Driving assistance devices

Abstract

To suppress a notification for promoting a driver to start a self-vehicle when the driver has no intention to start the self vehicle.SOLUTION: A driving assistance device 100 comprises: a stop factor resolution determination unit 11 that is mounted on a self vehicle 900 and determines whether or not a stopping factor for traveling of the self vehicle has been resolved by using a detection result of a sensor 400 which detects a surrounding situation; a notification control unit 12 that controls a notification that is given by a notification unit 500 mounted on the self vehicle and is for promoting a driver to start the self vehicle; and a condition holding determination unit 13 that determines an intension lacking condition holds or not, the intension lacking condition being a preset condition indicating that the driver of the self vehicle has no intension to start the self vehicle. If it is determined that the stopping factor has been resolved, the notification control unit makes the notification unit provide a notification when it is determined that the intension lacking condition does not hold and suppresses a notification by the notification unit when it is determined that the condition holds.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present disclosure relates to vehicle driving assistance. [Background technology]

[0002] As a driving assistance device for assisting vehicle driving, a driving assistance device has been proposed that issues a notification, such as an audio announcement, to encourage the vehicle to start when the vehicle changes from a stopped state to a start-ready state. Various technologies have also been proposed for such driving assistance devices to adjust the enablement and timing of notification. For example, in Patent Document 1, a notification is not issued when the driver is likely to be aware of the traffic light change, such as when the driver notices that the traffic light has changed to a green light allowing the driver to proceed, or when there is a passenger in the passenger seat who is likely to inform the driver of the traffic light change. Furthermore, in Patent Document 1, if there is no following vehicle, a notification is not issued because it is deemed that there is little need to start quickly after the traffic light change. By performing such processing, Patent Document 1 prevents the driver from feeling uncomfortable, as if they are being "urged to start more quickly than necessary."

[0003] Furthermore, in Patent Document 2, infrastructure information is acquired, and based on the infrastructure information, it is determined whether the timing at which the vehicle can start will be delayed due to factors such as a wide road or the presence of pedestrian signals or crosswalks, and if it is determined that there will be a delay, the notification is delayed so that the notification is given at an appropriate time. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Japanese Patent Application Laid-Open No. 2006-92129 [Patent Document 2] Japanese Patent Application Laid-Open No. 2010-152494 Summary of the Invention [Problem to be solved by the invention]

[0005] The technology of Patent Document 1 determines whether to issue a notification based on the status of the occupants in the vehicle (whether the driver is looking at a traffic light, whether there is a passenger in the passenger seat, etc.) and the presence or absence of a following vehicle, so there is a risk that a notification will be issued even when the driver has no intention of starting the vehicle. Similarly, in Patent Document 2, the notification timing is simply adjusted according to the surrounding conditions indicated by the infrastructure information, so there is a risk that a notification will be issued when the adjusted timing arrives, even when the driver has no intention of starting the vehicle. As such, issuing a notification when the driver has no intention of starting the vehicle can be a nuisance to the driver. For this reason, there is a need for a technology that can suppress a notification to prompt the driver to start the vehicle when the driver has no intention of starting the vehicle. [Means for solving the problem]

[0006] The present disclosure has been made to solve at least part of the above-mentioned problems, and can be realized in the following aspects. [Form 1] A driving assistance device (100) mounted on a host vehicle (900) for use includes a stop factor resolution determination unit (11) that uses a detection result from a sensor (400) mounted on the host vehicle to detect surrounding conditions to determine whether a factor that caused the host vehicle to stop has been resolved, a notification control unit (12) that controls a notification by a notification unit (500) mounted on the host vehicle to prompt the host vehicle to start, and a predetermined notification indicating that the driver of the host vehicle has no intention of starting the host vehicle. and a condition satisfaction determination unit (13) that determines whether a condition indicating lack of intention, which is a condition set by the driver, is satisfied. When it is determined that the cause of stopping has been resolved, if it is determined that the condition indicating lack of intention is not satisfied, the notification control unit causes the notification unit to make the notification, and when it is determined that the condition indicating lack of intention is satisfied, the notification control unit suppresses the notification by the notification unit, and the condition indicating lack of intention includes a condition that an emergency flasher (240) mounted on the vehicle is flashing. [Form 2] A driving assistance device (100) mounted on a host vehicle (900) for use includes a stop factor resolution determination unit (11) that uses a detection result from a sensor (400) mounted on the host vehicle to detect surrounding conditions to determine whether a factor that caused the host vehicle to stop has been resolved, a notification control unit (12) that controls a notification by a notification unit (500) mounted on the host vehicle to prompt the host vehicle to start, and a notification control unit (12) that determines whether a lack of intention condition, which is a predetermined condition indicating that the driver of the host vehicle has no intention to start the host vehicle, has been established. and a condition satisfaction determination unit (13) that determines whether or not the vehicle is stopped on the shoulder of the road, wherein the notification control unit, when it is determined that the cause of stopping has been resolved and it is determined that the lack of intention condition is not satisfied, causes the notification unit to issue the notification, and when it is determined that the lack of intention condition is satisfied, suppresses the notification by the notification unit, and further comprises a shoulder stopping determination unit (15) that determines whether or not the vehicle is stopped on the shoulder of the road using the detection result by the sensor, wherein the lack of intention condition includes a condition that the vehicle is stopped on the shoulder of the road. [Mode 3] A driving assistance device (100) mounted on a host vehicle (900) for use includes a stop factor resolution determination unit (11) that uses a detection result from a sensor (400) mounted on the host vehicle to detect surrounding conditions to determine whether a factor that caused the host vehicle to stop has been resolved, a notification control unit (12) that controls a notification by a notification unit (500) mounted on the host vehicle to prompt the host vehicle to start, and a notification control unit (13) that determines whether a lack of intention condition, which is a predetermined condition indicating that the driver of the host vehicle has no intention to start the host vehicle, has been established. and a condition satisfaction determination unit (13) for determining whether the vehicle is stopped across a white line, wherein the notification control unit, when it is determined that the cause of stopping has been resolved and the lack of intention condition is not satisfied, causes the notification unit to issue the notification, and when it is determined that the lack of intention condition is satisfied, suppresses the notification by the notification unit, and further comprises a white line crossing determination unit (17) for using the detection result by the sensor to determine whether the vehicle is stopped across a white line, wherein the lack of intention condition includes a condition that the vehicle is stopped across a white line.

[0007] In one embodiment of the present disclosure, there is provided a driving assistance device mounted on a host vehicle. The driving assistance device includes: a stop factor resolution determination unit that determines whether a factor that caused the host vehicle to stop has been resolved using a detection result from a sensor mounted on the host vehicle that detects surrounding conditions; a notification control unit that controls a notification by a notification unit mounted on the host vehicle to prompt the host vehicle to start; and a condition satisfaction determination unit that determines whether a predetermined condition indicating that the driver of the host vehicle does not intend to start the host vehicle has been satisfied. When it is determined that the factor that caused the host vehicle to stop has been resolved, if it is determined that the lack of intention condition is not satisfied, the notification control unit causes the notification unit to issue the notification, and if it is determined that the lack of intention condition is satisfied, the notification control unit suppresses the notification by the notification unit.

[0008] According to this type of driving assistance device, it is determined whether a lack of intention condition, which is a predetermined condition indicating that the driver of the vehicle has no intention of starting the vehicle, has been met, and if it is determined that the lack of intention condition has been met, the notification by the notification unit to encourage the vehicle to start is suppressed, so that when the driver has no intention of starting the vehicle, the notification to encourage the vehicle to start can be suppressed. [Brief explanation of the drawings]

[0009] [Figure 1] 1 is a block diagram illustrating a configuration of a driving assistance device according to an embodiment of the present disclosure. [Figure 2] 10 is a flowchart showing the procedure of a notification control process. [Figure 3] 10 is a flowchart illustrating a procedure for determining whether a lack of intention condition is met. DETAILED DESCRIPTION OF THE INVENTION

[0010] A. Implementation: A1. Vehicle configuration: The driving assistance device 100 of this embodiment shown in FIG. 1 is mounted on and used in a vehicle 900. The vehicle 900 is also referred to as "host vehicle 900" to distinguish it from other vehicles. The driving assistance device 100 assists in driving the host vehicle 900. "Assisting in driving" means automatically performing engine control, brake control, and steering control of the host vehicle 900 on behalf of the driver, and assisting the driver in controlling driving. In this embodiment, "assisting the driver in controlling driving" includes issuing a notification to urge the driver to start moving when the host vehicle 900 is stopped, in other words, when the cause of the stoppage of the host vehicle 900 is resolved.

[0011] Before describing the driving assistance device 100 in detail, we will explain the configuration of the host vehicle 900. In addition to the driving assistance device 100, the host vehicle 900 includes an action execution unit 200, an action control unit 300, a sensor group 400, a notification unit 500, a display unit 510, and a speaker 520.

[0012] The operation execution unit 200 controls the operation of the host vehicle 900, i.e., driving, steering, braking, and operating auxiliary equipment including various lamps. The operation execution unit 200 includes an engine 210, a brake mechanism 220, a steering mechanism 230, and emergency flasher indicator lights (hereinafter also referred to as "hazard lamps") 240. The brake mechanism 220 is composed of a group of devices (actuators) related to brake control, such as sensors, motors, valves, and pumps. The steering mechanism 230 is composed of a group of devices (actuators) related to steering, such as a power steering motor. The hazard lamps 240 are composed of the same lamps as the turn signal lights (winkers) located at the front and rear of the vehicle. The hazard lamps 240 flash at predetermined intervals when the driver presses a predetermined button, etc., thereby alerting following vehicles and the like. The flashing operation is generally performed when the host vehicle 900 is temporarily stopped.

[0013] The operation control unit 300 controls the operation execution unit 200. The operation control unit 300 includes an engine ECU 310 that controls the engine 210, a brake ECU 320 that controls the brake mechanism 220, a steering ECU 330 that controls the steering mechanism 230, and a lamp ECU 340 that controls the lighting operation of various lamps, including the blinking and extinguishing of the hazard lamps 240. The engine ECU 310 controls various actuators (not shown) to control the opening and closing operation of the throttle valve, the ignition operation of the igniter, the opening and closing operation of the intake valve, etc. The brake ECU 320 controls the operation of actuators related to brake control. The steering ECU 330 controls the operation of actuators related to steering. The lamp ECU 340 controls the blinking, lighting, extinguishing, and illumination direction of various lamps, such as headlights, turn signals, hazard lamps, and tail lamps. The blinking control of the hazard lamps is performed in response to the pressing state of a push button provided on an instrument panel inside the vehicle. That is, when the button is pressed, the hazard lamps are flashed, and when the button is pressed again, the hazard lamps are turned off. In this way, in the host vehicle 900, turning on and off of the hazard lamps is triggered by a manual operation, i.e., pressing a button, by the user. Each of the ECUs 310 to 340 constituting the operation control unit 300 is configured to be able to communicate with the driving assistance device 100 via an in-vehicle network. As the in-vehicle network, for example, a controller area network (CAN), a local interconnect network (LIN), Flex Ray, or Ethernet (registered trademark) may be used.

[0014] The sensor group 400 is composed of multiple sensors. Specifically, the sensor group 400 includes a camera 410 operating as an imaging sensor, a millimeter-wave radar 420, a vehicle speed sensor 430, and a shift position sensor 440. The camera 410 captures images of the surroundings of the vehicle 900 and acquires the captured images. The camera 410 may be, for example, a monocular camera or a stereo camera that captures images of the area ahead of the vehicle 900. The millimeter-wave radar 420 detects the position and distance of an object by emitting millimeter waves and receiving the waves reflected by the object. More precisely, the "object" detected by the millimeter-wave radar 420 is a collection of multiple detection points (targets). The movement speed of the object can also be detected from the detection results of the millimeter-wave radar 420. The shift position sensor 440 detects the shift position, i.e., the position indicated by the shift lever (also called the shift range). In this embodiment, four shift positions are set: parking (P), reverse (R), neutral (N), and forward (D). The various sensors 410 to 440 included in the sensor group 400 are all electrically connected to the driving assistance device 100 by dedicated wiring.

[0015] The notification unit 500 controls the display unit 510 and the speaker 520 to make a predetermined notification in response to an instruction from the driving assistance device 100. In this embodiment, the notification made by the notification unit 500 includes a notification to prompt the host vehicle 900 to start. In making such a notification, the notification unit 500 displays a message such as "The cause of stopping has disappeared" on the display unit 510 and outputs a voice announcement stating "The cause of stopping has disappeared" from the speaker 520. Note that the content of the notification is not limited to this, and any other notification content may be used, such as lighting or flashing a predetermined icon on the display unit 510, lighting or flashing a predetermined lamp provided on the instrument panel, or vibrating the steering wheel.

[0016] Display unit 510 is arranged on the instrument panel and displays various menu screens, map information, messages, etc. Speaker 520 outputs audio to the interior of the vehicle.

[0017] A2. Driving assistance device configuration: In this embodiment, the driving assistance device 100 is configured by an ECU (Electronic Control Unit) including a CPU 10, a ROM 20, and a RAM 30, which are connected to each other via an internal bus 90. The driving assistance device 100 also includes an interface for connecting to an in-vehicle network and an interface for connecting to a sensor group 400, but these interfaces are omitted for convenience of illustration.

[0018] By executing a control program pre-stored in ROM 20, CPU 10 functions as a stop cause elimination determination unit 11, a notification control unit 12, a condition satisfaction determination unit 13, a vehicle speed acquisition unit 14, a roadside stopping determination unit 15, an elapsed time determination unit 16, a white line crossing determination unit 17, and a shift position determination unit 18.

[0019] The stop cause elimination determination unit 11 determines whether a cause for stopping the progression of the host vehicle 900 has been eliminated. The notification control unit 12 controls the notification unit 500 to issue various notifications. The condition satisfaction determination unit 13 determines whether a predetermined condition indicating that the driver of the host vehicle 900 has no intention of starting the host vehicle 900 (hereinafter referred to as a "lack of intention condition") is satisfied. The vehicle speed acquisition unit 14 acquires the vehicle speed of the host vehicle 900 using the detection result of the vehicle speed sensor 430. The roadside stop determination unit 15 determines whether the host vehicle 900 is stopped on the roadside. The elapsed time determination unit 16 determines the elapsed time since the host vehicle 900 stopped. In this embodiment, the driving assistance device 100 has a timer (not shown), which starts the timer when the vehicle speed of the host vehicle 900 becomes zero, and stops and resets the timer when the vehicle speed is no longer zero. The elapsed time specifying unit 16 specifies the time that has elapsed since the host vehicle 900 came to a stop based on the value of the timer. The determination unit 17 determines whether the host vehicle 900 is stopped across a white line. The shift position specifying unit 18 specifies the shift position using the detection result of the shift position sensor 440. Details of the processing content of each functional unit will be explained later in the notification control processing.

[0020] The driving assistance device 100 having the above configuration executes the notification control process described below, so that even if the cause of stopping the vehicle 900's progress is resolved, if the driver does not intend to start the vehicle 900, the notification urging the vehicle 900 to start is suppressed.

[0021] A3. Notification control processing: 2 is a process for controlling a notification that prompts the host vehicle 900 to start moving. In the driving support device 100, the notification control process is executed when the host vehicle 900 stops moving (comes to a halt).

[0022] The stop cause elimination determination unit 11 determines whether the cause of stopping the host vehicle 900 has been eliminated (step S105). In this embodiment, the stop cause elimination determination unit 11 determines that the "stop cause has been eliminated" when either of two conditions is satisfied: a condition that a vehicle ahead of the host vehicle 900 is moving, or a condition that the nearest traffic light ahead of the host vehicle 900 has issued an instruction to allow the host vehicle 900 to move forward, i.e., a condition that the "green" light is on in Japan. When a vehicle ahead of the host vehicle 900 is moving, the possibility of a collision is low even if the host vehicle 900 starts moving, and it can be determined that the stop cause has been eliminated. However, when the host vehicle 900 is stopped at the forefront of an intersection, there is no vehicle ahead, and this condition is not satisfied. However, even in this case, when the nearest traffic light ahead of the host vehicle 900 has its "green" light on, it can be determined that the stop cause, i.e., the "red" light is on, has been eliminated. The fact that a vehicle ahead of the host vehicle 900 is moving can be identified using the detection results of the sensor group 400. For example, if the size of the vehicle ahead captured in the captured image acquired by the camera 410 decreases over time, it can be determined that the vehicle ahead has started moving and is moving forward. Also, for example, the vehicle speed of the vehicle ahead is detected using the detection result of the millimeter wave radar 420, and if the vehicle speed is not zero, it can be determined that the vehicle ahead has started moving and is moving forward. The stop cause elimination determination unit 11 repeatedly executes step S105 until it determines that the stop cause has been eliminated.

[0023] If it is determined that the cause of the stop has been resolved (step S105: YES), the condition satisfaction determination unit 13 executes the intention lack condition determination process (step S110).

[0024] 3 is a process for determining whether the lack of intention condition is satisfied. The condition satisfaction determination unit 13 determines whether the shift position is parking (P) or reverse (R) (step S205). If it is determined that the shift position is P or R (step S205: YES), the condition satisfaction determination unit 13 determines that the lack of intention condition is satisfied (step S225). This is because if the shift position is P or R, it is different from the forward (D) shift position used when moving the vehicle 900 forward, and therefore there is a high possibility that the driver does not intend to start the vehicle 900.

[0025] If it is determined that the shift position is neither P nor R (step S205: NO), the condition satisfaction determination unit 13 determines whether the hazard lamps are flashing (step S210). This determination is made based on information obtained from the lamp ECU 340 indicating the current lighting status of the hazard lamps. If it is determined that the hazard lamps are flashing (step S210: YES), the above-mentioned step S225 is executed, and it is determined that the lack of intention condition is fulfilled. This is because if the hazard lamps are flashing, the driver has pressed the push button for controlling hazard lamp lighting, and it is highly likely that the driver has no intention of starting the host vehicle 900.

[0026] If it is determined that the hazard lamps are not flashing (step S210: NO), the shoulder stop determination unit 15 determines whether the host vehicle 900 has been stopped on the shoulder for a period exceeding the first threshold time (step S215). At this time, the shoulder stop determination unit 15 determines whether the elapsed time determined by the elapsed time determination unit 16 has exceeded the first threshold time, and also analyzes the image acquired by the camera 410 to determine whether the vehicle 900 is stopped on the shoulder. For example, the shoulder stop determination unit 15 may detect a white line at the left edge of a lane from the image using a known method, and determine whether the host vehicle 900 is stopped on the shoulder based on whether the host vehicle 900 is located to the left of the white line. Alternatively, the host vehicle 900 may be determined to be located on the shoulder by classifying the regions of each captured image into various types, such as a vehicle, pedestrian, road, white line, center line, shoulder, curb, and shrubbery, using machine learning or the like. In this embodiment, the first threshold time is "3 seconds." Note that the period is not limited to three seconds, and may be any period shorter or longer than three seconds. If it is determined that the host vehicle 900 has been parked on the shoulder for longer than the first threshold time (step S215: YES), the above-mentioned step S225 is executed, and it is determined that the lack of intention condition is met. This is because if the host vehicle 900 has been parked on the shoulder for longer than the first threshold time, it is highly likely that the driver has no intention to start the host vehicle 900.

[0027] If it is determined that the host vehicle 900 has not been stopped on the shoulder of the road for a period exceeding the first threshold time (step S215: NO), the white line crossing determination unit 17 determines whether the host vehicle 900 has been stopped across a white line for a period exceeding the second threshold time (step S220). At this time, the white line crossing determination unit 17 determines whether the elapsed time determined by the elapsed time determination unit 16 has exceeded the second threshold time, and also analyzes the image acquired by the camera 410 to determine whether the vehicle 900 has been stopped across a white line. For example, the white line crossing determination unit 17 may detect a white line from the image using a known method, and determine whether the vehicle 900 has been stopped across a white line based on whether the position of the white line overlaps with the position of the host vehicle 900 in the image (usually on the near side of the horizontal center of the image). In this embodiment, the second threshold time is the same as the first threshold time, i.e., three seconds. The second threshold time is not limited to three seconds, and may be any time shorter or longer than three seconds. It may also be a time different from the first threshold time.

[0028] If it is determined that the host vehicle 900 has been stopped straddling the white line for more than the second threshold time (step S220: YES), the above-mentioned step S225 is executed, and it is determined that the lack of intention condition is met. This is because if the host vehicle 900 has been stopped straddling the white line for more than the second threshold time, it is highly likely that the driver has no intention of starting the host vehicle 900. On the other hand, if it is determined that the host vehicle 900 has not been stopped straddling the white line for more than the second threshold time (step S220: NO), the condition satisfaction determination unit 13 determines that the lack of intention condition is not met (step S230).

[0029] In other words, the above-mentioned lack of intention condition establishment determination process is a process in which if any of the lack of intention conditions, including the following (condition i) to (condition iV), is established, it is determined that the lack of intention condition is established, and if none of the conditions is established, it is determined that the lack of intention condition is not established. (Condition i) The shift position is in park (P) or reverse (R). (Condition ii) The hazard lights are flashing. (Condition iii) The host vehicle 900 is stopped on the shoulder of the road for a period exceeding the first threshold time. (Condition iV) The host vehicle 900 is stopped across the white line for a period exceeding the second threshold time.

[0030] As shown in FIG. 4, after the completion of the lack-of-intention condition satisfaction determination process (step S110), the condition satisfaction determination unit 13 determines whether the lack-of-intention condition is satisfied (whether it is determined to be satisfied) as a result of step S110 (step S115). If it is determined that the lack-of-intention condition is not satisfied (step S115: NO), that is, if the above-mentioned step S230 is executed, the notification control unit 12 controls the notification unit 500 to issue a notification to prompt the host vehicle 900 to start (step S120). On the other hand, if it is determined that the lack-of-intention condition is satisfied (step S115: YES), that is, if the above-mentioned step S225 is executed, the notification control unit 12 suppresses the notification by the notification unit 500 to prompt the host vehicle 900 to start (step S125). In this embodiment, "suppression of notification" means that neither the display of a predetermined message by the display unit 510 nor the predetermined voice announcement by the speaker 520 is executed.

[0031] According to the driving assistance device 100 of this embodiment described above, it is determined whether or not a lack of intention condition, which is a predetermined condition indicating that the driver of the vehicle 900 has no intention of starting the vehicle 900, has been met, and if it is determined that the lack of intention condition has been met, the notification by the notification unit 500 to prompt the vehicle 900 to start is suppressed.Therefore, when the driver has no intention of starting the vehicle 900, the notification to prompt the vehicle 900 to start can be suppressed.

[0032] Furthermore, since the lack of intention condition includes a condition (condition i) that the shift position is in parking (P) or reverse (R), notification can be suppressed when there is a high possibility that the driver has no intention of starting the vehicle 900.

[0033] In addition, since the lack of intention condition includes a condition (condition ii) that the hazard lights installed on the vehicle 900 are flashing, the notification can be suppressed when there is a high possibility that the driver has no intention of starting the vehicle 900.

[0034] In addition, the lack of intention condition includes a condition (condition iii) that the vehicle 900 is parked on the shoulder of the road and the elapsed time exceeds a predetermined first threshold time, so the notification can be suppressed when there is a higher possibility that the driver has no intention of starting the vehicle 900, compared to when the vehicle has been parked on the shoulder of the road for only the first threshold time or less.

[0035] In addition, since the condition (condition (iv)) includes that the vehicle 900 is determined to be stopped across the white line and the elapsed time exceeds a predetermined second threshold time, the notification can be suppressed when there is a higher possibility that the driver has no intention of starting the vehicle 900, compared to when the vehicle 900 is stopped across the white line on the shoulder of the road for less than the second threshold time.

[0036] Furthermore, the stop cause elimination determination unit 11 determines that the stop cause has been eliminated when it is determined that the preceding vehicle is proceeding based on the detection results of the camera 410 and the millimeter wave radar 420, and can therefore accurately determine that the stop cause has been eliminated. Furthermore, the stop cause elimination determination unit 11 determines that the stop cause has been eliminated when the instruction indicated by the traffic light in the captured image obtained by the camera 410 is to allow proceeding, and can therefore accurately determine that the stop cause has been eliminated.

[0037] B. Other Embodiments: (B1) In the above embodiment, the stop cause elimination determination unit 11 determines that the stop cause has been eliminated when it is determined that the vehicle ahead is proceeding and when the traffic light indicates that proceeding is permitted, but the present disclosure is not limited to this. For example, it may determine whether or not the crossing gates are down at the railroad crossing based on the detection results of the camera 410 or the millimeter-wave radar 420, and determine that the stop cause has been eliminated when it is determined that the crossing gates are not down.

[0038] (B2) In the above embodiment, the intention lack condition establishment determination process determines whether all of the above (Condition i) to (Condition iv) are satisfied, but the present disclosure is not limited to this. Any three or less of the above (Condition i) to (Condition iv) may be omitted.

[0039] (B3) In the above embodiment, when the hazard lamps are not flashing (step S210: NO), the notification is executed on the assumption that the other two conditions (conditions (iii) and (iv)) are not satisfied. However, the present disclosure is not limited to this. After the hazard lamps are switched from flashing to off, the notification suppression may be continued until the vehicle speed of the host vehicle 900 exceeds a predetermined speed, and the notification may be executed once the predetermined speed is exceeded. According to this configuration, after starting the suppression of the notification, the notification control unit 12 continues to suppress the notification by the notification unit 500 until the vehicle speed of the host vehicle 900 exceeds a predetermined speed. This prevents the notification from being issued immediately after the hazard lamps are turned off and when the host vehicle 900 cannot immediately start moving due to the presence of another vehicle following, etc., and thus prevents the driver from feeling annoyed (uncomfortable).

[0040] (B4) In step S215 of the above embodiment, it is determined whether the vehicle has been parked on the shoulder for a period exceeding the first threshold time, but it may be determined simply "whether the vehicle has been parked on the shoulder" without considering the elapsed time. Similarly, in step S220, it may be determined simply "whether the vehicle has been parked across the white line" without considering the elapsed time.

[0041] (B5) In the above embodiment, "suppressing notification" in step S125 means not displaying a predetermined message by display unit 510 and not making a predetermined voice announcement by speaker 520, but the present disclosure is not limited to this. For example, it may mean not making only one of displaying a predetermined message by display unit 510 and making a predetermined voice announcement by speaker 520. It may also mean reducing the volume of the voice announcement to be output. It may also mean increasing (lengthening) the time interval between executions in a configuration in which the display of a predetermined message or the output of a voice announcement is periodically and repeatedly executed.

[0042] (B6) The driving assistance device 100 and the methods described herein may be implemented by a special-purpose computer configured by configuring a processor and memory programmed to execute one or more functions embodied in a computer program. Alternatively, the driving assistance device 100 and the methods described herein may be implemented by a special-purpose computer configured by configuring a processor with one or more dedicated hardware logic circuits. Alternatively, the driving assistance device 100 and the methods described herein may be implemented by one or more special-purpose computers configured by combining a processor and memory programmed to execute one or more functions with a processor configured with one or more hardware logic circuits. Furthermore, the computer program may be stored in a computer-readable non-transitory tangible storage medium as instructions executed by a computer.

[0043] The present disclosure is not limited to the above-described embodiments and can be realized in various configurations without departing from the spirit thereof. For example, technical features in the embodiments corresponding to the technical features described in the Summary of the Invention section can be appropriately replaced or combined to solve some or all of the above-described problems or achieve some or all of the above-described effects. Furthermore, if a technical feature is not described as essential in this specification, it can be appropriately deleted.

[0044] The present disclosure can be realized in various forms other than the driving assistance device 100. For example, the present disclosure can be realized in the form of a vehicle 900 equipped with the driving assistance device 100, a driving assistance method, a notification control method, a computer program for realizing these methods, a storage medium storing such a computer program, etc. For example, the present disclosure may be realized in the following forms. [Mode 1] A computer program for providing driving assistance to a vehicle, comprising: a function of determining whether a cause for stopping the travel of the host vehicle has been resolved by using a detection result from a sensor mounted on the host vehicle that detects the surrounding conditions; a function of controlling a notification by a notification unit mounted on the host vehicle to prompt the host vehicle to start; a function of determining whether or not a predetermined lack of intention condition indicating that the driver of the host vehicle has no intention to start the host vehicle is established; The above is implemented by a computer mounted on the vehicle, The function of controlling the notification, when it is determined that the cause of the stop has been resolved, when it is determined that the lack of intention condition is not satisfied, the notification unit is caused to make the notification; a computer program including a function of suppressing the notification by the notification unit when it is determined that the lack of intention condition is met; [Explanation of symbols]

[0045] 11... Stop cause elimination determination unit, 12... Notification control unit, 13... Condition satisfaction determination unit, 100... Driving support device, 400... Sensor, 500... Notification unit, 900... Vehicle

Claims

1. A driving assistance device (100) mounted on a vehicle (900), a stop cause resolution determination unit (11) that determines whether or not a cause for stopping the progression of the vehicle has been resolved using a detection result by a sensor (400) that is mounted on the vehicle and detects a surrounding situation; a notification control unit (12) that controls a notification by a notification unit (500) mounted on the vehicle to prompt the vehicle to start; a condition satisfaction determination unit (13) that determines whether or not a predetermined lack-of-intention condition indicating that the driver of the vehicle has no intention to start the vehicle is satisfied; Equipped with When it is determined that the cause of the stop has been resolved, the notification control unit: when it is determined that the lack of intention condition is not satisfied, the notification unit is caused to make the notification; When it is determined that the lack of intention condition is met, the notification by the notification unit is suppressed; The driving assistance device, wherein the lack of intention condition includes a condition that an emergency flasher (240) mounted on the vehicle is flashing.

2. The driving assistance device according to claim 1, The vehicle speed acquisition unit (14) acquires the speed of the vehicle from a vehicle speed sensor mounted on the vehicle, The driving assistance device, wherein the notification control unit continues to suppress the notification by the notification unit after starting to suppress the notification until the vehicle speed exceeds a predetermined speed.

3. A driving assistance device (100) mounted on and used in a vehicle (900), a stop cause resolution determination unit (11) that determines whether or not a cause for stopping the progression of the vehicle has been resolved using a detection result by a sensor (400) that is mounted on the vehicle and detects a surrounding situation; a notification control unit (12) that controls a notification by a notification unit (500) mounted on the vehicle to prompt the vehicle to start; a condition satisfaction determination unit (13) that determines whether or not a predetermined lack-of-intention condition indicating that the driver of the vehicle has no intention to start the vehicle is satisfied; Equipped with When it is determined that the cause of the stop has been resolved, the notification control unit: when it is determined that the lack of intention condition is not satisfied, the notification unit is caused to make the notification; When it is determined that the lack of intention condition is met, the notification by the notification unit is suppressed; The vehicle further includes a road shoulder stop determination unit (15) that determines whether the vehicle is stopped on a road shoulder by using the detection result by the sensor, The driving assistance device, wherein the lack of intention condition includes a condition that the vehicle is parked on a shoulder of a road.

4. The driving assistance device according to claim 3, The vehicle further includes an elapsed time specifying unit (16) that specifies the elapsed time since the vehicle has stopped, The lack of intention condition includes a condition that the host vehicle is stopped on a roadside and the elapsed time exceeds a predetermined first threshold time.

5. A driving assistance device (100) mounted on and used in a vehicle (900), a stop cause resolution determination unit (11) that determines whether or not a cause for stopping the progression of the vehicle has been resolved using a detection result by a sensor (400) that is mounted on the vehicle and detects a surrounding situation; a notification control unit (12) that controls a notification by a notification unit (500) mounted on the vehicle to prompt the vehicle to start; a condition satisfaction determination unit (13) that determines whether or not a predetermined lack-of-intention condition indicating that the driver of the vehicle has no intention to start the vehicle is satisfied; Equipped with When it is determined that the cause of the stop has been resolved, the notification control unit: when it is determined that the lack of intention condition is not satisfied, the notification unit is caused to make the notification; When it is determined that the lack of intention condition is met, the notification by the notification unit is suppressed; The vehicle control system further includes a white line crossing determination unit (17) that uses the detection result by the sensor to determine whether the vehicle is crossing a white line and stopped, The driving assistance device, wherein the lack of intention condition includes a condition that the host vehicle is stopped straddling a white line.

6. 6. The driving assistance device according to claim 5, further comprising an elapsed time specifying unit that specifies an elapsed time since the host vehicle has stopped; The lack of intention condition includes a condition that the host vehicle is determined to be stopped straddling a white line and the elapsed time exceeds a predetermined second threshold time.

7. The driving assistance device according to any one of claims 1 to 6, The vehicle further includes a shift position identification unit (18) that identifies a shift position of a shift lever of the vehicle. The driving assistance device, wherein the lack of intention condition includes a condition that the identified shift position is parking (P) or reverse (R).

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