Driving assistance device and driving assistance method

Abstract

This driving assistance device comprises: a structure detection unit for detecting structures present on the sides of a vehicle; a moving object detection unit for detecting moving objects approaching on the travel path of the vehicle; an approach notification unit for outputting an approach alarm and thereby performing notification that a moving object is approaching the vehicle; and a notification suppression unit that uses the position of the vehicle and the position of a structure as a basis to suppress notification by the approach alarm.

Description

[Technical Field]

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

[0002] In recent years, radar devices have been developed as a type of sensing device that can assist drivers in preventing automobile accidents and contribute to the realization of autonomous driving. Radar devices emit high-frequency electromagnetic waves, typically millimeter waves, into the surrounding area, receive the electromagnetic waves reflected from targets, and perform signal processing to obtain information on the position and speed of the target. Using this information, it is possible to develop a driving assistance system that can calculate the risk of collision between the target and the vehicle and issue an alarm.

[0003] While a camera device, which is one type of sensing device, requires ambient light or auxiliary light, a radar device uses electromagnetic waves and can detect targets using only the radar device. This feature makes the radar device particularly suitable for installation on the edge or side of a vehicle. Furthermore, when a radar device is installed on the front edge of a vehicle, it can detect vehicles approaching from the side in front of the vehicle earlier than a camera device installed in the vehicle cabin and issue a warning to the user.

[0004] Consider an example where a vehicle equipped with a camera device is traveling on a narrow road sandwiched between walls on both sides and entering an intersection with poor visibility. In this case, the camera device cannot detect a vehicle approaching from the side outside the visible area of ​​the camera device, and therefore cannot notify the user of the presence of the approaching vehicle. To solve this problem, for example, a technology described in Patent Document 1 has been proposed.

[0005] Patent Document 1 discloses a technology that estimates that an object detected by a radar device is present at a mirror image position with a reflective surface such as a wall as the plane of symmetry. By applying this technology, it is possible to reduce the chance of failing to detect an approaching vehicle hidden by a wall when entering an intersection with poor visibility. [Prior art documents] [Patent documents]

[0006] [Patent Document 1] Patent Publication No. 2021-076622 Summary of the Invention [Problem to be solved by the invention]

[0007] However, in the technology described in Patent Document 1, when a vehicle travels on a road surrounded by walls on both sides and enters an intersection with poor visibility, a radar device detects vehicles traveling on a road connecting to the intersection and hidden by the walls using reflections from the walls. However, the driver cannot directly visually confirm vehicles traveling on the connecting road. In this case, the driving assistance device issues an approaching vehicle warning using information output from the radar device, but from the user's perspective, it may be difficult to recognize which target was actually detected to issue the warning, which can be confusing. In particular, when the user stops at an intersection to check for safety, the driving assistance device can be an annoyance to the user.

[0008] In view of the above circumstances, there has been a demand for a method of issuing a warning of approaching vehicles at a more appropriate time so as not to annoy the driver of the vehicle. [Means for solving the problem]

[0009] In order to solve the above problem, a driving assistance device of one embodiment of the present invention is characterized by comprising a structure detection unit that detects structures present to the side of the vehicle, a moving object detection unit that detects moving objects approaching on the vehicle's travel path, an approach notification unit that notifies the vehicle that a moving object is approaching by outputting an approach alarm, and an alarm suppression unit that suppresses notification by the approach alarm based on the position of the vehicle and the position of the structure. [Effects of the Invention]

[0010] According to at least one aspect of the present invention, excessive alarms that are annoying to users can be suppressed, and alarms can be issued at more appropriate times. Problems, configurations, and effects other than those described above will become apparent from the following description of the embodiments. [Brief explanation of the drawings]

[0011] [Figure 1] 1 is a block diagram showing an example of the configuration of a control system of a driving assistance device according to a first embodiment of the present invention. [Figure 2] FIG. 2 is a block diagram showing an example of the hardware configuration of a computer included in the driving assistance device. [Figure 3] 1 is a bird's-eye view showing a vehicle equipped with a driving assistance device according to a first embodiment of the present invention and the surrounding situation. [Figure 4] 3 is a flowchart showing an example of a driving assistance process performed by the driving assistance device according to the first embodiment of the present invention. [Figure 5] FIG. 10 is a block diagram showing an example of the configuration of a control system of a driving assistance device according to a second embodiment of the present invention. [Figure 6] 10 is a flowchart showing an example of a driving assistance process performed by a driving assistance device according to a second embodiment of the present invention. [Figure 7] 5 is a bird's-eye view showing a vehicle equipped with a driving assistance device according to a second embodiment of the present invention and the surrounding situation. [Figure 8] FIG. 8 is a bird's-eye view showing a situation where time has advanced from the situation in FIG. 7. [Figure 9] FIG. 10 is a block diagram showing an example of the configuration of a control system of a driving assistance device according to a third embodiment of the present invention. [Figure 10] FIG. 10 is a block diagram showing an example of the configuration of a control system of a driving assistance device according to a fourth embodiment of the present invention. [Figure 11] 6 is a bird's-eye view showing a vehicle equipped with the driving support device of FIG. 5 according to a fifth embodiment of the present invention, and the surrounding situation. [Figure 12] FIG. 1 is a diagram showing an example of a surrounding situation when a camera device is attached to a vehicle. DETAILED DESCRIPTION OF THE INVENTION

[0012] Hereinafter, examples of modes for carrying out the present invention (hereinafter referred to as "embodiments") will be described with reference to the accompanying drawings. In this specification and the accompanying drawings, identical components or components having substantially the same functions are designated by the same reference numerals, and redundant explanations will be omitted.

[0013] First Embodiment First, the configuration of a control system of a driving assistance device according to a first embodiment of the present invention will be described with reference to FIG. (Control system for driving assistance devices) FIG. 1 is a block diagram showing an example of the configuration of a control system of a driving assistance device 1 according to a first embodiment of the present invention. The driving assistance device 1 includes a moving object detection unit 12, an approach notification unit 13, a structure detection unit 11, and a notification suppression unit 14. When the driving assistance device 1 calculates that the host vehicle 2 will collide with an intersecting vehicle coming from the side within a predetermined time, the driving assistance device 1 receives an alarm signal from an output unit (not shown) and issues a vehicle approach warning for the intersecting vehicle to the user driving the host vehicle 2 via a user interface 30 having optical display means (e.g., display unit 31) and acoustic means such as a speaker (e.g., sound emission unit 32). The moving object detection unit 12 and the approach notification unit 13, the approach notification unit 13 and the notification suppression unit 14, the structure detection unit 11 and the notification suppression unit 14, and the notification suppression unit 14 and the user interface 30 are connected by lines 21, enabling the transmission of information.

[0014] (Computer hardware configuration) FIG. 2 is a block diagram showing an example of the hardware configuration of the computer included in the driving assistance device 1. As shown in FIG. The calculator 40 is an example of hardware used as a computer that realizes the functions of the driving assistance device 1 according to this embodiment. The driving assistance device 1 realizes the functions of this embodiment by having the calculator 40 (computer) execute a program. Note that in other embodiments as well, the driving assistance device is assumed to include the calculator 40.

[0015] The computer 40 includes a CPU (Central Processing Unit) 41, a ROM (Read Only Memory) 42, and a RAM (Random Access Memory) 43, which are all connected to a bus. The computer 40 further includes a non-volatile storage 46 and a communication interface 47.

[0016] The CPU 41 reads out program code of software that realizes each function according to this embodiment from the ROM 42, loads it into the RAM 43, and executes it. Variables, parameters, etc. generated during the calculation processing of the CPU 41 are temporarily written to the RAM 43, and these variables, parameters, etc. are read out by the CPU 41 as appropriate. The functions of the approach alarm unit 13 and the alarm suppression unit 14 of this embodiment are realized by the CPU 41 executing the program code read out from the ROM 42. The CPU 41 receives detection results from the structure detection unit 11 and the moving object detection unit 12 via an input / output interface (not shown), and also performs output processing to the user interface 30. However, another processor such as an MPU (Micro Processing Unit) may be used instead of the CPU 41.

[0017] The nonvolatile storage 46 may be, for example, a hard disk drive (HDD), a solid state drive (SSD), an optical disk, a magneto-optical disk, or a nonvolatile memory. In addition to an operating system (OS) and various parameters, the nonvolatile storage 46 may also store programs for operating the computer 40. The ROM 42 and the nonvolatile storage 46 store programs, data, and the like required for the CPU 41 to operate, and are used as an example of a computer-readable non-transitory storage medium that stores programs executed by the computer 40.

[0018] (Sensors installed in the vehicle and the situation around the vehicle) 3 is a bird's-eye view showing the configuration in which a moving object detection unit 12 is mounted on the front left end of the host vehicle 2 and a structure detection unit 11 is mounted on the front right end of the host vehicle 2, as well as the surrounding conditions. The function of each block of the driving assistance device 1 shown in FIG. 2 will be described with reference to FIG. 3.

[0019] The moving object detection unit 12 has a function of detecting surrounding approaching vehicles and acquiring their positions. The moving object detection unit 12 also calculates the moving direction and speed of the approaching vehicle as seen from the moving object detection unit 12 based on multiple pieces of position information detected over a certain period of time. In this embodiment, the moving object detection unit 12 specifically uses a radar device or the like having multipath characteristics suitable for detecting moving objects using specular reflection or the like.

[0020] The approach notification unit 13 has the function of calculating the predicted path of travel of a moving object from the information on the position, direction of travel, and speed acquired by the moving object detection unit 12, and also calculating the predicted path of travel of the host vehicle from information on the host vehicle 2's speed, acceleration / deceleration, yaw rate, steering angle, etc., and outputting an alarm signal if it determines that these predicted paths of travel will be in the same position within a predetermined tolerance range within a predetermined time, that is, if it determines that a collision will occur.

[0021] The structure detection unit 11 has (1) a function to detect the distance between the host vehicle 2 and a right wall surface 61 on the right side of the host vehicle 2, (2) a function to detect the tip position 62 of the right wall surface 61, and (3) a function to detect whether the front tip position of the host vehicle 2 is in front of the tip position 62 of the right wall surface 61. Note that the structure detection unit 11 can use a radar device, a camera device, a sonar device, a LiDAR (Light Detection And Ranging) device, or the like.

[0022] The notification suppression unit 14 has a function of suppressing notification by a vehicle approach warning based on the position of the host vehicle and the position of the structure. For example, the notification suppression unit 14 blocks the warning signal from the approach warning unit 13 when the front tip position of the host vehicle 2 detected by the structure detection unit 11 is in front of the tip position 62 of the right wall surface 61.

[0023] (Driving assistance processing) Next, the driving assistance process performed by the driving assistance device 1 having the above configuration will be described. 4 is a flowchart showing an example of driving assistance processing by the driving assistance device 1. First, the moving object detection unit 12 determines whether or not a moving object has been detected by specular reflection (step S1), and if a moving object has not been detected by specular reflection (NO in step S1), this processing is periodically repeated.

[0024] In step S1, if a moving object is detected by specular reflection (YES in step S1), the approach notification unit 13 calculates the moving object and the predicted travel path of the vehicle (step S2).

[0025] Next, the approach notification unit 13 determines whether there is a possibility of collision between the moving object and the vehicle (step S3), and if there is no possibility of collision (NO in step S3), ends this process. For example, if the collision probability is smaller than a predetermined threshold, it can be determined that there is no possibility of collision.

[0026] If there is a possibility of collision in step S3 (YES in step S3), the approach notification unit 13 generates an alarm signal and outputs it to the notification suppression unit 14 (step S4).

[0027] Next, the structure detection unit 11 detects a structure and outputs the detection result to the notification suppression unit 14 (step S5). Note that the timing of the structure detection process by the structure detection unit 11 is not limited to after the process of step S4, and it may actually be considered to be performed in parallel with the processes of steps S1 to S4.

[0028] Next, the notification suppression unit 14 calculates the positional relationship between the structure detected by the structure detection unit 11 and the host vehicle (step S6). Subsequently, the notification suppression unit 14 determines whether the front end position of the host vehicle is in front of the front end position of the structure (step S7), and if the front end position of the host vehicle is not in front of the front end position of the structure (NO in step S7), this process ends.

[0029] On the other hand, if the front end position of the vehicle is in front of the end position of the structure (YES in step S7), the notification suppression unit 14 blocks the alarm signal and does not output it from the output unit to the outside (step S8). After processing step S8, the driving assistance device 1 ends this processing.

[0030] (Specific example of driving assistance processing) Next, the driving assistance process by the driving assistance device 1 will be described with reference to Figures 1 and 3, assuming a specific scenario. Here, as shown in Figure 3, it is assumed that there is a left wall 51 and a right wall 61 up to the intersection. The host vehicle 2 is traveling toward the intersection. Furthermore, it is assumed that an intersection-approaching vehicle 5 on the other side of the right wall 61 as seen from the host vehicle 2 is heading from right to left and entering the intersection at the same time as the host vehicle 2.

[0031] The moving object detection unit 12 detects the approaching vehicle 5 from the right side as a ghost approaching vehicle 5a approaching from the left side due to specular reflection on the left wall surface 51. The approach notification unit 13 determines that the ghost approaching vehicle 5a approaching from the left side will collide with the host vehicle 2, and transmits a collision prediction warning signal to the notification suppression unit 14. Meanwhile, the structure detection unit 11 determines that the front end position of the host vehicle 2 is in front of the tip position 62 of the right wall surface 61, and transmits this to the notification suppression unit 14. The notification suppression unit 14 blocks the warning signal from the approach notification unit 13 based on the information acquired from the structure detection unit 11. Note that when the front end position of the host vehicle 2 passes the tip position 62 of the right wall surface 61, the notification suppression unit 14 cancels the blocking of the warning signal and outputs the warning signal to the user interface 30.

[0032] As described above, the driving assistance device (driving assistance device 1) of this embodiment is configured to include a structure detection unit (structure detection unit 11) that detects structures present on the side of the vehicle, a moving object detection unit (moving object detection unit 12) that detects moving objects approaching on the vehicle's travel path, an approach notification unit (approach notification unit 13) that notifies the vehicle that a moving object is approaching by outputting an approach alarm, and an alarm suppression unit (alert suppression unit 14) that suppresses notification by an approach alarm based on the position of the vehicle and the position of the structure.

[0033] In addition, in the driving assistance device (driving assistance device 1) of this embodiment, the structure detection unit (structure detection unit 11) detects the edge of a structure that forms the boundary between the structure and the road to which the vehicle is traveling on connects, and the notification suppression unit (notification suppression unit 14) is configured to determine whether to suppress notification by an approach warning based on the position of the vehicle and the position of the edge of the structure.

[0034] Fig. 12 is a diagram showing an example of the surrounding situation when a camera device is attached to a vehicle. The example shown in Fig. 12 shows a vehicle 100 equipped with a camera device 101 traveling on a narrow road sandwiched between walls 111 and 121 on both sides and entering an intersection with poor visibility. In this case, the vehicle 100 cannot detect a vehicle 5 approaching from the side outside the visible area D of the camera device 101, and cannot notify the user of the presence of the approaching vehicle. In this case, if the driving assistance device issues an approaching vehicle warning using information output from the radar device, the user will be confused because they will not be able to recognize from their perspective which target object was actually detected to issue the warning.

[0035] In contrast, in the driving assistance device 1 according to the present embodiment described above, when the driver cannot directly visually confirm vehicles traveling on the connecting road, a vehicle approach warning for an intersecting vehicle is not issued, which has the effect of not confusing the user, or in other words, making it less likely for the user to become confused. Furthermore, in the present embodiment, excessive warnings that the user finds annoying are suppressed, so that warnings can be issued at more appropriate times.

[0036] The mounting positions of the moving object detection unit 12 and the structure detection unit 11 on the vehicle may be reversed. In the above description, the left and right are reversed, but the same effects are achieved, so the description will be omitted.

[0037] <Second embodiment> Next, a second embodiment of the present invention will be described. In the second embodiment, the same components as those in the first embodiment are denoted by the same reference numerals, and detailed descriptions thereof will be omitted.

[0038] FIG. 5 is a block diagram showing an example of the configuration of a control system of a driving assistance device 10 according to a second embodiment of the present invention. The driving assistance device 10 of this embodiment is configured by combining a driving assistance device 1a (first driving assistance device) and a driving assistance device 1b (second driving assistance device) having the same configuration as the driving assistance device 1 shown in the first embodiment. That is, the driving assistance device 10 of this embodiment is configured with moving object detection units 12a and 12b, approach notification units 13a and 13b, structure detection units 11a and 11b, and notification suppression units 14a and 14b. The moving object detection units 12a and 12b, approach notification units 13a and 13b, structure detection units 11a and 11b, and notification suppression units 14a and 14b have the same functions as the moving object detection unit 12, approach notification unit 13, structure detection unit 11, and notification suppression unit 14 shown in the first embodiment, and therefore, description thereof will be omitted.

[0039] Furthermore, the two moving object detection units 12a and 12b, and the two structure detection units 11a and 11b are connected by tracks 22, enabling bidirectional communication of information on the position, moving direction, and speed of an approaching vehicle, and the position of a wall. As in the case of the driving assistance device 1, each block of the driving assistance devices 1a and 1b is connected to the user interface 30 by tracks 21a and 21b, respectively, enabling communication of information.

[0040] (Driving assistance processing) Next, the driving assistance process performed by the driving assistance device 10 having the above configuration will be described. 6 is a flowchart showing an example of driving assistance processing by the driving assistance device 10. Here, the two driving assistance devices constituting the driving assistance device 10 are referred to as a first driving assistance device and a second driving assistance device.

[0041] First, in the first driving assistance device, the moving object detection unit 12 determines whether a moving object has been detected by specular reflection (step S11), and if a moving object has not been detected by specular reflection (NO in step S11), this process is repeated periodically.

[0042] In step S11, if a moving object is detected by specular reflection (YES in step S11), the first driving support device executes the warning signal interruption determination process (steps S2 to S8) shown in FIG. 4 (step S12).

[0043] Next, the first driving assistance device transmits the movement information of the moving object due to specular reflection and the information of the structure to the second driving assistance device (step S13).

[0044] Next, the second driving assistance device calculates the position, moving direction and speed of the actual moving object based on the various information acquired from the first driving assistance device (step S14).

[0045] Next, it is determined whether or not the second driving assistance device has directly detected an actual moving object (step S15), and if the moving object has not been directly detected (NO in step S15), the process proceeds to the determination process of step S11.

[0046] On the other hand, if a moving object is detected directly (YES in step S15), the second driving assistance device calculates the movement direction and speed of the actual moving object based on the position, movement direction and speed of the actual moving object calculated in advance and the position of the actual moving object detected directly (step S16).

[0047] Then, the second driving assistance device calculates a predicted travel path of the actual moving object (step S17).

[0048] In this way, by sharing information about moving objects and structures between the first driving assistance device and the second driving assistance device, it is possible to calculate the predicted path of a moving object more quickly than in the case of using a single driving assistance device.

[0049] (Sensors installed in the vehicle and the situation around the vehicle) 7 and 8 are overhead views showing the configuration in which a moving object detection unit 12a and a structure detection unit 11a are mounted on the front left end of the vehicle 2, and a moving object detection unit 12b and a structure detection unit 11b are mounted on the front right end of the vehicle 2, and the surrounding situation. Note that Fig. 8 shows a situation where time has advanced from the situation in Fig. 7.

[0050] (Specific example of driving assistance processing) Next, the driving assistance process by the driving assistance device 10 will be described with reference to Figures 5 to 8. Here, it is assumed that there is a left wall 51 and a right wall 61 up to the intersection. As in the description of the first embodiment, the host vehicle 2 is traveling toward the intersection. Furthermore, it is assumed that an intersection-approaching vehicle 5 on the other side of the right wall 61 as seen from the host vehicle 2 is heading from right to left and entering the intersection at the same time as the host vehicle 2.

[0051] 7, similarly to the first embodiment, the moving object detection unit 12a of the driving assistance device 1a detects the approaching vehicle 5 from the right side as a ghost approaching vehicle 5a approaching from the left side due to specular reflection on the left wall surface 51, but the alarm signal is blocked by the notification suppression unit 14a. At this time, information on the position, moving direction, and speed of the ghost approaching vehicle 5a detected by the moving object detection unit 12a and the wall surface position detected by the structure detection unit 11b is transmitted to the moving object detection unit 12b of the driving assistance device 1b via the railroad line 22. Furthermore, the moving object detection unit 12b calculates the position, moving direction, and speed of the approaching vehicle 5 from the position and moving direction of the ghost approaching vehicle 5a and the information on the wall surface position due to specular reflection.

[0052] In the situation in which vehicle 2 in FIG. 8 is moving forward in the traveling direction, moving object detection unit 12b of driving assistance device 1b can directly detect approaching vehicle 5 from the right side. Here, structure detection unit 11b determines that it can directly detect the range in the forward direction of host vehicle 2 from the direction of tip position 62 of right wall surface 61. Immediately after detection by moving object detection unit 12b, only position information of approaching vehicle 5 can be detected. However, by combining the position of approaching vehicle 5 obtained using information obtained in advance by moving object detection unit 12a with information on the moving direction and speed, it becomes possible to determine the moving direction and speed of approaching vehicle 5 even immediately after detection.

[0053] This allows the approach notification unit 13b of the driving assistance device 1b to quickly calculate the predicted path of the moving object using the information obtained from the moving object detection unit 12b. Therefore, the approach notification unit 13b can determine that the approaching vehicle 5 will collide with the host vehicle 2 earlier than in the configuration of the first embodiment.

[0054] The driving assistance device 10 of this embodiment makes it possible to issue an approach warning to an approaching vehicle 5 just before the user driving the vehicle 2 enters the intersection and can see it, thereby reducing the possibility of a collision between the vehicle 2 and the approaching vehicle 5.

[0055] The moving object detection unit 12a and the structure detection unit 11a at the front left end, and the moving object detection unit 12b and the structure detection unit 11b at the front right end may be configured as a single radar device, which has the effect of reducing the number of radar devices.

[0056] <Third embodiment> Next, a third embodiment of the present invention will be described. In the third embodiment, the same components as those in the first embodiment are denoted by the same reference numerals, and detailed descriptions thereof will be omitted.

[0057] FIG. 9 is a block diagram showing an example of the configuration of a control system of a driving assistance device 70 according to a third embodiment of the present invention. The driving assistance device 70 of this embodiment includes a vehicle position acquisition unit 71 that measures the position of the vehicle in the driving assistance device 1 shown in the first embodiment, and a map information acquisition unit 72 that has road structure information. The vehicle position acquisition unit 71 can use, for example, a global positioning satellite system (GNSS). The map information acquired by the map information acquisition unit 72 is, for example, map data used in a car navigation system. The vehicle position acquisition unit 71 and the map information acquisition unit 72 are connected to the structure detection unit 11 by a railroad line 23.

[0058] The structure detection unit 11 acquires the position of the vehicle provided from the vehicle position acquisition unit 71 and road structure information provided from the map information acquisition unit 72 via the railroad tracks 23. Then, the structure detection unit 11 calculates the wall position and performs wall detection from the calculated wall position.

[0059] As described above, the driving assistance device (driving assistance device 70) according to this embodiment further includes a vehicle position acquisition unit (vehicle position acquisition unit 71) that acquires information on the current position of the vehicle, and a map information acquisition unit (map information acquisition unit 72) that acquires map information including information on road structures, and the structure detection unit (structure detection unit 11) is configured to determine the position of structures present to the side of the vehicle based on the current position of the vehicle acquired by the vehicle position acquisition unit and the information on the road structures acquired by the map information acquisition unit.

[0060] The driving assistance device 70 of this embodiment has the advantage that it is possible to detect a wall surface using map information as auxiliary information even when the radar device, camera device, sonar device, or lidar device used as the structure detection unit 11 cannot obtain a reflected signal from a wall surface. Therefore, even when a reflected signal from a wall surface cannot be obtained, the notification suppression unit 14 in the driving assistance device 70 can appropriately block an alarm signal. Therefore, this embodiment has the advantage of suppressing alarm signals that are unnecessary for the user.

[0061] <Fourth embodiment> Next, a fourth embodiment of the present invention will be described. In the fourth embodiment, the same components as those in the first embodiment are denoted by the same reference numerals, and detailed descriptions thereof will be omitted.

[0062] 10 is a block diagram showing an example of the configuration of a control system of a driving assistance device 80 according to a fourth embodiment of the present invention. The driving assistance device 80 of this embodiment includes a motion information acquisition unit 81 that measures the deceleration of the vehicle in addition to the driving assistance device 1 shown in the first embodiment. An acceleration sensor that detects changes in acceleration (including deceleration) can be used as the motion information acquisition unit 81. The motion information acquisition unit 81 is connected to the notification suppression unit 14 via a line 24.

[0063] The notification suppression unit 14 acquires the deceleration detected by the motion information acquisition unit 81 via the line 24, and if the deceleration is equal to or greater than a predetermined value, the notification suppression unit 14 stops its own operation, i.e., blocks the alarm signal.

[0064] As described above, the driving assistance device (driving assistance device 80) according to this embodiment further includes a motion information acquisition unit (motion information acquisition unit 81) that acquires motion information of the vehicle, and the notification suppression unit (notification suppression unit 14) is configured to suppress notification by an approach warning when the deceleration of the vehicle is equal to or greater than a predetermined value.

[0065] In this embodiment, if the deceleration is equal to or greater than a predetermined value, the host vehicle is braked and determined to be stopped, which enables the notification suppression unit 14 in the driving support device 80 to appropriately block the warning signal output from the approach warning unit 13. Therefore, this embodiment has the effect of suppressing warning signals that are unnecessary for the user.

[0066] In this embodiment, a configuration has been described in which the notification suppression unit 14 suppresses the output of an alarm signal when the deceleration is equal to or greater than a predetermined value, but the configuration may also be such that the output of an alarm signal is suppressed when the speed is equal to or less than a predetermined value.

[0067] <Fifth embodiment> Next, a fifth embodiment of the present invention will be described. In the fifth embodiment, the same components as those in the first embodiment are denoted by the same reference numerals, and detailed descriptions thereof will be omitted.

[0068] 11 is a bird's-eye view showing a host vehicle 2 according to a fifth embodiment of the present invention and the status of the wall surface position of the host vehicle 2. The driving assistance device of this embodiment is configured to include two structure detection units 11a and 11b. The moving object detection unit 12 is not shown.

[0069] The structure detection units 11a and 11b transmit the measured distance between the side of the vehicle and the position of each wall on both sides to the notification suppression unit 14 (FIG. 1). If the acquired distance between the side of the vehicle and the wall position is equal to or greater than a predetermined value, the notification suppression unit 14 determines that the road is wide and visibility is good (the risk of an accident is low), and has means for stopping the operation of the notification suppression unit 14 itself (blocking the alarm signal).

[0070] As described above, in the driving assistance device according to this embodiment, the notification suppression unit (notification suppression unit 14) is configured to suppress notification by approach warning when the distance between the vehicle and the structure is greater than or equal to a predetermined value.

[0071] The driving assistance device 80 of this embodiment enables the notification suppression unit 14 in the driving assistance device 1 to appropriately block the warning signal output from the approach warning unit 13. Therefore, this embodiment has the effect of suppressing warning signals that are unnecessary for the user.

[0072] Furthermore, the present invention is not limited to the above-described embodiments, and various other applications and modifications are possible without departing from the spirit of the present invention as defined in the claims. For example, the above-described embodiments have described the configuration of the driving assistance device in detail and specifically in order to clearly explain the present invention, and are not necessarily limited to those including all of the components described. Furthermore, it is possible to replace part of the configuration of one embodiment with a component of another embodiment. It is also possible to add a component of another embodiment to the configuration of one embodiment. It is also possible to add, replace, or delete other components from part of the configuration of each embodiment.

[0073] Furthermore, the above-described configurations, functions, processing units, etc. may be partially or entirely realized in hardware, for example, by designing them as integrated circuits, etc. As the hardware, a broad processor device such as an FPGA (Field Programmable Gate Array) or an ASIC (Application Specific Integrated Circuit) may be used.

[0074] In addition, in this specification, processing steps describing chronological processing include not only processing that is performed chronologically in the order described, but also processing that is not necessarily performed chronologically but is performed in parallel or individually (for example, processing by objects). [Explanation of symbols]

[0075] DESCRIPTION OF SYMBOLS 1, 1a, 1b, 10, 70, 80... driving assistance device, 2... host vehicle, 5... approaching vehicle, 5a... ghost approaching vehicle, 11, 11a, 11b... structure detection unit, 12, 12a, 12b... moving object detection unit, 13, 13a, 13b... approach notification unit, 14, 14a, 14b... notification suppression unit, 51... structure wall surface (left side of host vehicle traveling direction), 52... structure tip position (left side of host vehicle traveling direction), 61... structure wall surface (right side of host vehicle traveling direction), 62... structure tip position (right side of host vehicle traveling direction), 30... user interface, 71... host vehicle position acquisition unit, 72... map information acquisition unit, 81... motion information acquisition unit

Claims

1. a structure detection unit that detects structures present on the sides of the vehicle; a moving object detection unit that detects a moving object approaching on a travel path of the host vehicle; an approach notification unit that notifies the driver that the moving object is approaching the vehicle by outputting an approach alarm; a notification suppression unit that suppresses notification by the proximity alarm based on a position of the host vehicle and a position of the structure, The notification suppression unit suppresses notification by the proximity alarm when a distance between the host vehicle and the structure is equal to or greater than a predetermined value. A driving assistance device characterized by:

2. a vehicle position acquisition unit that acquires information about the current position of the vehicle; a map information acquisition unit that acquires map information including information on road structures, The structure detection unit determines the position of a structure present to the side of the vehicle based on the current position of the vehicle acquired by the vehicle position acquisition unit and information on road structures acquired by the map information acquisition unit.

2. The driving assistance device according to claim 1.

3. A driving assistance method using a driving assistance device, A process of detecting structures present on the sides of the vehicle; a process of detecting a moving object approaching on a travel path of the host vehicle; a process of outputting an approach alarm to notify the driver that the moving object is approaching the vehicle; and suppressing notification by the proximity warning when the distance between the host vehicle and the structure is equal to or greater than a predetermined value. A driving assistance method comprising:

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