Driving assistance device and driving assistance method

Abstract

To detect accurately that another vehicle exists on the front.SOLUTION: A driving support device for supporting driving by a driver of a vehicle includes a recognition part for recognizing an environment around the vehicle, a running wheel detector for detecting running wheels included in the environment around the vehicle, an operation determination part for determining whether the running wheels satisfy an operation condition of a safety device of the vehicle, and an operation part for actuating the safety device, when determined that the running wheels satisfy the operation condition.SELECTED DRAWING: Figure 5

Description

[Technical Field]

[0001] The present invention relates to a driving assistance device and a driving assistance method. [Background technology]

[0002] Various technologies have been proposed to support vehicle drivers. Patent Document 1 proposes a technology for notifying a driver of the possibility of a collision with another vehicle that has begun to turn right or left in front of the vehicle. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Laid-Open No. 2013-254296 Summary of the Invention [Problem to be solved by the invention]

[0004] A vehicle can accurately detect a surrounding vehicle when the front of the surrounding vehicle faces the vehicle. However, when the side of the surrounding vehicle faces the vehicle, the detection accuracy of the surrounding vehicle may decrease. Some aspects of the present invention aim to provide a technology for accurately detecting the presence of another vehicle ahead. [Means for solving the problem]

[0005] In one embodiment, a driving assistance device for assisting a driver of a vehicle in driving includes: a recognition unit that recognizes an environment around the vehicle; and a running wheel detection unit that detects running wheels included in the environment around the vehicle. a vehicle body detection means for detecting a vehicle body included in the environment surrounding the vehicle, and when a vehicle body having a running wheel detected by the running wheel detection means is not detected by the vehicle body detection means, A driving assistance device is provided that includes an activation determination means for determining whether the running wheels satisfy the activation conditions of the safety device of the vehicle, and an activation means for activating the safety device when it is determined that the running wheels satisfy the activation conditions. [Effects of the Invention]

[0006] The above means makes it possible to accurately detect the presence of another vehicle ahead. [Brief explanation of the drawings]

[0007] [Figure 1] FIG. 2 is a diagram illustrating an example of a hardware configuration of a vehicle according to an embodiment of the present invention. [Figure 2] FIG. 2 is a diagram illustrating an example of the functional configuration of a vehicle control device according to an embodiment of the present invention. [Figure 3] 3A and 3B are diagrams illustrating an example of the operation of the vehicle control device according to the embodiment of the present invention. [Figure 4] 3A and 3B are diagrams illustrating an example of the operation of the vehicle control device according to the embodiment of the present invention. [Figure 5] FIG. 4 is a diagram illustrating an example of operating conditions according to an embodiment of the present invention. [Figure 6] FIG. 4 is a diagram illustrating an example of operating conditions according to an embodiment of the present invention. [Figure 7] FIG. 4 is a diagram illustrating an example of operating conditions according to an embodiment of the present invention. [Figure 8] 1A and 1B are diagrams illustrating examples of situations in which an embodiment of the present invention is applied; DETAILED DESCRIPTION OF THE INVENTION

[0008] Hereinafter, the embodiments will be described in detail with reference to the accompanying drawings. Note that the following embodiments do not limit the scope of the invention as claimed, and not all combinations of features described in the embodiments are necessarily essential to the invention. Two or more of the features described in the embodiments may be arbitrarily combined. Furthermore, the same reference numerals are used for the same or similar components, and redundant explanations will be omitted.

[0009] FIG. 1 is a block diagram of a vehicle 1 according to an embodiment of the present invention. In FIG. 1, the vehicle 1 is shown generally in plan view and side view. As an example, the vehicle 1 is a four-wheeled sedan-type passenger car. The vehicle 1 may be such a four-wheeled vehicle, or may be a two-wheeled vehicle or another type of vehicle.

[0010] The vehicle 1 includes a vehicle control device 2 (hereinafter simply referred to as the control device 2) that controls the vehicle 1. The control device 2 includes multiple ECUs 20 to 29 that are communicatively connected via an in-vehicle network. Each ECU includes a processor such as a CPU, a memory such as a semiconductor memory, an interface with external devices, etc. The memory stores programs executed by the processor and data used by the processor for processing, etc. Each ECU may include multiple processors, memories, interfaces, etc. For example, the ECU 20 includes a processor 20a and a memory 20b. The processor 20a executes instructions included in a program stored in the memory 20b, thereby performing processing by the ECU 20. Alternatively, the ECU 20 may include a dedicated integrated circuit such as an ASIC for performing processing by the ECU 20. The same applies to the other ECUs.

[0011] The following describes the functions and the like that are handled by each of the ECUs 20 to 29. The number of ECUs and the functions that they are responsible for can be designed as appropriate, and they can be subdivided or integrated more than in this embodiment.

[0012] The ECU 20 executes control related to the automatic driving of the vehicle 1. In the automatic driving, the ECU 20 automatically controls at least one of the steering and acceleration / deceleration of the vehicle 1. The automatic driving by the ECU 20 may include automatic driving that does not require driving operation by the driver (also called automatic driving), and automatic driving that assists driving operation by the driver (also called driving assistance).

[0013] The ECU 21 controls the electric power steering device 3. The electric power steering device 3 includes a mechanism for steering the front wheels in response to a driver's driving operation (steering operation) on the steering wheel 31. The electric power steering device 3 also includes a motor that generates driving force to assist the steering operation and automatically steer the front wheels, a sensor that detects the steering angle, etc. When the driving state of the vehicle 1 is autonomous driving, the ECU 21 automatically controls the electric power steering device 3 in response to instructions from the ECU 20, and controls the traveling direction of the vehicle 1.

[0014] ECUs 22 and 23 control detection units 41 to 43 that detect the surrounding conditions of the vehicle and process information on the detection results. Detection unit 41 is a camera that captures images ahead of vehicle 1 (hereinafter, may be referred to as camera 41), and in this embodiment, is attached to the front roof of vehicle 1 on the inside of the front windshield. By analyzing the images captured by camera 41, it is possible to extract the contours of targets and lane markings (white lines, etc.) on the road.

[0015] The detection unit 42 is a LIDAR (Light Detection and Ranging) (hereinafter may be referred to as LIDAR 42) that detects targets around the vehicle 1 and measures the distance to the targets. In the present embodiment, five LIDARs 42 are provided, one at each corner of the front of the vehicle 1, one at the rear center, and one on each side of the rear. The detection unit 43 is a millimeter-wave radar (hereinafter may be referred to as radar 43) that detects targets around the vehicle 1 and measures the distance to the targets. In the present embodiment, five radars 43 are provided, one at the front center of the vehicle 1, one at each front corner, and one at each rear corner.

[0016] The ECU 22 controls one camera 41 and each lidar 42 and processes information on the detection results. The ECU 23 controls the other camera 41 and each radar 43 and processes information on the detection results. By providing two sets of devices that detect the vehicle's surroundings, the reliability of the detection results can be improved, and by providing different types of detection units such as a camera, lidar, and radar, the vehicle's surrounding environment can be analyzed from multiple perspectives.

[0017] The ECU 24 controls the gyro sensor 5, the GNSS (global navigation satellite system) sensor 24b, and the communication device 24c, and processes information on the detection results or communication results. The gyro sensor 5 detects the rotational motion of the vehicle 1. The path of the vehicle 1 can be determined based on the detection results of the gyro sensor 5, the wheel speed, etc. The GNSS sensor 24b detects the current position of the vehicle 1. The communication device 24c wirelessly communicates with a server that provides map information and traffic information to acquire this information. The ECU 24 can access a database 24a of map information stored in memory, and the ECU 24 performs tasks such as searching for a route from the current location to a destination. The ECU 24, the map database 24a, and the GNSS sensor 24b constitute a so-called navigation device.

[0018] The ECU 25 includes a communication device 25a for vehicle-to-vehicle communication. The communication device 25a performs wireless communication with other vehicles in the vicinity and exchanges information between the vehicles.

[0019] The ECU 26 controls the power plant 6. The power plant 6 is a mechanism that outputs driving force to rotate the drive wheels of the vehicle 1, and includes, for example, an engine and a transmission. The ECU 26 controls the output of the engine in response to the driver's driving operation (accelerator operation or acceleration operation) detected by an operation detection sensor 7a provided on the accelerator pedal 7A, for example, and switches the gear position of the transmission based on information such as the vehicle speed detected by a vehicle speed sensor 7c. When the vehicle 1 is in an autonomous driving state, the ECU 26 automatically controls the power plant 6 in response to instructions from the ECU 20, and controls the acceleration and deceleration of the vehicle 1.

[0020] The ECU 27 controls lighting devices (headlights, taillights, etc.) including turn signals 8. In the example of Fig. 1, the turn signals 8 are provided at the front, door mirrors, and rear of the vehicle 1.

[0021] The ECU 28 controls the input / output device 9. The input / output device 9 outputs information to the driver and receives information input from the driver. The audio output device 91 notifies the driver of information by audio. The display device 92 notifies the driver of information by displaying an image. The display device 92 is, for example, located in front of the driver's seat and forms an instrument panel or the like. Note that, although audio and display are exemplified here, information may also be notified by vibration or light. Information may also be notified by a combination of audio, display, vibration, or light. Furthermore, the combination or the notification mode may be changed depending on the level of the information to be notified (for example, urgency). The input device 93 is a group of switches located in a position operable by the driver and used to issue instructions to the vehicle 1, but may also include an audio input device.

[0022] The ECU 29 controls the brake device 10 and a parking brake (not shown). The brake device 10 is, for example, a disc brake device provided on each wheel of the vehicle 1, and applies resistance to the rotation of the wheel to slow down or stop the vehicle 1. The ECU 29 controls the operation of the brake device 10 in response to a driving operation (brake operation) by the driver detected by an operation detection sensor 7b provided on the brake pedal 7B, for example. When the driving state of the vehicle 1 is autonomous, the ECU 29 automatically controls the brake device 10 in response to an instruction from the ECU 20, and controls the deceleration and stopping of the vehicle 1. The brake device 10 and the parking brake can also be operated to maintain the stopped state of the vehicle 1. Furthermore, if the transmission of the power plant 6 is equipped with a parking lock mechanism, this can also be operated to maintain the stopped state of the vehicle 1.

[0023] An example of the functional configuration of the control device 2 will be described with reference to FIG. 2. In the embodiment described below, the control device 2 has a function for assisting the driver of the vehicle 1 in driving. Therefore, the control device 2 may be referred to as a driving assistance device. FIG. 2 shows driving assistance-related functions among the functions of the control device 2. The control device 2 may have functions not shown in FIG. 2. The control device 2 includes an environment recognition unit 201, a vehicle body detection unit 202, a running wheel detection unit 203, an operation determination unit 204, and an operation unit 205. These functional units may be implemented by a processor 20a of one or more ECUs among ECUs 20 to 29 included in the control device 2. Specifically, the operation of these functional units may be performed by the processor 20a executing a program read into a memory 20b. Alternatively, some or all of these functional units may be implemented by a dedicated circuit such as an application specific integrated circuit (ASIC) or a field programmable gate array (FPGA).

[0024] The environment recognition unit 201 recognizes the environment around the vehicle 1, for example, by analyzing the detection results from the detection units 41 to 43. For example, the environment recognition unit 201 may recognize targets included in the environment around the vehicle 1 by analyzing an image captured by the camera 41. The environment around the vehicle 1 may be recognized using existing technology, and therefore detailed description thereof will be omitted.

[0025] The vehicle body detection unit 202 detects a vehicle body included in the environment surrounding the vehicle 1 based on the recognition result by the environment recognition unit 201. The environment surrounding the vehicle 1 may include the environment ahead of the vehicle 1, or may include the environment in the traveling direction of the vehicle 1. The vehicle body may refer to the entire external shape of the vehicle. The vehicle body detected by the vehicle body detection unit 202 may be the body of a four-wheeled vehicle, the body of a two-wheeled vehicle, or the body of another vehicle.

[0026] The running wheel detection unit 203 detects running wheels included in the environment around the vehicle 1 based on the recognition result by the environment recognition unit 201. The environment around the vehicle 1 may include the environment ahead of the vehicle 1, or may include the environment in the traveling direction of the vehicle 1. A running wheel may be a wheel of a moving vehicle (i.e., a wheel that is rotating). The running wheel detection unit 203 does not have to detect a wheel of a stopped vehicle as a running wheel. The wheel detected by the running wheel detection unit 203 may be a wheel of a four-wheeled vehicle, a wheel of a two-wheeled vehicle, or a wheel of another vehicle. The wheel is a part of the vehicle body.

[0027] The activation determination unit 204 determines whether to activate a safety device of the vehicle 1 (hereinafter simply referred to as a safety device). Specific criteria for this determination will be described later. The activation unit 205 activates the safety device when it is determined that the safety device should be activated. A safety device is a device for improving the safety of occupants (driver and passengers) of the vehicle 1, such as a seat belt (e.g., seat belt 32 of the driver's seat), the brake device 10, or a warning indicator in the display device 92. Activating the safety device improves the safety of occupants of the vehicle 1. For example, activating the safety device may include turning on a warning indicator in the display device 92 or outputting an alarm sound from the audio output device 91. Alternatively or additionally, activating the safety device may include automatically activating the brake device 10 of the vehicle 1. Alternatively or additionally, activating the safety device may include increasing the tension of the seat belt of the vehicle 1. For example, the actuating unit 205 may increase the tension of the seat belt until it is determined that the situation is safe. Alternatively, the actuating unit 205 may warn the driver by repeatedly increasing the tension of the seat belt 32 in pulses (for example, for 0.1 seconds) multiple times (for example, five times), thereby giving the driver a sense of impact. The actuating unit 205 may increase the tension of the seat belt 32 by sending a control signal to a motor for increasing the tension of the seat belt 32.

[0028] An example of a driving assistance method performed by the control device 2 will be described with reference to Fig. 3. The method of Fig. 3 may be started when the vehicle 1 starts traveling. The control device 2 may continue to execute the method of Fig. 3 until the driving of the vehicle 1 ends.

[0029] In S301, the environment recognition unit 201 recognizes the environment around the vehicle 1 as described above. In S302, the vehicle body detection unit 202 determines whether or not a vehicle body is included in the environment around the vehicle 1. If it is determined that a vehicle body is included in the environment around the vehicle 1 ("YES" in S302), the process proceeds to S303, and otherwise ("NO" in S302), the process returns to S301. If multiple vehicle bodies are detected, the process from S303 onwards is performed for each vehicle body.

[0030] In S303, the activation determination unit 204 determines whether the detected vehicle body satisfies the activation condition for the vehicle body. If it is determined that the activation condition for the vehicle body is satisfied ("YES" in S303), the process proceeds to S304; otherwise ("NO" in S303), the process returns to S301. The activation condition for the vehicle body may be an existing condition. For example, if the possibility of the vehicle 1 colliding with a vehicle having the detected vehicle body is equal to or greater than a threshold, it may be determined that the activation condition for the vehicle body is satisfied. In S304, the activation unit 205 activates the safety device as described above. This activation may be intended to notify the driver that the vehicle 1 may collide with a vehicle having the detected vehicle body, or may be intended to reduce the impact on occupants of the vehicle 1 in the event of a collision.

[0031] An example of a driving assistance method by the control device 2 will be described with reference to Fig. 4. The method of Fig. 4 may be started when the vehicle 1 starts traveling. The control device 2 may continue executing the method of Fig. 4 until the driving of the vehicle 1 ends. The control device 2 may execute the method of Fig. 3 and the method of Fig. 4 in parallel.

[0032] In S401, as described above, the environment recognition unit 201 recognizes the environment around the vehicle 1. When the method of Figure 3 and the method of Figure 4 are executed in parallel, S301 of Figure 3 and S401 of Figure 4 may be integrated.

[0033] In S402, the vehicle body detection unit 202 determines whether the environment around the vehicle 1 includes running wheels. If it is determined that the environment around the vehicle 1 includes running wheels ("YES" in S402), the process proceeds to S403; otherwise ("NO" in S402), the process returns to S401. The appearance of the side of a vehicle varies greatly depending on the type of vehicle. On the other hand, the appearance of the vehicle's wheels varies less depending on the type of vehicle than the appearance of the vehicle's side. Therefore, when a vehicle surrounding the vehicle 1 has its side facing the vehicle 1, even if the vehicle body detection unit 202 cannot detect the body of the surrounding vehicle, the running wheel detection unit 203 may be able to detect the wheel of this vehicle. Therefore, in some embodiments, the presence of another vehicle around (for example, ahead of) the vehicle 1 can be accurately detected by detecting the vehicle's wheel speed in addition to detecting the vehicle body. If multiple running wheels are detected, the process from S403 onwards is performed for each running wheel.

[0034] In S403, the activation determination unit 204 determines whether a vehicle body having the running wheel detected in S402 has been detected in S302 of FIG. 3. If such a vehicle body has been detected (YES in S403), the process returns to S401; otherwise (NO in S403), the process transitions to S404. If a vehicle body having the running wheel detected in S402 has been detected in S302 of FIG. 3, it is determined in S303 of FIG. 3 whether the activation condition is satisfied. A determination based on the vehicle body may be more accurate than a determination based on the running wheel. Therefore, in the embodiment shown in FIG. 4, if a vehicle body having the running wheel detected in S402 has been detected in S302 of FIG. 3, the control device 2 does not perform the subsequent processes in S404 and S405 for this running wheel. This reduces the processing load on the control device 2 and prevents excessive activation of the safety device.

[0035] In S404, the running wheel detection unit 203 determines whether the running wheel detected in S402 is a front wheel or a rear wheel. If it is determined that the detected running wheel is a front wheel ("YES" in S404), the process returns to S401; otherwise ("NO" in S404), the process transitions to S404. If it is determined that the detected running wheel is a rear wheel, or if it cannot be determined whether the detected running wheel is a front wheel or a rear wheel, the process transitions to S404. If the running wheel detection unit 203 can detect the front wheel of another vehicle, there is a high possibility that the control device 2 can recognize the area ahead of the vehicle having this front wheel. In such a case, it is considered that the presence of another vehicle can be determined more accurately by determining the operating condition based on the vehicle body in S303 of FIG. 3. Therefore, if it is determined that the running wheel is a front wheel, the control device 2 does not perform the subsequent processes in S404 and S405 for this running wheel. This reduces the processing load on the control device 2 and also prevents the safety devices from being activated excessively.

[0036] When only one running wheel is detected, the running wheel detection unit 203 may not be able to determine whether this running wheel is a front wheel or a rear wheel. When multiple running wheels are detected, the running wheel detection unit 203 may identify, among these running wheels, running wheels included in the same vehicle body. For example, the running wheel detection unit 203 may identify two running wheels moving in substantially the same direction while maintaining a substantially constant distance between them as running wheels included in the same vehicle body. Of the two running wheels identified as included in the same vehicle body in this way, the running wheel detection unit 203 may identify the running wheel on the traveling direction side of these running wheels as the front wheel, and the running wheel on the opposite side to the traveling direction as the rear wheel.

[0037] In S405, the activation determination unit 204 determines whether the detected running wheel satisfies the activation condition for the running wheel. If it is determined that the activation condition for the running wheel is satisfied ("YES" in S405), the process proceeds to S406, otherwise ("NO" in S405), the process returns to S401. In S406, the activation means activates the safety device as described above. This activation may be intended to notify the driver that the vehicle 1 may collide with a vehicle having the detected running wheel, or may be intended to reduce the impact on occupants of the vehicle 1 in the event of a collision.

[0038] Referring to Figure 5, the operating conditions for the running wheels used in S405 of Figure 4 will be described. Figure 5 shows an example in a country where regulations stipulate that vehicles should run on the left side of the road. However, the technology described herein can also be applied in countries where regulations stipulate that vehicles should run on the right side of the road.

[0039] The operating conditions related to the running wheels (hereinafter simply referred to as operating conditions in the description of FIGS. 5 and 8) may include conditions related to the position of the wheel speed. For example, the operating conditions may include that the detected running wheels are located in front of the vehicle 1 and within the vehicle width range, and that the distance between the detected running wheels and the vehicle 1 is equal to or less than a threshold distance. Specifically, the operating condition may be that the detected running wheels are included in an area 505. The area 505 is located in front of the vehicle 1. The width 507 of the area 505 is equal to the vehicle width of the vehicle 1. The length 506 of the area 505 is equal to the threshold distance.

[0040] The threshold distance may be a value (e.g., 50 meters) that is set in advance and stored in memory 20b or the like. Alternatively, the threshold distance may be a value determined by operation determination unit 204 based on the traveling state of vehicle 1. For example, operation determination unit 204 may determine the threshold distance based on the speed of vehicle 1. For example, the threshold distance may be a distance that vehicle 1 is estimated to travel in a predetermined time period (e.g., 3 seconds).

[0041] In the example of FIG. 5, it is assumed that vehicle 502 is about to cross in front of vehicle 1. In this situation, there is a high possibility that vehicle 1 will collide with vehicle 502. In this situation, running wheel detection unit 203 detects rear wheel 504 on the left side of vehicle 502. The operation determination unit 204 determines that the operation condition is satisfied in S405 of FIG. 4 because rear wheel 504 is a running wheel (i.e., a wheel of vehicle 502 while it is running), rear wheel 504 is located in front of vehicle 1 and within the vehicle width range, and the distance between rear wheel 504 and vehicle 1 is equal to or less than the threshold distance (length 506 or less).

[0042] The activation condition may include a condition related to the traveling direction of the detected running wheels. For example, the activation condition may further include that the angle between the traveling direction of the detected running wheels and the traveling direction 501 of the vehicle 1 is equal to or greater than a threshold angle. The angle formed by the two traveling directions may be the angle between 0 degrees and 90 degrees, both inclusive, formed by the two traveling directions. The traveling direction of the running wheels may be considered to be equal to the traveling direction of the vehicle having the running wheels.

[0043] In the example of FIG. 5 , rear wheels 504 are moving in traveling direction 503. In this case, the angle formed between traveling direction 503 of rear wheels 504 and traveling direction 501 of vehicle 1 is angle 508. The activation condition may be determined to be satisfied when angle 508 is equal to or greater than a threshold angle. The threshold angle may be determined in advance and stored in memory 20b. Angle 508 may be, for example, 45 degrees. The larger angle 508 is, the more difficult it may be for the vehicle body detection unit 202 to detect the body of vehicle 502. Therefore, by including a condition regarding the traveling direction of the detected traveling wheels in the activation condition, excessive activation of the safety device is suppressed.

[0044] The activation condition may be to satisfy either one of a condition regarding the position of the running wheel (e.g., being included in region 505) and a condition regarding the direction of travel of the running wheel (e.g., angle 508 being equal to or greater than a threshold angle), or both of these.

[0045] The traveling direction 503 of the rear wheels 504 may be determined based on a change over time in the position of the rear wheels 504. Alternatively, the traveling direction 503 of the rear wheels 504 may be determined based on the wheel flatness of the rear wheels 504. The smaller the angle between the traveling direction of the running wheels and the traveling direction 501 of the vehicle 1, the greater the wheel flatness of the running wheels recognized by the environment recognition unit 201.

[0046] Another example of the activation condition will be described with reference to Fig. 6. In the above-described embodiment, in S404 of Fig. 4, it is determined whether the detected running wheel is a front wheel. S404 may be omitted, in which case S405 may be executed regardless of whether the detected running wheel is a front wheel. In this activation condition, as shown in Fig. 6, the activation unit 205 activates the safety device even when the front wheel 601 of the vehicle 502 is included in the area 505. In Fig. 6, the traveling direction 503 represents the traveling direction of the front wheel 601.

[0047] Another example of an operating condition will be described with reference to FIG. 7. When a vehicle crossing in front of vehicle 1 is a large vehicle such as a truck, the vehicle body may be included in area 505 in front of vehicle 1 even though the area 505 in front of vehicle 1 does not include its running wheels. For example, as shown in FIG. 7, assume that vehicle 700 is about to cross in front of vehicle 1. Front wheel 701 of vehicle 700 is on the left side of area 505, and rear wheel 702 of vehicle 700 is on the right side of area 505. In this way, both front wheel 701 and rear wheel 702 are outside area 505. However, the body of vehicle 700 is included in area 505. In this situation, there is a high possibility that vehicle 1 will collide with vehicle 700.

[0048] To activate the safety device in such a situation, the activation conditions may include that two running wheels are detected, the two running wheels are running wheels of the same vehicle body, and the front of the vehicle 1 and the vehicle width range are located between the two running wheels. For example, assume that the running wheel detection unit 203 detects two running wheels (front wheel 701 and rear wheel 702) in S402. At this point, it is not determined whether the two running wheels are front wheels or rear wheels. Furthermore, assume that the running wheel detection unit 203 identifies that the two running wheels are included in the same vehicle body, as described above. In this case, in S405, the activation determination unit 204 may determine whether the front of the vehicle 1 and the vehicle width range are located between the two running wheels. If it is determined that the front of the vehicle 1 and the vehicle width range are located between the two running wheels, the activation unit 205 activates the safety device in S406. In this activation condition, a condition regarding the traveling direction 703 of the running wheels may or may not be imposed.

[0049] With reference to FIG. 8, a specific example of a situation where it is likely that the activation condition is satisfied in S405 of FIG. 4 will be described. As shown in FIG. 8(a), when vehicle 801 enters a road on which vehicle 1 is traveling (for example, when leaving a garage or turning at an intersection), it crosses in front of vehicle 1. In this case, control device 2 detects the traveling wheels of vehicle 801 and can activate a safety device based on the detection result. As shown in FIG. 8(b), when vehicle 802 is traveling in a roundabout and vehicle 1 is about to enter the roundabout, control device 2 can detect the traveling wheels of vehicle 802 and can activate a safety device based on the detection result. As shown in FIG. 8(c), when vehicle 803 is traveling in a lane that merges into the lane on which vehicle 1 is traveling, control device 2 can detect the traveling wheels of vehicle 803 and can activate a safety device based on the detection result.

[0050] In the above embodiment, whether a vehicle body having a detected running wheel is detected is determined in S403 of Fig. 4. S403 may be omitted, in which case S404 may be executed regardless of the detection status of the vehicle body.

[0051] <Summary of the embodiment> <Item 1> A driving assistance device (2) for assisting a driver of a vehicle (1) in driving, A recognition means (201) for recognizing the environment around the vehicle; a running wheel detection means (203) for detecting a running wheel (504) included in the surrounding environment of the vehicle; an operation determination means (204) for determining whether the running wheels satisfy the operation conditions of the safety device of the vehicle; and an activation means (205) for activating the safety device when it is determined that the running wheels satisfy the activation condition. According to this item, the presence of another vehicle ahead can be detected with high accuracy. <Item 2> The driving assistance device described in item 1, wherein the operating conditions include the running wheels being located in front of the vehicle and within a vehicle width range (505), and the distance between the running wheels and the vehicle being equal to or less than a threshold distance (506). This item prevents excessive activation of safety devices. <Item 3> 3. The driving assistance device according to claim 2, wherein the operation determination means determines the threshold distance based on the speed of the vehicle. This item prevents excessive activation of safety devices. <Item 4> 4. The driving assistance device according to claim 2, wherein the operating conditions further include an angle (508) between the traveling direction of the running wheels and the traveling direction of the vehicle being equal to or greater than a threshold angle. This item prevents excessive activation of safety devices. <Item 5> the running wheel detection means determines whether the running wheel is a front wheel or a rear wheel, The operation determination means When it is determined that the running wheel is a front wheel, the determination as to whether the running wheel satisfies the operation condition is not performed, 5. The driving assistance device according to any one of items 1 to 4, wherein, when it is determined that the running wheel is a rear wheel, it is determined whether the running wheel satisfies the operation condition. This item prevents excessive activation of safety devices. <Item 6> The driving assistance device according to any one of items 1 to 5, wherein the operating conditions include that two running wheels (701, 702) are detected, the two running wheels are running wheels of the same vehicle body (700), and the front and vehicle width range of the vehicle is located between the two running wheels. <Item 7> Further, a vehicle body detection means (202) for detecting a vehicle body included in the environment surrounding the vehicle is provided, 7. The driving assistance device according to any one of claims 1 to 6, wherein, when a vehicle body having a running wheel detected by the running wheel detection means is detected by the vehicle body detection means, the operation determination means does not determine whether the running wheel satisfies the operation condition. This item prevents excessive activation of safety devices. <Item 8> 8. The driving assistance device according to any one of items 1 to 7, wherein activating the safety device includes increasing a tension force of a seat belt (32) of the vehicle. This item reduces the impact on vehicle occupants in the event of a collision. <Item 9> A vehicle (1) equipped with the driving assistance device according to any one of items 1 to 8. According to this item, the above items are realized in the form of a vehicle. <Item 10> A program for causing a computer to function as each means of the driving support device (2) according to any one of items 1 to 8. According to this item, the above items are realized in the form of a program. <Item 11> A driving assistance method for assisting a driver of a vehicle (1), comprising: a recognition step (S401) of recognizing an environment around the vehicle; a running wheel detection step (S402) for detecting a running wheel (504) included in the environment surrounding the vehicle; an activation determination step (S405) of determining whether the running wheels satisfy an activation condition of the safety device of the vehicle; and an activation step (S406) of activating the safety device when it is determined that the running wheels satisfy the activation condition. According to this item, the presence of another vehicle ahead can be detected with high accuracy.

[0052] The invention is not limited to the above-described embodiment, and various modifications and variations are possible within the scope of the gist of the invention. [Explanation of symbols]

[0053] 1 vehicle, 2 control device, 201 environment recognition unit, 202 vehicle body detection unit, 203 running wheel detection unit, 204 notification determination unit, 205 notification unit

Claims

1. A driving assistance device for assisting a driver of a vehicle in driving, recognition means for recognizing the environment around the vehicle; a running wheel detection means for detecting running wheels included in the environment surrounding the vehicle; a vehicle body detection means for detecting a vehicle body included in the environment surrounding the vehicle; an activation determination means for determining whether a vehicle body having a running wheel detected by the running wheel detection means satisfies an activation condition of the safety device of the vehicle when the vehicle body having the running wheel detected by the running wheel detection means is not detected by the vehicle body detection means; and an activation means for activating the safety device when it is determined that the running wheels satisfy the activation condition.

2. The driving assistance device according to claim 1 , wherein the activation conditions include that the running wheels are positioned in front of the vehicle and within a vehicle width range, and the distance between the running wheels and the vehicle is equal to or less than a threshold distance.

3. The driving assistance device according to claim 2 , wherein the operation determining means determines the threshold distance based on a speed of the vehicle.

4. The driving assistance device according to claim 2 or 3, wherein the activation condition further includes that an angle formed between a traveling direction of the running wheels and a traveling direction of the vehicle is equal to or greater than a threshold angle.

5. the running wheel detection means determines whether the running wheel is a front wheel or a rear wheel, The operation determination means When it is determined that the running wheel is a front wheel, the determination as to whether the running wheel satisfies the operation condition is not performed, The driving support device according to claim 1 , further comprising: a step of determining whether the running wheel satisfies the operation condition when the running wheel is determined to be a rear wheel.

6. 6. The driving assistance device according to claim 1, wherein the operating conditions include that two running wheels are detected, the two running wheels are running wheels of the same vehicle body, and a range in front of the vehicle and across the vehicle width is located between the two running wheels.

7. A driving assistance device as described in any one of claims 1 to 6, wherein when a vehicle body having a running wheel detected by the running wheel detection means is detected by the vehicle body detection means, the operation determination means does not determine whether the running wheel satisfies the operation condition.

8. The driving assistance device according to claim 1 , wherein activating the safety device includes increasing a tension force of a seat belt of the vehicle.

9. A vehicle comprising the driving assistance device according to any one of claims 1 to 8.

10. A program for causing a computer to function as each of the means of the driving support device according to any one of claims 1 to 8.

11. A driving assistance method for assisting a driver of a vehicle in driving, comprising: a recognition step of recognizing an environment around the vehicle; a running wheel detection step of detecting running wheels included in the environment surrounding the vehicle; a vehicle body detection step of detecting a vehicle body included in the environment surrounding the vehicle; an activation determination step of determining whether or not a vehicle body having a running wheel detected in the running wheel detection step is not detected in the vehicle body detection step, and and an activation step of activating the safety device when it is determined that the running wheels satisfy the activation condition.

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