Driving assistance device, driving assistance method, and program

Abstract

To provide a drive support device which detects erroneous operation of an accelerator and conducts collision control so as to match intention of a driver.SOLUTION: A drive support device prohibits collision control when an over-ride condition for determining that accelerator operation of a driver is predetermined over-ride operation is satisfied and, on the other hand, does not prohibit collision control even when the over-ride condition is satisfied during such erroneous operation judging that accelerator operation is erroneous operation. The drive support device performs erroneous operation judgement when a predetermined normal erroneous operation condition is satisfied, or when a predetermined alleviation condition is satisfied, and a predetermined alleviation erroneous operation condition more easily satisfied than a usual erroneous operation condition is satisfied. Therein, the drive support device judges that the alleviation condition is satisfied when execution frequency of collision control during erroneous judgment in one trip is a first threshold frequency or more, or when frequency of the erroneous operation judgment in one trip is a second threshold frequency or more.SELECTED DRAWING: Figure 3

Description

[Technical Field]

[0001] The present invention relates to a driving assistance device, a driving assistance method, and a program that prohibit collision control when it is determined that a driver's accelerator operation is a predetermined override operation. [Background technology]

[0002] Conventionally, driving assistance devices that perform collision control when there is a high possibility (collision probability) of a collision between a vehicle and an object have been known. Collision control is a control for avoiding a collision between a vehicle and an object or for mitigating damage caused by the collision, and a known example of collision control is automatic brake control for decelerating the vehicle without requiring the driver to apply the brakes.

[0003] The driving assistance device described in Patent Document 1 (hereinafter referred to as the "conventional device") prohibits collision control when an accelerator override condition for determining that the accelerator operation is a predetermined accelerator override operation is met, even if the driver's accelerator operation has not been determined to be an erroneous operation. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Patent Publication No. 2021-79904 Summary of the Invention

[0005] If the erroneous operation conditions for determining that an accelerator operation is an erroneous operation are made more likely to be met, the possibility of detecting an erroneous accelerator operation increases, but the possibility of erroneously detecting an intentional accelerator override operation by the driver as an erroneous accelerator operation also increases.On the other hand, if the erroneous operation conditions are made more difficult to meet, the possibility of erroneous detection can be reduced, but the possibility of not being able to detect an erroneous accelerator operation increases.

[0006] If the system is unable to detect an erroneous accelerator operation, it may interpret the erroneous accelerator operation as an accelerator override operation and prohibit collision control.On the other hand, if the system erroneously determines an erroneous accelerator operation, it may execute collision control even if an accelerator override operation has been performed.

[0007] The present invention has been made to address the above-mentioned problems. That is, one of the objects of the present invention is to provide a driving assistance device that can accurately detect an erroneous accelerator operation and reduce the possibility of prohibiting collision control when the driver erroneously operates the accelerator, and the possibility of executing collision control when the driver performs an accelerator override operation.

[0008] The driving assistance device of the present invention (hereinafter referred to as "the device of the present invention") a sensor (22) for detecting an object; When it is determined that an override condition for determining that the accelerator operation by the driver is a predetermined override operation is satisfied, the controller (20) prohibits collision control for avoiding a collision between the vehicle and the object or for mitigating damage caused by the collision (step 225 "No", step 245 "Yes"); Equipped with The controller If the override condition is satisfied while the accelerator operation is being determined to be an erroneous operation, the collision control is not prohibited, When a predetermined normal operation error condition is met (step 315, steps 400 to 495), or when a predetermined mitigated condition is met (step 325 "Yes" or step 330 "Yes") and a predetermined mitigated operation error condition that is more likely to be met than the normal operation error condition is met (step 335, steps 500 to 595), the operation error determination is performed. If the number of times the collision control is executed during the operation error determination during one trip is equal to or greater than the first threshold number of times (step 325 "Yes"), or if the number of times the operation error determination during one trip is equal to or greater than the second threshold number of times (step 330 "Yes"), it is determined that the mitigation condition is met. It is structured as follows.

[0009] The device of the present invention determines that the alleviated condition is met when either of the following conditions 1 and 2 is met, and determines whether an operation error state exists using the alleviated operation error condition, which is more likely to be met than the normal operation error condition. Condition 1: The number of times that collision control is executed during the error determination during one trip is equal to or greater than the first threshold number of times. Condition 2: The number of misoperation judgments during one trip is equal to or greater than the second threshold number.

[0010] If condition 1 is met, collision control is executed more than the first threshold number of times during the accelerator erroneous operation, meaning the driver tends to erroneously operate the accelerator in a way that increases the possibility of collision with an object. If condition 2 is met, the driver tends to erroneously operate the accelerator. If the driver has such a tendency, the erroneous operation is determined using the mitigated error condition, which is more likely to be met than the normal error condition, so that the accelerator erroneous operation can be accurately detected. This reduces the possibility of prohibiting collision control when the driver erroneously operates the accelerator, and the possibility of executing collision control when the driver performs an accelerator override operation. [Brief explanation of the drawings]

[0011] [Figure 1] 1 is a schematic system configuration diagram of a driving assistance device according to an embodiment of the present invention; [Figure 2] 4 is a flowchart of a program executed by a CPU of a driving assistance ECU. [Figure 3] 4 is a flowchart of a program executed by a CPU of a driving assistance ECU. [Figure 4] 4 is a flowchart of a program executed by a CPU of a driving assistance ECU. [Figure 5] 4 is a flowchart of a program executed by a CPU of a driving assistance ECU. DETAILED DESCRIPTION OF THE INVENTION

[0012] A driving assistance device (the present assistance device) 10 according to an embodiment of the present invention is applied to a vehicle VA, and includes the components shown in FIG.

[0013] The driving assistance ECU is an ECU that executes driving assistance control, which is a type of autonomous driving, and will be referred to as "ECU 20" below.

[0014] In this specification, an "ECU" is an electronic control device that includes a microcomputer as its main component. The ECU is also referred to as a controller or a computer. The microcomputer includes a CPU (processor), ROM, RAM, an interface, etc. The ECU 20 and some or all of the multiple ECUs described below may be integrated into a single ECU.

[0015] The millimeter-wave radar 22 is installed at the front end of the vehicle VA, detects an object present in front of the vehicle VA, and transmits object information related to the object to the ECU 20. In detail, the millimeter-wave radar 22 uses millimeter waves to identify the "position of the object relative to the vehicle VA" and the "speed of the object relative to the vehicle VA," and transmits object information including information related to these to the ECU 20.

[0016] The vehicle speed sensor 24 detects the speed of the vehicle VA (vehicle speed Vs). The ECU 20 receives the detected value from the vehicle speed sensor 24.

[0017] The power management ECU 30 is connected to and controls the power train actuator 32. The power train actuator 32 changes the driving force generated by a drive device (for example, an internal combustion engine and / or an electric motor) of the vehicle VA.

[0018] Furthermore, the power management ECU 30 is connected to an accelerator position sensor 34. The accelerator position sensor 34 detects the operation amount (depression amount) AP of an accelerator pedal (acceleration operator) (not shown) of the vehicle VA. The power management ECU 30 receives the detection value from the accelerator position sensor 34. Furthermore, the ECU 20 can acquire the detection value of the accelerator position sensor 34 received by the power management ECU 30.

[0019] The brake ECU 40 is connected to the brake actuator 42 and controls the brake actuator 42. The brake actuator 42 controls the braking force applied to the vehicle VA.

[0020] Furthermore, the brake ECU 40 is connected to a brake switch sensor 44. The brake switch sensor 44 detects whether or not a brake pedal (deceleration operator) (not shown) of the vehicle VA is being operated. The brake ECU 40 receives a detection value of the brake switch sensor 44. Furthermore, the ECU 20 can acquire the detection value of the brake switch sensor 44 received by the brake ECU 40.

[0021] The CGW (control gateway) ECU 60 controls the transmission and reception of data between the above-mentioned plurality of ECUs via the first communication line C1 and the second communication line C2.

[0022] (Activation) The operation of the ECU 20 of the assistance device 10 will now be described. When the ECU 20 determines that there is a high possibility of a collision between the object and the vehicle VA, the ECU 20 executes collision control to avoid the collision or mitigate damage caused by the collision. An example of collision control is automatic brake control.

[0023] The ECU 20 prohibits collision control when it determines that an accelerator override condition, which will be described later, is met and that the driver has performed an accelerator override operation. However, if the ECU 20 determines that the driver's accelerator operation is an erroneous operation, it does not prohibit collision control even if it determines that the driver has performed an accelerator override operation.

[0024] The ECU 20 determines that the accelerator operation is an erroneous operation when a normal erroneous operation condition, which will be described later, is satisfied. Even if the normal erroneous operation condition is not satisfied, the ECU 20 determines whether a mitigated erroneous operation condition, which is more likely to be satisfied than the normal erroneous operation condition, is satisfied as long as the mitigated erroneous operation condition is satisfied. The ECU 20 determines that the accelerator operation is an erroneous operation when the mitigated erroneous operation condition is satisfied.

[0025] If either of the above conditions 1 and 2 is met, the ECU 20 determines that the alleviated condition is met.

[0026] If the driver has a "tendency to perform accelerator erroneous operation that increases the likelihood of collision with an object," or if the driver has a tendency to perform accelerator erroneous operation, the ECU 20 determines whether an erroneous operation has occurred using the mitigated erroneous operation conditions, which are more likely to be met than the normal erroneous operation conditions. Thus, if the driver does not have the tendency, the ECU 20 determines whether an erroneous operation has occurred using the normal erroneous operation conditions, which are less likely to be met, and if the driver has the tendency, the ECU 20 determines whether an erroneous operation has occurred using the mitigated erroneous operation conditions, which are more likely to be met. Therefore, since an erroneous operation is determined using conditions that match the driver's tendency, it is possible to accurately detect an erroneous accelerator operation. This reduces the possibility of prohibiting collision control when the accelerator is erroneously operated and the possibility of executing collision control when the accelerator is overridden.

[0027] (Specific operation) The CPU of the ECU 20 executes the routines shown in the flowcharts of FIGS. 2 to 5 every time a predetermined time elapses.

[0028] <Collision control routine> When the appropriate time arrives, the CPU starts processing at step 200 in FIG. 2 and executes steps 205 through 215 in sequence.

[0029] Step 205: The CPU acquires object information from the millimeter wave radar 22. Step 210: The CPU obtains the TTC (short for Time To Collision) based on the object information. The TTC indicates the time it takes for the vehicle VA to collide with the object, and is also referred to as the time required for collision or the collision grace period. The CPU obtains the distance between the vehicle VA and the object based on the position of the object identified based on the object information, and obtains the TTC by dividing the distance by the relative speed Vr.

[0030] Step 215: The CPU determines whether the value of the execution flag Xexe is “0” or not. When the CPU is executing collision control, the value of the execution flag Xexe is set to "1," and when the CPU is not executing collision control, the value of the execution flag Xexe is set to "0." Furthermore, the value of the execution flag Xexe is also set to "0" in the initial routine. The initial routine is a routine executed by the CPU when the ignition key switch (not shown) of the vehicle VA is changed from the off position to the on position.

[0031] If the value of the execution flag Xexe is "0" (step 215 "Yes"), the CPU proceeds to step 220 and determines whether or not the TTC is equal to or less than the start threshold time Tsth.

[0032] If TTC is greater than the start threshold Tsth ("No" in step 220), the CPU determines that the possibility of a collision between the vehicle VA and the object is low. Then, the CPU proceeds to step 295 and temporarily ends this routine.

[0033] If TTC is equal to or less than the start threshold value Tsth ("Yes" in step 220), the CPU determines that there is a high possibility of a collision between the vehicle VA and the object, and proceeds to step 225. In step 225, the CPU determines whether the value of the accelerator override flag Xaor is "0".

[0034] If the CPU determines that the driver has performed an accelerator override operation, the value of the accelerator override flag Xaor is set to "1," and if the CPU determines that the driver has not performed an accelerator override operation, the value of the accelerator override flag Xaor is set to "0." The value of the accelerator override Xaor is also set to "0" in the initial routine.

[0035] If at least one of the following conditions is met (i.e., if the accelerator override condition is met): the operation amount AP is equal to or greater than the first OR start threshold AP1orth, and the operation amount AP is equal to or greater than the second OR start threshold AP2orth and the operation speed APV is equal to or greater than the first threshold speed APV1th), the CPU determines that the driver has performed an accelerator override operation and sets the accelerator override flag Xaor to "1." However, if the CPU determines that the accelerator operation is an erroneous operation (i.e., if the erroneous operation flag Xgfm, described later, is set to "1"), even if the accelerator override condition is met, the CPU does not set the accelerator override flag Xaor to "1" (i.e., does not prohibit collision control). The operation speed APV represents the operation speed of the accelerator pedal and is calculated by differentiating the operation amount AP with respect to time.

[0036] The second OR start threshold AP2orth is set to a value smaller than the first OR start threshold AP1orth.

[0037] On the other hand, if the condition that the operation amount AP is equal to or less than the OR end threshold AP3orth is satisfied, the CPU determines that the driver is no longer performing the accelerator override operation. The OR end threshold AP3orth is set to a value smaller than the second start threshold AP2orth.

[0038] If the accelerator override Xaor is "0" ("Yes" in step 225), the CPU executes steps 230 and 235 in this order. Step 230: The CPU sets the value of the execution flag Xexe to “1”. Step 235: The CPU determines whether the value of the error flag Xgfm is “1” or not. If the CPU determines that the driver's accelerator operation is an error, the value of the error flag Xgfm is set to "1," and if the CPU determines that the driver's accelerator operation is not an error, the value of the error flag Xgfm is set to "0." The value of the error flag Xgfm is also set to "0" in the initial routine.

[0039] If the value of the error flag Xgfm is "0" (step 235 "No"), the CPU proceeds to step 295 and temporarily ends this routine. If the value of the error flag Xgfm is "1" ("Yes" in step 235), the CPU proceeds to step 240 and increments the first execution number counter N1 by "1." After that, the CPU proceeds to step 295 and temporarily ends this routine.

[0040] The first execution counter N1 is a counter for counting the number of times that collision control is executed while the CPU determines that the driver's accelerator operation during one trip is erroneous. At the start of one trip (i.e., in the initial routine), the value of the first execution counter N1 is set to "0."

[0041] If the accelerator override Xaor is "1" when the CPU proceeds to step 225 (step 225 "No"), the CPU proceeds to step 295 and temporarily ends this routine. Therefore, if the CPU determines that the driver is performing an accelerator override operation before collision control is started, the CPU does not start collision control (i.e., the CPU prohibits collision control).

[0042] If the value of the execution flag Xexe is "1" when the CPU proceeds to step 215 (step 215 "No"), the CPU proceeds to step 245 and determines whether the value of the accelerator override flag Xaor is "1" or not.

[0043] If the value of the accelerator override flag Xaor is "0" ("No" in step 245), the CPU proceeds to step 250 and determines whether TTC is equal to or greater than the end threshold time Teth. The end threshold time Teth is set to a value greater than the start threshold time Tsth.

[0044] If TTC is less than the termination threshold time Teth ("No" in step 250), the CPU proceeds to step 255 and transmits a deceleration command including a predetermined target deceleration Gtgt to the power management ECU 30 and the brake ECU 40. After that, the CPU proceeds to step 295 and temporarily ends this routine.

[0045] Upon receiving the deceleration command, the power management ECU 30 and the brake ECU 40 respectively control the power train actuator 32 and the brake actuator 42 so that the acceleration G of the vehicle VA coincides with the target deceleration Gtgt included in the deceleration command. The power management ECU 30 and the brake ECU 40 receive information related to the vehicle speed Vs from the ECU 20 and obtain the acceleration G by differentiating the vehicle speed Vs with respect to time.

[0046] If the value of the accelerator override flag Xaor is "1" when the CPU proceeds to step 245 (step 245 "Yes"), the CPU proceeds to step 260 and sets the value of the execution flag Xexe to "0". The CPU then proceeds to step 295 and temporarily ends this routine. Therefore, if the CPU determines that the driver has performed an accelerator override operation while collision control is being executed, the CPU stops the collision control that is being executed (i.e., the CPU prohibits collision control).

[0047] If the TTC is equal to or greater than the termination threshold time Teth when the CPU proceeds to step 250 (step 250 "Yes"), the CPU proceeds to step 260 and sets the value of the execution flag Xexe to "0." After that, the CPU proceeds to step 295 and temporarily ends this routine.

[0048] <Accelerator misoperation detection routine> When an appropriate time arrives, the CPU starts the process from step 300 in Fig. 3 and proceeds to step 305. In step 305, the CPU determines whether the value of the operation error flag Xgfm is "0".

[0049] If the value of the operation error flag Xgfm is "0" ("Yes" in step 305), the CPU proceeds to step 310 and determines whether the operation amount AP is equal to or greater than the threshold operation amount APth. The threshold operation amount APth is set to a value smaller than a first operation error start threshold AP1sth and a second operation error start threshold AP2sth, which will be described later.

[0050] If the manipulated variable AP is less than the threshold manipulated variable APth ("No" in step 310), the CPU proceeds to step 395 and temporarily ends this routine.

[0051] If the manipulated variable AP is equal to or greater than the threshold manipulated variable APth ("Yes" in step 310), the CPU executes steps 315 and 320 in this order. Step 315: The CPU executes a normal operation error condition determination subroutine to set the value of the operation error flag Xgfm to 1 if the normal operation error condition is met. The normal operation error condition determination subroutine will be described later with reference to FIG. 4. Step 320: The CPU determines whether the value of the error flag Xgfm is “1” or not.

[0052] If the value of the operation error flag Xgfm is "0" (step 320 "No"), that is, if the normal operation error condition is not met, the CPU proceeds to step 325 and determines whether the first execution number counter N1 is greater than or equal to the first threshold value N1th.

[0053] The first execution counter N1 reaches the first threshold N1th. is less than (Step 325 "No"), that is, the above condition 1 is met. do not In this case, the CPU proceeds to step 330 and determines whether the second execution number counter N1 is equal to or greater than a second threshold value N2th. The second threshold value N2th is preferably set to a value greater than the first threshold value N1th.

[0054] The second execution counter N2 is a counter for counting the number of times an erroneous operation is determined during one trip. At the start of one trip (i.e., in the initial routine), the value of the second execution counter N2 is set to "0."

[0055] If the second execution number counter N2 is less than the second threshold value N2th ("No" in step 330), that is, if the alleviated condition is not met, the CPU proceeds to step 395 and temporarily ends this routine.

[0056] If the first execution count counter N1 is equal to or greater than the first threshold N1th ("Yes" in step 325), or if the second execution count counter N2 is equal to or greater than the second threshold N2th ("Yes" in step 330), the CPU determines that the mitigated condition is met. In this case, the CPU proceeds to step 335 to execute a mitigated operation error condition determination subroutine, and then proceeds to step 395 to temporarily terminate this routine. This subroutine is a routine for setting the value of the operation error flag Xgfm to "1" when a "mitigated operation error condition that is more likely to be met than a normal operation error condition" is met. This subroutine will be described later with reference to FIG. 5.

[0057] If the value of the manipulation error flag Xgfm is "1" when the CPU proceeds to step 305 (step 305 "No"), the CPU proceeds to step 340 and determines whether the manipulation amount AP is equal to or less than the manipulation error end threshold APeth. The manipulation error end threshold APeth is set to a value smaller than the threshold manipulation amount APth. The manipulation error end threshold APeth may be set to the same value as the OR end threshold AP3orth.

[0058] If the operation amount AP is greater than the operation error end threshold APeth ("No" in step 340), the CPU proceeds to step 395 and temporarily ends this routine. If the operation amount AP is equal to or less than the operation error end threshold APeth ("Yes" in step 340), the CPU sets the value of the operation error flag Xgfm to "0" (i.e., determines that the accelerator operation is not an error). Thereafter, the CPU proceeds to step 395 and temporarily ends this routine.

[0059] <Normal error condition determination subroutine> When the CPU proceeds to step 315 in Fig. 3, it starts the process from step 400 in Fig. 4 and proceeds to step 405. In step 405, the CPU determines whether a first predetermined time T1th has elapsed since the brake pedal was no longer operated.

[0060] If the first predetermined time T1th has elapsed since the time of non-operation (step 405 "Yes"), the CPU proceeds to step 410 and determines whether the second predetermined time T2th has elapsed since the turn signal (not shown) was turned off.

[0061] If the second predetermined time T2th has elapsed since the light was turned off ("Yes" in step 410), the CPU proceeds to step 415 and determines whether the operation amount AP is equal to or greater than the first erroneous operation start threshold AP1sth. The first erroneous operation start threshold AP1sth is sometimes referred to as the "first threshold."

[0062] If the operation amount AP is equal to or greater than the first erroneous operation start threshold AP1sth ("Yes" in step 415), the CPU proceeds to step 420 and determines whether the operation speed APV is equal to or greater than the second threshold speed APV2th. The second threshold speed APV2th is set to a value smaller than the first threshold speed APV1th.

[0063] If the operation speed APV is equal to or greater than the second threshold speed APV2th ("Yes" in step 420), the CPU proceeds to step 425 and determines whether the vehicle speed Vs is equal to or less than the first threshold vehicle speed Vs1th.

[0064] If the vehicle speed Vs is equal to or less than the first threshold vehicle speed Vs1th ("Yes" in step 425), the CPU executes step 430 and step 435 in this order. Step 430: The CPU adds "1" to the second execution number counter N2. Step 435: The CPU sets the value of the error flag Xgfm to “1” and sets the value of the accelerator override flag Xaor to “0.” Thereafter, the CPU proceeds to step 495 and temporarily ends this routine.

[0065] If the first predetermined time T1th has not yet elapsed since the non-operation point ("No" in step 405), the CPU proceeds to step 495 and temporarily ends this routine. Immediately after the driver shifts his / her foot from the brake pedal to the accelerator pedal, the driver is unlikely to operate the accelerator pedal by mistake and is likely to have the intention to accelerate, so no erroneous operation determination is made.

[0066] If the second predetermined time T2th has not yet elapsed since the blinker was turned off ("No" in step 410), the CPU proceeds to step 495 and temporarily ends this routine. When the vehicle VA overtakes a preceding vehicle, the driver is likely to press the accelerator pedal heavily after the vehicle VA reaches the adjacent lane and the blinker is turned off. For this reason, if the second predetermined time T2th has not yet elapsed since the blinker was turned off, the CPU does not determine whether an erroneous operation has occurred.

[0067] If the operation amount AP is less than the first erroneous operation start threshold AP1sth (step 415 "No"), if the operation speed APV is less than the second threshold speed APV2th (step 420 "No"), or if the vehicle speed Vs is equal to or greater than the first threshold vehicle speed Vs (step 425 "No"), the CPU proceeds to step 495 and temporarily terminates this routine.

[0068] <Subroutine for determining mitigation error conditions> 3, the CPU starts processing from step 500 in FIG. 5 and proceeds to step 505. In step 505, the CPU determines whether the operation amount AP is equal to or greater than a second operation error start threshold AP2sth. The second operation error start threshold AP2sth is set to a value smaller than the first operation error start threshold AP1sth, and is sometimes referred to as the "second threshold."

[0069] If the operation amount AP is equal to or greater than the second erroneous operation start threshold AP2sth ("Yes" in step 505), the CPU proceeds to step 510 and determines whether the vehicle speed Vs is equal to or less than a second threshold vehicle speed Vs2th. The second threshold vehicle speed Vs2th is set to a value greater than the first threshold vehicle speed Vs1th.

[0070] If the vehicle speed Vs is equal to or less than the second threshold vehicle speed Vs2th ("Yes" in step 510), the CPU sequentially executes steps 515 and 520, then proceeds to step 595, and temporarily ends this routine. Steps 515 and 520 are the same as steps 430 and 435 shown in FIG. 4, respectively, and therefore will not be described here.

[0071] If the operation amount AP is less than the second erroneous operation start threshold AP2sth (step 505 "No"), or if the vehicle speed Vs is greater than the second threshold vehicle speed Vs2th (step 510 "No"), the CPU proceeds to step 595 and temporarily terminates this routine.

[0072] As described above, the mitigated operation error condition does not include conditions equivalent to steps 405, 410, and 420 shown in Fig. 4, the second operation error start threshold AP2sth is set to a value smaller than the first operation error start threshold AP1sth, and the second threshold vehicle speed Vs2th is set to a value larger than the first threshold vehicle speed Vs1th. For this reason, the mitigated operation error condition is a condition that is more likely to be met than the normal operation error condition.

[0073] When the first execution number counter N1 is equal to or greater than the first threshold value N1th (when condition 1 is met), or when the second execution number counter N2 is equal to or greater than the second threshold value N2th (when condition 2 is met), the CPU determines that the mitigating condition is met and performs an erroneous operation determination using the mitigating erroneous operation condition. This allows for accurate detection of an erroneous accelerator operation, since an erroneous operation determination is performed using conditions that match the driver's tendencies.

[0074] (First Modification) The sensor for detecting an object ahead of the vehicle VA is not limited to the millimeter-wave radar 22. As an example, such a sensor may be a camera. Furthermore, the ECU 20 may detect an object ahead of the vehicle VA by integrating information about the object detected by the camera and object information acquired by the millimeter-wave radar 22.

[0075] (Second Modification) The following condition 3 may be adopted in place of condition 1 of the relaxed conditions. Condition 3: The number of times that collision control is executed during one trip is equal to or greater than the first threshold number of times.

[0076] (Third Modification) The collision control is not limited to the automatic brake control. For example, the collision control may be an attention control for drawing the driver's attention to an object whose TTC is equal to or less than the start threshold time Tsth. In the attention control, the ECU 20 may display an attention screen to direct the driver's gaze toward the object, or may sound an alarm.

[0077] (Fourth Modification) The assistance device 10 is applicable to vehicles such as engine vehicles, hybrid vehicles, plug-in hybrid vehicles, fuel cell vehicles, and electric vehicles.

[0078] The present invention can also be understood as a computer-readable non-transitory storage medium that stores a program for realizing the functions of the assistance device 10. Furthermore, the present invention is an invention that can be applied to an autonomous vehicle when it transitions from autonomous driving (e.g., automatic brake control) to driver driving. [Explanation of symbols]

[0079] 10...driving assistance device, 20...driving assistance ECU, 22...millimeter wave radar, 32...power train actuator, 42...brake actuator.

Claims

1. a sensor for detecting an object; a controller that, when it is determined that an override condition for determining that the accelerator operation by the driver is a predetermined override operation is satisfied, prohibits a collision control that avoids a collision between the vehicle and the object or reduces damage caused by the collision, The controller If the override condition is satisfied while the accelerator operation is being determined to be an erroneous operation, the collision control is not prohibited, When a predetermined normal operation error condition is met, or when a predetermined mitigated condition is met and a predetermined mitigated operation error condition that is more likely to be met than the normal operation error condition is met, the erroneous operation determination is performed; If a first condition is met that the number of times the collision control is executed during the operation error determination during one trip is equal to or greater than a first threshold number, it is determined that the mitigation condition is met. If the first condition is not met and a second condition is met that the number of times the operation error determination during one trip is equal to or greater than a second threshold number, which is set to a value greater than the first threshold number, it is determined that the mitigation condition is met. A driving assistance device configured as follows.

2. In the driving assistance device according to claim 1, the controller is configured to determine whether the normal operation error condition and the mitigated operation error condition are met by comparing at least the operation amount of the accelerator operation with a first threshold value for the normal operation error condition and a second threshold value for the mitigated operation error condition; The first threshold value is preset to be greater than the second threshold value. Driving assistance device.

3. The driving assistance device according to claim 1, The controller determining whether the normal erroneous operation condition is established based on at least the amount of accelerator operation, the speed of the accelerator operation, and a vehicle speed representing the speed of the vehicle; determining whether the mitigating erroneous operation condition is met based on at least the operation amount and the vehicle speed; A driving assistance device configured as follows.

4. A driving assistance method for prohibiting collision control that avoids a collision between a vehicle and an object or reduces damage caused by the collision when a computer mounted on a vehicle determines that an override condition for determining that a driver's accelerator operation is a predetermined override operation is satisfied, comprising: The driving assistance method includes: a step in which the computer prohibits the collision control when the override condition is satisfied while determining that the accelerator operation is an erroneous operation; a step of the computer making the operation error determination when a predetermined normal operation error condition is met, or when a predetermined mitigated condition is met and a predetermined mitigated operation error condition that is more likely to be met than the normal operation error condition is met; the computer determines that the mitigation condition is satisfied when a first condition is satisfied that the number of times the collision control is executed during the operation error determination during one trip is equal to or greater than a first threshold number of times, and determines that the mitigation condition is satisfied when a second condition is satisfied that the first condition is not satisfied and the number of times the operation error determination during one trip is equal to or greater than a second threshold number of times that is set to a value greater than the first threshold number of times; A driving assistance method including:

5. A program that, when it is determined that an override condition for determining that a driver's accelerator operation is a predetermined override operation is satisfied, causes a computer mounted on a vehicle to prohibit collision control that avoids a collision between the vehicle and an object or reduces damage caused by the collision, comprising: The program causes the computer to: prohibiting the collision control when the override condition is satisfied during the erroneous operation determination that the accelerator operation is an erroneous operation; a step of making the operation error determination when a predetermined normal operation error condition is met, or when a predetermined mitigated condition is met and also when a predetermined mitigated operation error condition that is more likely to be met than the normal operation error condition is met; a step of determining that the mitigation condition is satisfied when a first condition is satisfied that the number of times the collision control is executed during the operation error determination during one trip is equal to or greater than a first threshold number of times, and determining that the mitigation condition is satisfied when a second condition is satisfied that the number of times the operation error determination during one trip is equal to or greater than a second threshold number of times that is set to a value greater than the first threshold number of times and the first condition is not satisfied; Programs including.

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