Driving support device, driving support method, and driving support program

Abstract

To provide a drive assistance device that can improve safety when an own vehicle turns to left or right.SOLUTION: A drive assistance device comprises: a front sensor that acquires information related to a traffic participant present in predetermined regions on a left front and a right front of an own vehicle; an alarm device configured to execute an alarm to an occupant in the own vehicle; and a processor configured to control the alarm device. If an intention to turn, which is a driver's intention to turn the own vehicle to the side on which the traffic participant exists, is detected within a predetermined time from a first point at which the front sensor could no longer detect the traffic participant as a result the traffic participant deviated from the region due to approach of the own vehicle to the traffic participant, the processor predicts the distance between the traffic participant and the own vehicle in front-back direction at a second point at which the intention to turn was detected. If the predicted distance between the traffic participant and the own vehicle in front-back direction is within a predetermined range, the processor makes the alarm device execute an alarm.SELECTED DRAWING: Figure 3

Description

Technical Field

[0001] The present invention relates to a driving support device, a driving support method, and a driving support program for suppressing a collision (entrapment) with a traffic participant located on the side of a host vehicle when the host vehicle makes a left turn or a right turn.

Background Art

[0002] Generally, when a host vehicle makes a left turn (or a right turn), it is difficult for the driver of the host vehicle to visually recognize traffic participants (pedestrians, bicycles, motorcycles, etc.) located on the left (or right) side of the host vehicle. Here, generally, a front sensor for acquiring information regarding traffic participants located in front of the host vehicle is provided, and a device that executes control for suppressing a collision between the traffic participant and the host vehicle based on the information acquired by the front sensor has been proposed. However, the detection range of the front sensor is limited to the front of the host vehicle and may not reach the side of the host vehicle. That is, when the host vehicle makes a left turn (or a right turn), it may be difficult to detect a traffic participant located on the left (or right) side of the host vehicle using the front sensor mounted on the host vehicle.

[0003] Therefore, a processor (an arithmetic device mounted on the host vehicle) of the driving support device (hereinafter referred to as the "conventional device") described in Patent Document 1 acquires, via a wireless communication line, information acquired by a front sensor of another vehicle located behind the host vehicle and regarding a traffic participant located on the side of the host vehicle. Then, the processor of the conventional device can issue a predetermined warning based on the information. Thereby, when the host vehicle makes a left turn (or a right turn), a collision between the host vehicle and a traffic participant located on the left (or right) side of the host vehicle is suppressed.

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Summary of the Invention

[0005] The above-described conventional device assumes that there is another vehicle equipped with a front sensor behind the host vehicle. When the other vehicle does not exist, the processor of the conventional device cannot acquire information about traffic participants located on the side of the host vehicle. Therefore, in this case, when the host vehicle makes a left turn (or a right turn), even if there are traffic participants on the left (or right) side of the host vehicle, the conventional device does not issue an alarm.

[0006] One object of the present invention is to provide a driving support device that can improve the safety when the host vehicle makes a left turn or a right turn.

[0007] To achieve the above object, the driving support device (1) of the present invention includes a front sensor (20) that detects traffic participants (A) existing within a predetermined area in front of the left and right front sides of the host vehicle and acquires information about the traffic participants; an alarm device (30) configured to be able to execute an alarm to the occupant of the host vehicle; and a processor (10) configured to be able to control the alarm device. The processor at a first time point (t1) when the host vehicle approaches the traffic participant and the traffic participant deviates from the area so that the front sensor can no longer detect the traffic participant Start measuring the elapsed time, and under the condition that the elapsed time is less than or equal to the threshold value, when detecting a turning intention, which is the intention of the driver to turn the host vehicle toward the side where the traffic participant exists, predicts the longitudinal distance (ΔYt2) between the traffic participant and the host vehicle at a second time point (t2) when the turning intention is detected based on the information about the traffic participant before the first time point Execute a process in which, assuming that the traffic participant has traveled at a constant speed at the speed at the first point in time during the period from the first point in time to the second point in time, predict the distance in the front-rear direction between the traffic participant and the host vehicle at the second point in time. When the predicted longitudinal distance between the traffic participant and the host vehicle is within a predetermined range, the alarm device is made to execute an alarm.

[0008] From the state where the host vehicle is located behind the traffic participant and the front sensor can recognize the traffic participant, when the host vehicle approaches the traffic participant and the traffic participant deviates from the detection range of the front sensor, the front sensor can no longer recognize the traffic participant. After that, when the processor detects at a second time point that the driver is trying to turn the host vehicle toward the traffic participant side, if it is predicted that the host vehicle and the traffic participant are close to each other, the warning device is made to execute a warning. In this way, according to the present invention, even when there is no device (for example, another vehicle located behind the host vehicle) that supplies information about a traffic participant that cannot be detected by the front sensor of the host vehicle, a warning can be issued based only on the information obtained by the front sensor mounted on the host vehicle. Thereby, the safety of the host vehicle can be improved. Moreover, according to this, the processor can relatively easily predict the distance between the traffic participant and the host vehicle at the second point in time.

[0009] In a driving support device according to an aspect of the present invention, Based on the information about the traffic participant, the processor acquires the distance (ΔX) in the vehicle width direction between the host vehicle and the traffic participant, the distance (ΔY) in the longitudinal direction between the host vehicle and the traffic participant, and the speed (va) of the traffic participant in the longitudinal direction. Detect that the distance in the vehicle width direction is equal to or less than a predetermined threshold Under the situation where When the distance in the longitudinal direction between the host vehicle and the traffic participant decreases and the traffic participant deviates from the area, making the front sensor unable to detect the traffic participant, predict the distance in the longitudinal direction between the traffic participant and the host vehicle at the second time point.

[0010] In a situation where the traffic participant and the host vehicle are traveling (driving side by side) along the same lane, if the host vehicle turns toward the traffic participant side, there is a possibility of contact between the two. In this aspect, when the distance in the vehicle width direction between the traffic participant and the host vehicle is equal to or less than the threshold, it is considered that they are driving side by side. And the driving support device is configured to be able to execute a warning only when the condition is satisfied. According to this, execution of unnecessary warnings is suppressed.

[0013] In addition, the driving support method and the driving support program according to the present invention include steps executed by each device constituting the above driving support device.

Brief Description of the Drawings

[0014]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Figure 6

Embodiments for Carrying Out the Invention

[0015] (Schematic) A driving support device 1 according to an embodiment of the present invention is mounted on a vehicle V (hereinafter referred to as the "host vehicle") having an automatic driving function. When the host vehicle turns left (or right) and there is a traffic participant on the left (or right) side of the host vehicle, and there is a high possibility that the host vehicle will come into contact with the traffic participant, under the situation where the automatic driving function is disabled and the driver is mainly performing driving operations, the driving support device 1 has a function (warning function) of issuing a predetermined warning.

[0016] (Specific Configuration) As shown in FIG. 1, the driving support device 1 includes a driving support ECU 10, an in-vehicle sensor 20, and an alarm device 30.

[0017] The driving support ECU 10 includes a microcomputer including a CPU 10a, a ROM 10b, a RAM 10c, a timer 10d, and the like.

[0018] The driving support ECU 10 is connected to other ECUs provided in the host vehicle via a CAN (Controller Area Network).

[0019] The in-vehicle sensor 20 includes a front sensor that acquires information about traffic participants located in front of the host vehicle. Specifically, the in-vehicle sensor 20 includes a millimeter-wave radar 21 and a camera 22 as the front sensor.

[0020] The millimeter-wave radar 21 includes a transmission / reception unit and a signal processing unit (not shown). The transmission / reception unit radiates radio waves in the millimeter-wave band (hereinafter referred to as "millimeter waves") forward of the host vehicle, and receives millimeter waves (reflected waves) reflected by a three-dimensional object including a traffic participant A (pedestrian, bicycle, motorcycle, etc.) located within the radiation range. Note that the radiation range of the millimeter waves forms a substantially fan shape in a plan view as shown in FIG. 2. The signal processing unit determines whether or not the traffic participant A has been recognized (detected) based on the time from when the transmission / reception unit radiates the millimeter waves until the reflected waves are received, the phase difference between the transmitted millimeter waves and the received reflected waves, the attenuation level of the reflected waves, etc. When the traffic participant A is recognized, the distance between the host vehicle and the traffic participant A (the distance ΔX in the vehicle width direction and the distance ΔY in the front-rear direction), the speed va of the traffic participant A in the forward direction (the traveling direction of the host vehicle), etc. are calculated, and the calculation result is transmitted to the driving support ECU 10. Note that as shown in FIG. 3, the distance ΔX is the distance between a straight line (center line) passing through the center portion in the vehicle width direction of the host vehicle and a straight line (center line) passing through the center portion in the width direction of the traffic participant A. The distance ΔY is the distance between the front end of the host vehicle and the rear end of the traffic participant A.

[0021] The camera 22 includes an imaging device and an image analysis device. The imaging device is, for example, a digital camera incorporating an imaging element such as a CCD (charge coupled device) or a CIS (CMOS image sensor). The imaging device is directed forward above the front windshield glass. The imaging device captures the foreground of the host vehicle at a predetermined frame rate to acquire image data. The imaging device transmits the image data to the image analysis device. The image analysis device analyzes the acquired image data to obtain information about traffic participants located in front of the host vehicle from the image. For example, the image analysis device identifies (recognizes) traffic participants (pedestrians, bicycles, motorcycles, etc.) and other three-dimensional objects (e.g., guardrails, poles, etc.) located in the left front and right front of the host vehicle, and transmits the identification result (recognition result) to the driving support ECU 10.

[0022] As shown in FIG. 2, in a plan view, the range R1 within which the millimeter-wave radar 21 can accurately detect the traffic participant A and the range R2 within which the image analysis device of the camera 22 can accurately recognize the traffic participant A are substantially the same. However, these ranges may deviate slightly. In the following description, the smallest region including both of the above regions is referred to as the "detection range Ra of the front sensor".

[0023] Furthermore, the in-vehicle sensor 20 includes sensors that acquire information about the driving state (speed) of the host vehicle and information about the operation mode of the operating elements provided in the host vehicle.

[0024] Specifically, as shown in FIG. 1, the in-vehicle sensor 20 includes a speed sensor 23 and a direction indicator lever sensor 24.

[0025] The speed sensor 23 detects the rotational speed (wheel speed) of each wheel of the host vehicle and calculates the speed vs (actual vehicle speed) of the host vehicle based on the wheel speeds of the respective wheels. The speed sensor 23 transmits data representing the speed vs to the driving support ECU 10.

[0026] The direction indicator lever sensor 24 includes a switch device incorporated in the direction indicator of the host vehicle (hereinafter referred to as the "right turn switch" and the "left turn switch"). When the lever of the direction indicator is in the neutral position, the left turn switch and the right turn switch are in the off state. When the driver makes the host vehicle travel in the right direction, the driver tilts the lever from the neutral position in a predetermined direction. As a result, the right turn switch is turned on. In this case, the left turn switch remains off. On the other hand, when the driver makes the host vehicle travel in the left direction, the driver tilts the lever from the neutral position in the direction opposite to the predetermined direction. As a result, the left turn switch is turned on. In this case, the right turn switch remains off.

[0027] The warning device 30 includes a display device and an acoustic device. The display device is composed of a liquid crystal display device, a head-up display device, etc. The display device acquires display data from the driving support ECU 10 and displays an image according to the display data. The acoustic device is composed of an amplification device and a speaker device. The acoustic device acquires audio data from the driving support ECU 10 and reproduces audio according to the audio data.

[0028] (Operation) The driving support ECU 10 sequentially acquires the recognition results from the millimeter-wave radar 21 and the camera 22. When the recognition results from the millimeter-wave radar 21 and the camera 22 indicate that "a traffic participant A (pedestrian, bicycle or motorcycle) exists in front of the left or right of the host vehicle", the driving support ECU 10 acquires the distance ΔX between the traffic participant A and the host vehicle from the millimeter-wave radar 21. Note that the driving support ECU 10 may calculate the distance ΔX based on the recognition result (or image data) of the camera 22.

[0029] When the distance ΔX between the traffic participant A and the vehicle is equal to or greater than the lower threshold value ΔXLth and equal to or less than the upper threshold value ΔXHth (for example, equal to or greater than 1.5 meters and equal to or less than 3.5 meters) (see FIG. 3), the driving support ECU 10 acquires, from the millimeter-wave radar 21, the longitudinal distance ΔY and the speed va between the traffic participant A and the vehicle. The driving support ECU 10 stores these data in the RAM 10b as time-series data (data at each time point in the period from the current time point back to a time point a predetermined time ago). Note that the lower threshold value ΔXLth and the upper threshold value ΔXHth are determined in advance as values that define a range in which the traffic participant A is likely to move along the lane in which the vehicle is traveling. That is, when the traffic participant A is located within this range, the driving support ECU 10 determines that the traffic participant A is likely to move along the lane in which the vehicle is traveling.

[0030] When the speed vs of the vehicle is greater than the speed va of the traffic participant A, the vehicle approaches the traffic participant A. That is, the distance ΔY decreases. Then, when the traffic participant A deviates from the detection range Ra of the front sensor, the front sensor (both the millimeter-wave radar 21 and the camera 22) can no longer recognize the traffic participant A. The driving support ECU 10 sequentially determines whether the distance ΔY is decreasing based on the time-series data of the distance ΔY stored in the RAM. Then, when the front sensor (both the millimeter-wave radar 21 and the camera 22) can no longer recognize the traffic participant A in a situation where the distance ΔY is decreasing, the driving support ECU 10 starts measuring the elapsed time ΔT from that point (the first time point t1). In addition, the driving support ECU 10 sequentially acquires the speed vs of the vehicle from the speed sensor 23 and stores it in the RAM 10c as time-series data.

[0031] Furthermore, the driving support ECU 10 monitors the on / off states of the right turn switch and the left turn switch of the direction indicator lever sensor 24. Based on the changes in the on / off states of both switches, the driving support ECU 10 determines whether the driver is attempting to turn the host vehicle. When the left turn switch (right turn switch) is in the on state, the driving support ECU 10 determines that the driver is attempting to turn the host vehicle to the left (right).

[0032] At a second time point t2 when the elapsed time ΔT is equal to or less than a threshold value ΔTth (for example, 5 seconds), if the driver attempts to turn the host vehicle in the direction (left or right) where the traffic participant A is present, the driving support ECU 10 sets the speed va and the distance ΔY of the traffic participant A acquired immediately before the first time point t1 from the RAM 10c to the speed vat1 and the distance Yt1, respectively. Furthermore, the driving support ECU 10 acquires the speed vs of the host vehicle at each time point after the first time point t1 from the RAM 10c. Next, the driving support ECU 10 predicts the longitudinal distance ΔYt2 between the host vehicle and the traffic participant A at the second time point t2 based on the speed vat1, the distance ΔYt1, and the speed vs of the host vehicle after the first time point t1. Specifically, the driving support ECU 10 assumes that the traffic participant A travels at a constant speed vat1 from the first time point t1 to the second time point t2, and calculates the distance ΔYa (= vat1 × ΔT) traveled by the traffic participant A during this period. Also, the driving support ECU 10 integrates the speed vs during this period to calculate the distance ΔYv traveled by the host vehicle during this period. Then, the driving support ECU 10 acquires as the distance ΔYt2 (= ΔYt1 + ΔYa - ΔYv) the value obtained by adding the difference between the distance ΔYa and the distance ΔYv to the distance ΔYt1.

[0033] When the distance ΔYt2 is equal to or greater than a threshold value ΔYLth and equal to or less than a threshold value ΔYHth (for example, -10 meters or more and +1 meter or less), the driving support ECU 10 causes the warning device 30 to execute a predetermined warning. By executing the warning, the driver brakes the host vehicle, thereby suppressing a collision between the host vehicle and the traffic participant A.

[0034] Next, with reference to FIGS. 4 and 5, an example in which the driving support device 1 issues an alarm in a situation where the host vehicle and a traffic participant A located on the left side of the host vehicle are traveling in the same direction toward the same intersection and then the host vehicle makes a left turn at the intersection will be described. FIG. 4 is a diagram showing the situation until the host vehicle and the traffic participant enter the intersection ahead. FIG. 4(A) shows a situation where, at time t0, the traffic participant A is traveling in the same direction as the host vehicle in front of the host vehicle on the left. FIG. 4(B) shows a situation where, at a first time t1 after time t0, the host vehicle approaches the traffic participant A and the front sensor can no longer recognize the traffic participant A. FIG. 4(C) shows a situation where, at a second time t2 after time t1, the driver operates the direction indicator lever 24 so that the direction indicator of the host vehicle indicates the left direction.

[0035] FIG. 5 is a graph showing the time-series change of the distance ΔY between the host vehicle and the traffic participant A. As shown in FIG. 5, the distance ΔY starts to decrease from time t0, and at the first time t1, the front sensor can no longer recognize the traffic participant A. The driving support ECU 10 starts predicting (calculating) the distance ΔY from the first time t1. After that, the distance ΔY (predicted value) becomes a negative value. That is, the host vehicle is overtaking the traffic participant A. After that, the driver steps on the brake pedal to decelerate the host vehicle in order to turn the host vehicle left at the intersection. Therefore, the host vehicle and the traffic participant A start to approach each other from time tp. That is, the distance ΔY (predicted value) starts to increase toward "0". Then, at the second time t2 (<ΔTth) when the driver operates the direction indicator lever 24, the distance ΔYt2 (predicted value) is equal to or greater than the threshold value ΔYLth and equal to or less than the threshold value ΔYHth. Therefore, in this example, the driving support ECU 10 causes the alarm device 30 to execute an alarm at the second time t2.

[0036] Next, with reference to FIG. 6, the process (program PR) executed by the CPU 10a (hereinafter referred to as "CPU") of the driving support ECU 10 to realize the above alarm function will be specifically described.

[0037] When the ignition switch of the host vehicle is in the ON state, the CPU executes the program PR at a predetermined cycle. The CPU starts the execution of the program PR from step 100 and proceeds to step 101.

[0038] When the CPU proceeds to step 101, it determines whether there is a traffic participant A in the left front or right front of the host vehicle based on the information acquired from the millimeter-wave radar 21 and the camera 22. If there is a traffic participant A in the left front or right front of the host vehicle (101: Yes), the CPU proceeds to step 102. On the other hand, if there is no traffic participant A in the left front or right front of the host vehicle (101: No), the CPU proceeds to step 111 and ends the execution of the program PR.

[0039] When the CPU proceeds to step 102, it acquires the vehicle width direction distance ΔX between the host vehicle and the traffic participant A from the millimeter-wave radar 21. Then, the CPU proceeds to step 103.

[0040] When the CPU proceeds to step 103, it determines whether the distance ΔX is within a predetermined range (whether the distance ΔX is equal to or greater than the lower threshold value ΔXLth and equal to or less than the upper threshold value ΔXHth). If the distance ΔX is within the predetermined range (103: Yes), the CPU proceeds to step 104. On the other hand, if the distance ΔX deviates from the predetermined range (103: No), the CPU proceeds to step 111.

[0041] When the CPU proceeds to step 104, it determines whether the traffic participant A has deviated from the detection range Ra of the front sensor. For example, when the front sensors (millimeter-wave radar 21 and camera 22) no longer detect the traffic participant A that they detected until just before, the CPU can determine that the traffic participant A has deviated from the detection range Ra of the front sensor. If the traffic participant A has deviated from the detection range Ra of the front sensor (104: Yes), the CPU proceeds to step 105. On the other hand, if the traffic participant A is within the detection range of the front sensor (104: No), the CPU returns to step 102.

[0042] When the CPU proceeds to step 105, it starts measuring the elapsed time ΔT. Then, the CPU proceeds to step 106.

[0043] When the CPU proceeds to step 106, it starts predicting (calculating) the longitudinal distance ΔY between the host vehicle and traffic participant A. Then, the CPU proceeds to step 107.

[0044] When the CPU proceeds to step 107, it determines whether the elapsed time ΔT is less than or equal to the threshold value ΔTth. If the elapsed time ΔT is less than or equal to the threshold value ΔTth (107: Yes), the CPU proceeds to step 108. On the other hand, if the elapsed time ΔT exceeds the threshold value ΔTth (107: No), the CPU proceeds to step 111.

[0045] When the CPU proceeds to step 108, based on the information obtained from the direction indicator lever sensor 24, it determines whether "the driver is trying to turn the host vehicle toward the side where the traffic participant exists". If traffic participant A is located on the left side of the host vehicle and the left turn switch has transitioned to the on state, or if traffic participant A is located on the right side of the host vehicle and the right turn switch has transitioned to the on state, the CPU determines that the driver is trying to turn the host vehicle toward the traffic participant side. If the CPU determines that the driver is trying to turn the host vehicle toward the traffic participant side (108: Yes), the CPU proceeds to step 109. On the other hand, if the CPU does not determine that the driver is trying to turn the host vehicle toward the traffic participant side (108: No), the CPU returns to step 107.

[0046] When the CPU proceeds to step 109, it determines whether the distance ΔY (predicted value) is within a predetermined range (whether the distance ΔY is greater than or equal to the threshold value ΔYLth and less than or equal to the threshold value ΔYHth). If the distance ΔY is within the predetermined range (109: Yes), the CPU proceeds to step 109. On the other hand, if the distance ΔX deviates from the predetermined range (109: No), the CPU proceeds to step 111.

[0047] When the CPU proceeds to step 110, it causes the warning device 30 to execute a predetermined warning (image display and voice reproduction). Then, the CPU proceeds to step 111 and ends the execution of the program PR.

[0048] (Effect) From the state where the host vehicle is positioned behind traffic participant A and the front sensor can recognize the traffic participant A, when the host vehicle approaches traffic participant A and traffic participant A deviates from the detection range of the front sensor, the front sensor can no longer recognize traffic participant A. The driving support ECU 10 starts predicting the distance ΔY between the host vehicle and traffic participant A from that point in time. Then, when the driving support ECU 10 detects that the driver is trying to turn the host vehicle toward the traffic participant side, and at that time, if it is predicted that the host vehicle and traffic participant A are close to each other (ΔYLth ≦ ΔY ≦ ΔYHth), it causes the warning device 30 to execute a warning. Thus, according to the present embodiment, even when there is no device (for example, another vehicle positioned behind the host vehicle) that provides information regarding traffic participant A that cannot be detected by the front sensor of the host vehicle, a warning can be issued based only on the information obtained by the front sensor mounted on the host vehicle. Thereby, the safety of the host vehicle can be improved.

[0049] Note that the driving support ECU 10 predicts the distance ΔYt2 assuming that traffic participant A is traveling at a constant speed vat1 at the first time point t1 (the time point when it is determined Yes in step 104) during the period from the first time point t1 to the second time point t2. Therefore, there is a possibility that the prediction accuracy (accuracy) of the distance ΔY decreases as the elapsed time ΔT from the first time point t1 increases. Thus, the driving support ECU 10 is configured to be able to issue a warning only when the elapsed time ΔT is equal to or less than the threshold value ΔTth.

[0050] The present invention is not limited to the above-described embodiment, and various modifications can be adopted within the scope of the present invention.

[0051] (Modification 1) In addition to the front sensor, the driving support device 1 may be provided with a side sensor capable of acquiring side information, which is information about traffic participants located on the side of the host vehicle. For example, as the side sensor, a side camera, an ultrasonic sensor, etc. can be adopted. In this case, similar to the above embodiment, the driving support ECU 10 starts predicting the distance ΔY from the time when the front sensor can no longer detect the traffic participant A. Then, at the second time point t2, when the distance ΔY is within a predetermined range, the driving support ECU 10 acquires side information including information about traffic participants existing on the side of the host vehicle from the side sensor. Then, in addition to the determination process in step 109, when the driving support ECU 10 determines that there is a high possibility that the traffic participant A is located on the side of the host vehicle based on the determination process based on the side information, it causes the warning device 30 to execute a warning. For example, the driving support ECU determines, in step 109 of FIG. 6, whether the distance ΔY (predicted value) is within a predetermined range (within the range of not less than the lower limit threshold value ΔYLth and not more than the upper limit threshold value ΔYHth), and whether the distance ΔYS between the host vehicle and the traffic participant A obtained from the side information is not more than a predetermined distance. Then, when the distance ΔY is within the predetermined range and the distance ΔYS is not more than the predetermined distance, the warning device 30 may be caused to execute a warning. According to this, the reliability of the warning can be improved.

[0052] (Modification 2) In the above embodiment, the driving support ECU 10 determines whether the driver is trying to turn the host vehicle based on the on / off states of the left turn switch and the right turn switch of the direction indicator lever sensor 24. Instead of (or in addition to) this, the driving support ECU 10 may use a steering sensor to detect the steering angle of the steering wheel and determine whether the driver is trying to turn the host vehicle based on the detection result.

[0053] (Modification 3) In the above embodiment, the driving support ECU 10 predicts the distance ΔYt2 on the assumption that the traffic participant A is traveling at a constant speed at the speed vat1 at the first point in time t1 (or immediately before it) during the period from the first point in time t1 to the second point in time t2. Alternatively, the driving support ECU 10 may predict the distance ΔYt2 based on the acceleration and the speed vat1 of the traffic participant A at the first point in time t1 (or immediately before it).

Explanation of Signs

[0054] 1…Parking support system, 10…Parking support ECU, 20…In-vehicle sensor, 30…Warning device

Claims

1. A front sensor that detects traffic participants existing within predetermined regions in the left front and right front of the host vehicle and acquires information regarding the traffic participants, An alarm device configured to be able to execute an alarm to the occupants of the host vehicle, A processor configured to be able to control the alarm device, and comprising: The processor: Starts measuring the elapsed time from a first point in time when the host vehicle approaches the traffic participant and the front sensor can no longer detect the traffic participant because the traffic participant has deviated from the region, and when detecting a turning intention, which is the intention of the driver to turn the host vehicle toward the side where the traffic participant exists, in a situation where the elapsed time is equal to or less than a threshold value, predicts the longitudinal distance between the traffic participant and the host vehicle at a second point in time when the turning intention is detected, based on the information regarding the traffic participant before the first point in time. The prediction process assumes that the traffic participant has traveled at a constant speed at the speed at the first point in time during the period from the first point in time to the second point in time, and executes a process of predicting the longitudinal distance between the traffic participant and the host vehicle at the second point in time. When the predicted longitudinal distance between the traffic participant and the host vehicle is within a predetermined range, causes the alarm device to execute an alarm. A driving support device.

2. The driving support device according to claim 1, The processor acquires the lateral distance between the host vehicle and the traffic participant, the longitudinal distance between the host vehicle and the traffic participant, and the speed of the traffic participant in the longitudinal direction, based on the information regarding the traffic participant. In a situation where it is detected that the lateral distance is equal to or less than a predetermined threshold value, and when the longitudinal distance between the host vehicle and the traffic participant decreases and the front sensor can no longer detect the traffic participant because the traffic participant has deviated from the region, predicts the longitudinal distance between the traffic participant and the host vehicle at the second point in time. A driving support device.

3. An information acquisition step of detecting traffic participants existing within predetermined regions in the left front and right front of the host vehicle and acquiring information regarding the traffic participants, When the host vehicle approaches the traffic participant and the traffic participant deviates from the area, starting from the first point in time when the traffic participant cannot be detected in the information acquisition step, the measurement of the elapsed time is started. When a turning intention, which is the intention of the driver to turn the host vehicle toward the side where the traffic participant is present, is detected under the condition that the elapsed time is less than or equal to a threshold value, based on the information about the traffic participant before the first point in time, a prediction step of predicting the longitudinal distance between the traffic participant and the host vehicle at the second point in time when the turning intention is detected, wherein the longitudinal distance between the traffic participant and the host vehicle at the second point in time is predicted on the assumption that the traffic participant travels at a constant speed at the speed at the first point in time during the period from the first point in time to the second point in time. An alarm step of causing an alarm device to execute an alarm when the predicted longitudinal distance between the traffic participant and the host vehicle is within a predetermined range. A driving support method including the above.

4. On a computer provided in the host vehicle, An information acquisition step of detecting a traffic participant existing within a predetermined area in front of the left and right of the host vehicle and acquiring information about the traffic participant. When the host vehicle approaches the traffic participant and the traffic participant deviates from the area, starting from the first point in time when the traffic participant cannot be detected in the information acquisition step, the measurement of the elapsed time is started. When a turning intention, which is the intention of the driver to turn the host vehicle toward the side where the traffic participant is present, is detected under the condition that the elapsed time is less than or equal to a threshold value, based on the information about the traffic participant before the first point in time, a prediction step of predicting the longitudinal distance between the traffic participant and the host vehicle at the second point in time when the turning intention is detected, wherein the longitudinal distance between the traffic participant and the host vehicle at the second point in time is predicted on the assumption that the traffic participant travels at a constant speed at the speed at the first point in time during the period from the first point in time to the second point in time. An alarm step of causing an alarm device to execute an alarm when the predicted longitudinal distance between the traffic participant and the host vehicle is within a predetermined range. A driving support program for causing the above to be executed.

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