vehicle and the moving object; An area specifying unit that specifies an entry area into which a moving object existing around the reversing vehicle enters, among a plurality of areas set along the estimated path of the reversing vehicle; An avoidance control unit that causes the reversing vehicle to execute avoidance control associated with the risk level corresponding to the estimated entry area based on the control information; It has, Priorities are set for each of the plurality of avoidance controls of the control information, The area specifying unit estimates an entry area into which each of a plurality of moving objects around the reversing vehicle enters, The avoidance control unit causes the reversing vehicle to execute the avoidance control with the highest priority among the plurality of avoidance controls associated with the risk level of the entry area of each moving object. A driving support device.

2. A storage unit that stores control information associating each of a plurality of risk levels indicating the risk of collision between a reversing vehicle moving backward and a moving object with avoidance control capable of avoiding a collision between the reversing vehicle and the moving object; An area specifying unit that specifies an entry area into which a moving object existing around the reversing vehicle enters, among a plurality of areas set along the estimated path of the reversing vehicle; An avoidance control unit that causes the reversing vehicle to execute avoidance control associated with the risk level corresponding to the estimated entry area based on the control information; A determination unit that determines a speed rank corresponding to the speed of the moving object determined by the speed of the reversing vehicle and the relative speed of the moving object with respect to the reversing vehicle; It has, The storage unit stores the control information associating each of the plurality of risk levels, each of the plurality of speed ranks corresponding to the speed of the moving object, and the avoidance control; The avoidance control unit causes the reverse vehicle to execute avoidance control associated with the risk level of the entry area and the speed level. Driving support device.

3. It has an estimation unit that estimates the margin time until the reverse vehicle and the moving object collide. The storage unit stores the control information associating each of the plurality of risk levels, each of the plurality of speed levels corresponding to the speed of the moving object, each of the plurality of levels corresponding to the margin time, and the avoidance control. The estimation unit estimates, as the margin time, the time determined by the distance between the intersection position where the estimated path of the reverse vehicle and the estimated path of the moving object intersect and the position of the reverse vehicle, and the speed of the reverse vehicle. The avoidance control unit causes the reverse vehicle to execute avoidance control associated with the risk level of the entry area, the speed level, and the level corresponding to the estimated margin time. The driving support device according to claim 2.

4. The plurality of avoidance controls include: Control that generates a braking force capable of avoiding a collision between the reverse vehicle and the moving object in the reverse vehicle, and braking control with the highest priority; and Control that outputs a warning sound that notifies that the moving object is approaching the reverse vehicle, and arousal control with the lowest priority; and Control that outputs an alarm sound that notifies a collision between the reverse vehicle and the moving object, and alarm control with a priority between the highest priority and the lowest priority. The driving support device according to claim 1.

5. It has a type identification unit that identifies the type of the moving object. The avoidance control unit refers to the control information in which the type of the moving object is associated with the avoidance control, and causes the reverse vehicle to execute the avoidance control associated with the risk level of the entry area and the type of the moving object. The driving support device according to any one of claims 1 to 3.

6. In the risk level, the types of the moving objects, namely vehicles and pedestrians, are associated with the avoidance control corresponding to the vehicle and the avoidance control corresponding to the pedestrian. The type specifying unit estimates whether the moving object is a vehicle or a pedestrian. The avoidance control unit When it is estimated that the moving object is a vehicle, the risk level of the estimated entry area and the avoidance control associated with the vehicle are executed on the reverse-moving vehicle. When it is estimated that the moving object is a pedestrian, the risk level of the estimated entry area and the avoidance control associated with the pedestrian are executed on the reverse-moving vehicle. The driving support device according to claim 5.

7. Executed by a processor mounted on a reverse-moving vehicle. Identifying an entry area into which each of a plurality of moving objects around the reverse-moving vehicle enters, among a plurality of areas set along the estimated path of the reverse-moving vehicle. Based on control information associating each of a plurality of risk levels indicating the risk of collision between the reverse-moving vehicle and the moving object, an avoidance control capable of avoiding a collision between the reverse-moving vehicle and the moving object, and the priority of each avoidance control, causing the reverse-moving vehicle to execute the avoidance control with the highest priority among the plurality of avoidance controls associated with the risk level corresponding to the entry area of each moving object. A driving support method having the above.

8. Executed by a processor mounted on a reverse-moving vehicle. Identifying an entry area into which a moving object enters, among a plurality of areas set along the estimated path of the reverse-moving vehicle. Determining a speed rank corresponding to the speed of the moving object determined by the speed of the reverse-moving vehicle and the relative speed of the moving object with respect to the reverse-moving vehicle. Based on control information associating each of a plurality of risk levels indicating the risk of collision between the reverse vehicle and the moving object, each of a plurality of speed levels corresponding to the speed of the moving object, and avoidance control capable of avoiding a collision between the reverse vehicle and the moving object, causing the reverse vehicle to execute the avoidance control associated with the risk level and the speed level corresponding to the estimated entry area; A driving support method having the above.

9. A processor mounted on a reverse vehicle that reverses, A specifying unit that specifies an entry area into which each of a plurality of moving objects enters among a plurality of areas set along the estimated path of the reverse vehicle, and Based on control information associating each of a plurality of risk levels indicating the risk of collision between the reverse vehicle and the moving object, avoidance control capable of avoiding a collision between the reverse vehicle and the moving object, and the priority of each avoidance control, among the plurality of avoidance controls associated with the risk level corresponding to the entry area of each moving object, an avoidance control unit that causes the reverse vehicle to execute the avoidance control with the highest priority; A program for functioning as the above.

10. A processor mounted on a reverse vehicle that reverses, A specifying unit that specifies an entry area into which a moving object enters among a plurality of areas set along the estimated path of the reverse vehicle, A determining unit that determines a speed level corresponding to the speed of the moving object determined by the speed of the reverse vehicle and the relative speed of the moving object with respect to the reverse vehicle, and Based on control information associating each of a plurality of risk levels indicating the risk of collision between the reverse vehicle and the moving object, each of a plurality of speed levels corresponding to the speed of the moving object, and avoidance control capable of avoiding a collision between the reverse vehicle and the moving object, causing the reverse vehicle to execute the avoidance control associated with the risk level and the speed level corresponding to the estimated entry area; A program for functioning as the above.

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