Driving assistance device, control method for driving assistance device, program, vehicle, and control method for vehicle

Abstract

To appropriately assist driving of a driver by detecting an obstacle in a peripheral environment of a vehicle by LiDAR, acquiring distance information about the obstacle with high accuracy, and notifying the driver to urge the driver to grip a steering wheel at an appropriate timing.SOLUTION: The driving assistance device includes a grip determiner that detects a state in which a driver grips a steering wheel of a vehicle and acquires grip determination information obtained by determining a result of the detection, a LiDAR unit that irradiates an obstacle present in a surrounding environment in a traveling direction of the vehicle with laser light and acquires measurement information on the obstacle measured by detecting reflected light from the obstacle, a notifier that notifies the driver of driving assistance information for assisting driving of the vehicle, and a driving controller that controls the driving assistance information output by the notifier based on the measurement information acquired by the LiDAR unit and the grip determination information acquired by the grip determiner.SELECTED DRAWING: Figure 1B

Description

Technical Field

[0001] The present invention relates to a driving assist device, a control method for the driving assist device, a program, a vehicle, and a control method for the vehicle.

Background Art

[0002] For example, as a conventional technique, Patent Document 1 proposes a driving assist device that alerts a driver to grip the steering wheel when the driver releases their hand from the steering wheel for a vehicle in which steering is performed according to an operation of the steering wheel by the driver.

[0003] In the above conventional technique, the driving assist device uses a camera to image the surroundings of the vehicle, and based on the output value of the camera, detects obstacles and the like around the vehicle. Then, when the driving assist device detects by a tactile sensor that the driver has released their hand while the vehicle is traveling on a narrow road, it outputs an appropriate steering angle to the steering control unit so that the vehicle does not hit an obstacle. And the driving assist device alerts the driver to grip the steering wheel.

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0005] As described above, in the driving assist device of the above conventional technique, a camera is used to image the surroundings of the vehicle, and based on the output value of the camera, obstacles and the like around the vehicle are detected.

[0006] When using cameras to detect obstacles in this way, detection performance deteriorates significantly in environments where sufficient brightness and color difference information cannot be obtained, such as at night, in low light, against the light, due to glare, rain, snow, or dense fog. Furthermore, while cameras can detect obstacles by imaging the area around the vehicle, they cannot accurately determine the distance between the vehicle and the obstacle. Therefore, for example, determining whether a vehicle can pass through a narrow road ultimately relies on the driver's visual judgment.

[0007] In other words, the conventional technology described above cannot acquire distance information regarding obstacles in the surrounding environment of the vehicle with high accuracy, and therefore cannot notify the driver to grip the steering wheel at the appropriate time, resulting in a problem in that it cannot properly assist the driver's driving.

[0008] This invention is based on the inventors' findings and aims to appropriately assist the driver's driving by detecting obstacles in the vehicle's surrounding environment using LiDAR, acquiring distance information about said obstacles with high accuracy, and notifying the driver to grip the steering wheel at the appropriate time. [Means for solving the problem]

[0009] A driving assist device according to one embodiment of the present invention is: A driving assistance device that assists the driver in operating a vehicle, A grip determination unit detects that the driver is gripping the steering wheel of the vehicle and acquires grip determination information based on the detection result. A LiDAR (Light Detection And Ranging) unit that irradiates laser light onto obstacles in the surrounding environment in the direction of travel of the vehicle and acquires measurement information about the obstacles by detecting the reflected light from the obstacles, A notification unit that notifies the driver of driving assistance information to assist in driving the vehicle, The system is characterized by comprising: an operation control unit that controls the operation assistance information output by the notification unit based on the measurement information acquired by the LiDAR unit and the gripping determination information acquired by the gripping determination unit.

[0010] In the above-mentioned driving assist device, The notification unit may display cautionary or warning information corresponding to the driving assistance information, and may vibrate with a period and / or amplitude based on the driving assistance information, or emit voice and / or warning sounds.

[0011] In the above-mentioned driving assist device, The notification unit may also notify the driver by vibrating the steering wheel, thereby tactilely transmitting the driving assistance information to the driver.

[0012] In the above-mentioned driving assist device, The notification unit outputs a notification signal containing the driving assistance information to a portable device connected to the notification unit via wireless or wired communication. The portable device may, in response to the notification signal, display a warning or alert information based on the driving assistance information, vibrate with a period and / or amplitude based on the driving assistance information, or emit voice and / or warning sounds.

[0013] In the above-mentioned driving assist device, In detection mode, the operation control unit, Based on the measurement information, the measured distance between the vehicle and the obstacle is obtained, and the interval value between adjacent obstacles is obtained. The operation assistance information output from the notification unit may be controlled based on the measured distance and the interval value.

[0014] In the above-mentioned driving assist device, The aforementioned operation control unit, Compare the measured distance with a preset determination reference distance. When it is determined that the measured distance is less than the determination reference distance, the driving assistance information output from the notification unit may be controlled based on the interval value.

[0015] In the above driving assistance device, The driving control unit When it is determined that the measured distance is less than the determination reference distance, compare the interval value with a first determination reference interval value larger than the preset width of the vehicle. When it is determined that the interval value is less than the first determination reference interval value, compare the interval value with a preset second determination reference interval value smaller than the first determination reference interval value. When it is determined that the interval value is less than the second determination reference interval value, the driving assistance information indicating that the vehicle cannot pass between the obstacles and / or calling attention to the driver's gripping of the steering wheel may be output from the notification unit.

[0016] In the above driving assistance device, The driving control unit When it is determined that the interval value is greater than or equal to the first determination reference interval value, based on the gripping determination information acquired by the gripping determination unit N, determine whether the driver is not gripping the steering wheel or not gripping the steering wheel firmly. When it is determined that the driver is not gripping the steering wheel or not gripping the steering wheel firmly, the driving assistance information calling attention to the driver's firm gripping of the steering wheel may be output from the notification unit.

[0017] In the above driving assistance device, The driving control unit After outputting the driving assistance information calling attention from the notification unit, based on the measurement information, determine whether the vehicle has passed between the obstacles. When it is determined that the vehicle has not passed between the obstacles, the driving assistance information for alerting may be output from the notification unit.

[0018] In the above driving assistance device, The grip determination unit may be a HoD (Hands Off Detection) device that detects a state in which the driver is gripping the steering wheel by detecting a change in capacitance in a region of the steering wheel gripped by the driver using a capacitance sensor provided in the steering wheel.

[0019] In the above driving assistance device, The grip determination unit may compare the HoD capacitance sense level detected by the capacitance sensor provided in the steering wheel with a preset capacitance threshold value, and acquire the grip determination information based on the comparison result.

[0020] In the above driving assistance device, The driving control unit executes a normal mode for operating the LiDAR unit and the grip determination unit, In the normal mode, based on the measurement information acquired by the LiDAR unit, it is determined whether an obstacle existing in the surrounding environment in the traveling direction of the vehicle is detected within a mode switching reference distance longer than the determination reference distance, When the obstacle is detected within the mode switching reference distance, the mode may be switched from the normal mode to the detection mode.

[0021] In the above driving assistance device, The mode switching reference distance may be set within a range in which the LiDAR unit can measure an obstacle existing in the surrounding environment in the traveling direction of the vehicle.

[0022] In the above driving assistance device, The driving control unit If the aforementioned obstacle is not detected within the mode switching reference distance, it is determined whether the measurement accuracy of the LiDAR unit has deteriorated due to interference from the surrounding environment. If it is determined that the measurement accuracy of the LiDAR unit is reduced due to the surrounding environment, the map mode will be executed. In the map mode described above, a map corresponding to the surrounding environment may be read, and positional information regarding the position of the vehicle in the surrounding environment and the positions of obstacles present in the surrounding environment may be obtained based on the map.

[0023] In the above-mentioned driving assist device, The aforementioned operation control unit, After executing the map mode, the interval values ​​between obstacles in the surrounding environment are compared with the first judgment criterion interval values ​​based on the location information. If the interval value is determined to be equal to or greater than the first judgment criterion interval value, the grip determination unit determines, based on the grip determination information acquired, whether the driver is not gripping the steering wheel or is not gripping the steering wheel firmly. If the system determines that the driver is not holding the steering wheel or is not holding the steering wheel firmly, the system may output driving assistance information from the notification unit to remind the driver to hold the steering wheel firmly.

[0024] In the above-mentioned driving assist device, The interference caused by the surrounding environment that reduces the measurement accuracy of the LiDAR unit may be weather conditions in the surrounding environment, including rain or fog.

[0025] In the above-mentioned driving assist device, The aforementioned operation control unit, Based on the measurement information, the measured distance between the vehicle and the obstacle is obtained, and the altitude from the road in the surrounding environment to the obstacle located above the road is obtained. The driving assistance information output from the notification unit may be controlled based on the measured distance and the altitude.

[0026] In the above-mentioned driving assist device, The aforementioned operation control unit, Based on the measurement information, the measured distance between the vehicle and the obstacle is obtained, the interval value between adjacent obstacles is obtained, and the altitude from the road in the surrounding environment to the obstacle located above the road is obtained. The driving assistance information output from the notification unit may be controlled based on the measured distance, the interval value, and the altitude.

[0027] In the above-mentioned driving assist device, The aforementioned operation control unit further comprises a storage unit that stores information for executing a predetermined process, The operation control unit may, in the map mode, read the map from the storage unit.

[0028] In the above-mentioned driving assist device, The measurement information includes point cloud data containing distance information about the obstacle acquired by the LiDAR unit, In the normal mode, the operation control unit may compare the point cloud data acquired by the LiDAR unit at multiple time points to confirm in advance that the object is not a ghost of an obstacle, in order to avoid false detection / ghosting of the obstacle.

[0029] A control method for a driving assist device according to an embodiment of one aspect of the present invention is: A control method for a driving assistance device that assists a driver in operating a vehicle, The driving assist device comprises: a grip determination unit that detects whether the driver is gripping the steering wheel of the vehicle and acquires grip determination information based on the detection result; a LiDAR (Light Detection And Ranging) unit that irradiates laser light onto obstacles in the surrounding environment in the direction of travel of the vehicle and acquires measurement information about the obstacles by detecting the reflected light from the obstacles; a notification unit that notifies the driver of driving assistance information to assist in driving the vehicle; and a driving control unit. The operation control unit controls the operation assistance information output by the notification unit based on the measurement information acquired by the LiDAR unit and the gripping determination information acquired by the gripping determination unit. It is characterized by the following:

[0030] This invention follows an embodiment according to one aspect of the present invention. A program executed by a driving assist device comprising: a grip determination unit that detects whether the driver is gripping the steering wheel of the vehicle and acquires grip determination information that determines the result of this detection; a LiDAR (Light Detection And Ranging) unit that irradiates laser light onto obstacles in the surrounding environment in the direction of travel of the vehicle and acquires measurement information about the obstacles by detecting the reflected light from the obstacles; a notification unit that notifies the driver of driving assistance information to assist in driving the vehicle; and a driving control unit, The operation control unit is characterized by causing the computer to execute a process that controls the operation assistance information output by the notification unit based on the measurement information acquired by the LiDAR unit and the gripping determination information acquired by the gripping determination unit.

[0031] A vehicle according to one embodiment of the present invention is A vehicle driven by a driver, The steering wheel and The vehicle is equipped with a driving assist device that assists the driver in operating the vehicle, The aforementioned driving assist device, A grip determination unit detects that the driver is gripping the steering wheel of the vehicle and acquires grip determination information based on the detection result. A LiDAR (Light Detection And Ranging) unit that irradiates laser light onto obstacles in the surrounding environment in the direction of travel of the vehicle and acquires measurement information about the obstacles by detecting the reflected light from the obstacles, A notification unit that notifies the driver of driving assistance information to assist in driving the vehicle, The system includes an operation control unit that controls the operation assistance information output by the notification unit based on the measurement information acquired by the LiDAR unit and the gripping determination information acquired by the gripping determination unit. It is characterized by the following:

[0032] A vehicle control method according to an embodiment of one aspect of the present invention is: A method of controlling a vehicle driven by a driver, The aforementioned vehicle is The steering wheel and The vehicle is equipped with a driving assist device that assists the driver in operating the vehicle, The driving assist device comprises: a grip determination unit that detects whether the driver is gripping the steering wheel of the vehicle and acquires grip determination information based on the detection result; a LiDAR (Light Detection And Ranging) unit that irradiates laser light onto obstacles in the surrounding environment in the direction of travel of the vehicle and acquires measurement information about the obstacles by detecting the reflected light from the obstacles; a notification unit that notifies the driver of driving assistance information to assist in driving the vehicle; and a driving control unit. The operation control unit controls the operation assistance information output by the notification unit based on the measurement information acquired by the LiDAR unit and the gripping determination information acquired by the gripping determination unit. It is characterized by the following: [Effects of the Invention]

[0033] According to the present invention, obstacles in the surrounding environment of a vehicle can be detected using LiDAR, distance information regarding said obstacles can be acquired with high accuracy, and a notification can be sent to the driver prompting them to grip the steering wheel at an appropriate time, thereby appropriately assisting the driver's driving. [Brief explanation of the drawing]

[0034] [Figure 1A] Figure 1A shows an example of the configuration of a vehicle to which the driving assistance device according to this embodiment is applied. [Figure 1B] Figure 1B shows an example of a specific configuration of the driving assistance device shown in Figure 1A. [Figure 2] Figure 2 shows an example of the relationship between the HoD capacity sense level of the grip determination unit, each capacity threshold, and the grip state of the steering. [Figure 3] Figure 3 shows an example of the division of the area where the steering wheel is gripped. [Figure 4] Figure 4 is a diagram that conceptually illustrates the arrangement of the vehicle and obstacles in the surrounding environment that are to be detected by the driver assistance system. [Figure 5] Figure 5 shows an example of point cloud data measured by the LiDAR unit of the driving assistance device. [Figure 6] Figure 6 shows an example of a flow chart of the control method for the driving assist device according to the embodiment. [Figure 7] Figure 7 shows an example of the configuration of a vehicle to which the driving assistance device according to the first modified example is applied. [Figure 8] Figure 8 is a side view of the vehicle according to the second modified example. [Figure 9] Figure 9 shows an example of point cloud data measured by the LiDAR unit of the driving assist device according to the second modified example. [Figure 10] Figure 10 shows an example of a flow chart of the control method for the driving assist device according to the second modified example. [Figure 11A] Figure 11A is a view of the vehicle according to the third modified example, seen from above. [Figure 11B]Figure 11B is a side view of the vehicle relating to the third modified example. [Figure 12] Figure 12 shows an example of point cloud data measured by the LiDAR unit of the driving assist device according to the third modified example. [Figure 13] Figure 13 shows an example of a flow chart of the control method for the driving assist device according to the third modified example. [Modes for carrying out the invention]

[0035] An embodiment of this disclosure will be described below with reference to the drawings. In the drawings attached to this specification, the scale and aspect ratios have been appropriately changed and exaggerated from those of the actual objects for the sake of ease of understanding. Some components shown in some drawings may be omitted in other drawings. The scale and aspect ratios may also differ between drawings.

[0036] In this specification, terms such as "parallel," "orthogonal," and "identical," as well as values ​​of length and angle, which specify shapes, geometric conditions, and their degrees, shall not be limited to their strict meanings, but shall be interpreted to include a range that can be expected to function similarly.

[0037] The following embodiments describe a driving assistance device that assists the driver in driving, and a vehicle to which the driving assistance device is applied.

[0038] [vehicle] Figure 1A shows an example of the configuration of a vehicle to which the driving assistance device according to this embodiment is applied.

[0039] For example, as shown in Figure 1A, the vehicle 200 according to this embodiment is configured to travel in the direction of travel along a travel path R in the surrounding environment Z when a driver DR is on board and driving it. The travel path R is an area on which the vehicle 200 can travel, including roads, parking lots, sidewalks, vacant lots, etc., where it is assumed that the vehicle 200 will travel.

[0040] In this embodiment, the vehicle 200 includes, for example, a steering wheel S and a driving assist device 100, as shown in Figure 1A.

[0041] The steering wheel S is configured to control the direction of travel of the vehicle 200 by controlling the steering angle of the vehicle's tires (not shown) through manual operation by the driver DR. Through this manual operation of the steering wheel S by the driver DR, along with the operation of the accelerator (not shown) and brakes (not shown), the direction of travel and speed of the vehicle 200 are controlled, allowing it to travel along the road R in the surrounding environment Z.

[0042] Furthermore, the driving assist device 100 is a device that assists the driver DR in operating the steering wheel S, accelerator, brakes, etc., as described above. In particular, in this embodiment, the driving assist device 100, for example, detects obstacles OB in the surrounding environment Z of the vehicle 200 using LiDAR, acquires distance information regarding the obstacles OB with high accuracy, and notifies the driver DR of driving assistance information that prompts them to grip the steering wheel S at an appropriate timing.

[0043] For example, the driver DR can operate the steering wheel S with their hands based on this driving assistance information, thereby avoiding obstacles OB in the surrounding environment Z of the vehicle 200 and passing through narrow paths between obstacles OB, allowing the vehicle to travel appropriately along the road R in the surrounding environment Z. In this way, the driving assistance device 100 appropriately assists the driver DR in driving the vehicle.

[0044] The following describes the details of these components of the vehicle 200 shown in Figure 1A, as well as the control method for the vehicle 200.

[0045] [Driving assistance device] Here, Figure 1B shows an example of a specific configuration of the driving assistance device shown in Figure 1A.

[0046] As described above, the driving assist device 100 according to this embodiment is a device that assists the driver DR in driving the vehicle. This driving assist device 100 includes, for example, a LiDAR (Light Detection And Ranging) unit K, a notification unit T, a grip determination unit N, a driving control unit CON, and a storage unit M, as shown in Figure 1B.

[0047] [LiDAR section] The LiDAR unit K is configured to acquire measurement information about obstacles OB by irradiating the surrounding environment Z in at least the direction of travel of the vehicle 200 with laser light and detecting reflected light from at least the obstacles OB.

[0048] This measurement information includes, for example, point cloud data containing distance information related to obstacles (OB) acquired by LiDAR unit K.

[0049] This obstruction OB includes, for example, walls, mirrors, telephone poles, curbs, parked vehicles, road construction, trees, people, vehicles traveling on the opposite side, (parking lot) bicycles, (parking lot) cars, etc., but is not limited to these, and is intended to include anything that obstructs the passage of 200 vehicles.

[0050] [Grip judgment section]

[0051] The grip determination unit N detects whether the driver DR is gripping the steering wheel S of the vehicle 200 (so-called hands-off detection) and acquires grip determination information based on this detection result.

[0052] This grip determination unit N is a Hands Off Detection (HoD) device that detects whether the driver DR is gripping the steering wheel S by detecting a change in capacitance in the area gripped by the driver DR, for example, using a capacitance sensor provided on the steering wheel S.

[0053] Figure 2 shows an example of the relationship between the HoD capacity sense level of the grip determination unit, each capacity threshold, and the grip state of the steering wheel. Figure 3 shows an example of the division of the region in which the steering wheel is gripped.

[0054] For example, the grip determination unit N compares the HoD capacitance sense level (Figure 2) detected by a capacitance sensor (not shown) provided on the steering wheel S with preset capacitance thresholds Cth1 and Cth2. Based on this comparison, the grip determination unit N acquires grip determination information indicating, for example, whether the driver DR is not gripping the steering wheel S (between times t0 and t1 in Figure 2), whether the driver is not firmly gripping the steering wheel S, such as when gripping the steering wheel S with one hand or gripping the inside of the steering wheel S (between times t1 and t2 in Figure 2), or whether the driver is firmly gripping the steering wheel S with both hands (between times t2 and t3 in Figure 2). As will be described later, the driving control unit CON then determines, based on the grip determination information acquired by the grip determination unit N, whether the driver DR is not gripping the steering wheel S or is not firmly gripping the steering wheel S with both hands.

[0055] Furthermore, as shown in Figure 3, for example, the sensitivity of the capacitive sensor may be set to have a gradient in the gripping regions A to H of the steering wheel S. For example, the gripping determination information acquired by the gripping determination unit N may include information indicating the region being gripped by the driver DR. Based on this gripping determination information, the driving control unit CON may control the notification unit T to output driving assistance information, including a warning to encourage gripping regions B, C, F, and G of the steering wheel S, as described later.

[0056] [Notification Department] The notification unit T, in response to a command from the driving control unit CON, notifies the driver DR of driving assistance information to assist in driving the vehicle 200.

[0057] This notification unit T, for example, displays a warning or alert information corresponding to the driving assistance information, vibrates with a period and / or amplitude based on the driving assistance information, or emits voice and / or warning sounds.

[0058] This notification unit T may be, for example, a display device that displays alert or warning information to the driver DR based on driving assistance information.

[0059] In this case, where the notification unit T is a display device, the driving assistance information may be, for example, an image displaying the alert or warning information, but it may also include text information that indicates the alert or warning information instead of the image. Furthermore, the alert or warning information is not limited to the image or text information, but may also include audio information or other information that signifies the alert or warning information.

[0060] Furthermore, the notification unit T may also notify the driver DR by, for example, vibrating the steering wheel S, thereby tactilely transmitting driving assistance information.

[0061] [Operation Control Unit] The driving control unit CON controls the operation of the vehicle 200 in response to, for example, the driver DR's operation input. In particular, in this embodiment, the driving control unit CON controls the driving assistance information output by the notification unit T based on the measurement information acquired by the LiDAR unit K and the gripping determination information acquired by the gripping determination unit N.

[0062] This operation control unit CON is composed of hardware such as a CPU. At least a part of this operation control unit CON may be composed of software.

[0063] Here, Figure 4 is a diagram conceptually illustrating the arrangement of obstacles in the vehicle and its surrounding environment that are detected by the driver assistance system. Figure 5 is a diagram showing an example of point cloud data measured by the LiDAR unit of the driver assistance system.

[0064] For example, as shown in Figures 4 and 5, the measurement information acquired by the LiDAR unit K includes, for example, point cloud data containing distance information about obstacles OBa to OBC acquired by the LiDAR unit K.

[0065] The driving control unit CON can determine the position of the vehicle 200 and the position of obstacles from the positioning data and point cloud data acquired by the LiDAR unit K. In addition, the driving control unit CON can grasp the surrounding environment Z by mapping the point cloud data, which includes distance information. As a result, the driving assist device 100 can reliably acquire measurement information about obstacles regardless of whether it is day or night, and is therefore considered to have higher environmental resistance compared to conventional sensors using 2D cameras or stereo cameras.

[0066] The driving control unit CON may also control the system to automatically output driving assistance information from the notification unit T using the map and the history of driving assistance information output by the notification unit T. The driving control unit CON may also store locations (spots) that have been alerted by the notification unit T at least once, marking them in the storage unit M. The driving control unit CON may also read the driving assistance information from the storage unit M when the vehicle 200 reaches the vicinity of such a location. Furthermore, the driving control unit CON may erase the marker at a location where an obstacle has been detected in the past and driving assistance information has been output by the notification unit T at least once, if no obstacle is detected again.

[0067] As shown in Figure 4, for example, the driving control unit CON, in detection mode, acquires a measured distance L, which is the distance between the vehicle 200 and the obstacle OBc, based on the measurement information, and also acquires an interval value WA, which is the distance between adjacent obstacles OBc and OBb. The driving control unit CON then controls the driving assistance information output from the notification unit T based on the measured distance L and interval value WA acquired by the LiDAR unit K.

[0068] In the normal mode, when operating the LiDAR unit K and the gripping determination unit N, the operation control unit CON determines whether the measurement accuracy of the LiDAR unit K is reduced due to interference from the surrounding environment Z if it does not detect an obstacle OB within the mode switching reference distance Lth.

[0069] Furthermore, the driving control unit CON is configured to execute map mode if it determines that the measurement accuracy of the LiDAR unit K is degraded due to the surrounding environment Z. In this map mode, the driving control unit CON reads a map corresponding to the surrounding environment Z from the storage unit M, and based on this read map, it acquires positional information regarding the position of the vehicle 200 in the surrounding environment Z and the positions of obstacles OB present in the surrounding environment Z.

[0070] Furthermore, the interference caused by the surrounding environment Z that reduces the measurement accuracy of the LiDAR unit K is, for example, weather conditions in the surrounding environment Z, including rain or fog.

[0071] Furthermore, the obstacle map is created, for example, based on measurement information about obstacles previously acquired by the LiDAR unit K. This obstacle map may, for example, be stored in the memory unit M beforehand.

[0072] Furthermore, as previously described, the grip determination information acquired by the grip determination unit N may include information indicating the area being gripped by the driver DR. Based on this grip determination information, the driving control unit CON may control the notification unit T to output driving assistance information that includes a warning prompting the driver to grip areas B, C, F, and G of the steering wheel S. In this way, the driving control unit CON may, for example, control the content of the driving assistance information output from the notification unit T in accordance with the grip determination information acquired by the grip determination unit N.

[0073] Based on this driving assistance information, the driver DR can recognize whether the vehicle 200 is moving straight on a narrow road and its wheel alignment (whether the tires are straight or rotating) when passing other vehicles or obstacles. In particular, the driving control unit CON may notify the driver DR via the notification unit T if the tires are rotating when passing other vehicles or obstacles, prompting the driver DR to correct the direction of travel of the vehicle 200. This allows the driver DR to correct the direction of travel of the vehicle 200 so that it can pass straight through obstacles.

[0074] [Storage] The memory unit M stores information necessary for the operation control unit CON to perform predetermined processes. This memory unit M is, for example, a non-volatile memory such as a NAND flash memory.

[0075] More specifically, this memory unit M stores the program for the processing executed by the driving control unit CON of the driving assist device 100, as well as the data necessary for that processing. Furthermore, this memory unit M temporarily stores, for example, information regarding the size of the vehicle 200 (width W, height H1, etc.), measurement information, gripping determination information, driving assistance information, and information for generating a map.

[0076] The aforementioned program is a program executed by a driving assist device 100 equipped with a computer (driving control unit CON), and includes: a grip determination unit N that detects when the driver DR is gripping the steering wheel S of the vehicle 200 and acquires grip determination information that determines the result of this detection; a LiDAR unit K that acquires measurement information about obstacles OB measured by irradiating laser light onto obstacles in the surrounding environment Z in the direction of travel of the vehicle 200 and detecting reflected light from the obstacles OB; a notification unit T that notifies the driver DR of driving assistance information to assist in driving the vehicle 200; and a driving control unit CON. The driving control unit causes the computer (driving control unit CON) to execute a process that controls the driving assistance information output by the notification unit based on the measurement information acquired by the LiDAR unit K and the grip determination information acquired by the grip determination unit N.

[0077] [Vehicle control method (control method for driving assistance devices)] Next, an example of a control method for the vehicle 200 according to this embodiment, which has the configuration and functions described above, will be explained, focusing on a specific example of a control method for the driving assist device 100.

[0078] Figure 6 shows an example of a flow chart of the control method for the driving assist device according to the embodiment. The processes of steps S1 to S13 shown in Figure 6 are mainly carried out by the driving control unit CON of the driving assist device 100 executing a program that has been prepared in advance and stored in the storage unit M.

[0079] First, for example, in response to the driver DR's input, the driving control unit CON executes a normal mode that operates the LiDAR unit K and the gripping determination unit N (step S1).

[0080] Furthermore, in this normal mode (at a distance where an object can be recognized but notification to the driver DR is not required), the driving control unit CON may compare point cloud data acquired at multiple time points by the LiDAR unit K to confirm in advance that it is not an obstacle ghost, in order to avoid false detection / ghosting of obstacles.

[0081] Next, in this normal mode, the driving control unit CON determines, based on the measurement information acquired by the LiDAR unit K, whether or not an obstacle OB present in the surrounding environment Z in the direction of travel of the vehicle 200 has been detected within a mode switching reference distance Lth that is longer than the judgment reference distance (step S2).

[0082] Then, if the driving control unit CON detects an obstacle OB within the mode switching reference distance Lth, it transitions from normal mode to detection mode (step S3). The mode switching reference distance Lth is set to a range (for example, 50m to 100m) in which the LiDAR unit K can measure obstacles present in the surrounding environment Z in the direction of travel of the vehicle 200.

[0083] Then, in the detection mode, the driving control unit CON obtains a measured distance L, which is the distance between the vehicle 200 and the obstacle OBc, based on the measurement information, and also obtains an interval value WA, which is the distance between adjacent obstacles.

[0084] The driving control unit CON then compares the measured distance L with a preset judgment criterion distance LB (for example, 50m). The driving control unit CON then determines whether the measured distance L to the obstacle OB is less than the judgment criterion distance LB (step S4).

[0085] In step S4, the operation control unit CON compares the measured distance L with the judgment criterion distance LB. If it determines that the measured distance L is greater than or equal to the judgment criterion distance LB, it returns to step S3 and continues the detection mode.

[0086] On the other hand, if the driving control unit CON determines in step S4 that the measured distance L is less than the judgment criterion distance LB, it compares the interval value WA with a preset first judgment criterion interval value Wth1 that is greater than the width W of the vehicle 200 (step S5).

[0087] This first judgment criterion interval Wth1 is set, for example, to 1.5 times the width W of the vehicle 200 (an interval that allows the vehicle 200 to pass with ample margin through the driver DR's steering S operation). This first judgment criterion interval Wth1 may be changed, for example, by the surrounding environment Z on which the vehicle 200 is traveling, traffic laws, etc.

[0088] Then, if the operation control unit CON determines in step S5 that the interval value WA is less than the first criterion interval value Wth1, it compares the interval value WA with a preset second criterion interval value Wth2 that is smaller than the first criterion interval value Wth1 (step S6).

[0089] This second judgment criterion interval Wth2 is set, for example, to 1.2 times the width W of the vehicle 200 (an interval at which the driver DR can pass while paying attention to the steering S operation of the driver DR). This second judgment criterion interval Wth2 may be changed, for example, by the surrounding environment Z in which the vehicle 200 is traveling, traffic laws, etc.

[0090] On the other hand, in step S5 described above, the driving control unit CON compares the interval value WA with a first judgment criterion interval value Wth1 which is greater than the width W of the vehicle 200 that has been set in advance. If it determines that the interval value WA is greater than or equal to the first judgment criterion interval value Wth1, it transitions the operating mode to the normal mode described above (step S11).

[0091] Next, if the driving control unit CON determines in step S6 that the interval value WA is less than the second judgment criterion interval value Wth2, it causes the notification unit T to output driving assistance information, for example, a warning that the vehicle 200 cannot pass between obstacles OBc and OBb, and / or a reminder that the driver DR should hold the steering wheel S (step S7).

[0092] Then, in step S7, the operation control unit CON outputs the operation assistance information to the notification unit T, and then transitions the operation mode to the normal mode described above (step S11).

[0093] On the other hand, if the driving control unit CON determines in step S6 that the interval value WA is equal to or greater than the second judgment criterion interval value Wth2, it determines, based on the grip determination information acquired by the grip determination unit N, whether the driver DR is not gripping the steering wheel S or is not gripping the steering wheel S firmly (step S8).

[0094] Then, if the driving control unit CON determines in step S8 that the driver DR is not gripping the steering wheel S or is not gripping the steering wheel S firmly, it executes a notification mode and causes the notification unit T to output driving assistance information, for example, a reminder to the driver DR to grip the steering wheel S firmly (step S9).

[0095] Based on the control flow of steps S4 to S9 described above, if the operation control unit CON determines that the measured distance L is less than the judgment criterion distance LB, it controls the operation assistance information output from the notification unit T based on the interval value WA.

[0096] Then, in step S9, the driving control unit CON outputs driving assistance information from the notification unit T to warn the driver, and then, based on the measurement information, determines whether or not the vehicle 200 has passed between the obstacles OBC and OBB (step S10).

[0097] Then, if the driving control unit CON determines in step S10 that the vehicle 200 has not passed between obstacles OBC and OBC, it returns to step S9 and outputs driving assistance information from the notification unit T again to warn the driver.

[0098] On the other hand, if the driving control unit CON determines in step S10 that the vehicle 200 has passed between obstacles OBC and OBC, it stops outputting driving assistance information from the notification unit T and transitions the operating mode to the normal mode described above (step S11).

[0099] Here, if the operation control unit CON does not detect an obstacle OB within the mode switching reference distance Lth in step S2 described above, it determines whether the measurement accuracy of the LiDAR unit K is reduced due to interference from the surrounding environment Z (step S12).

[0100] Then, if the operation control unit CON determines that the measurement accuracy of the LiDAR unit K is degraded due to the surrounding environment Z, it executes map mode (step S13). In the map mode, the driving control unit CON reads a map corresponding to the surrounding environment Z from the storage unit M, and based on this read map, obtains positional information regarding the position of the vehicle 200 in the surrounding environment Z and the positions of obstacles present in the surrounding environment Z.

[0101] Then, after executing the map mode in step S13, the driving control unit CON performs the previously described step S5 based on the position information and compares the interval value WA between obstacles OBb and OBc present in the surrounding environment Z with a preset first judgment criterion interval value Wth1 that is greater than the width W of the vehicle 200.

[0102] Then, the driving control unit CON executes the previously described step S8 and, if it determines that the interval value WA is greater than or equal to the first judgment criterion interval value Wth1, it determines, based on the grip determination information acquired by the grip determination unit N, whether the driver DR is not gripping the steering wheel S or is not gripping the steering wheel firmly.

[0103] Then, if the driving control unit CON determines in step S8 that the driver DR is not gripping the steering wheel S or is not gripping the steering wheel firmly, it executes the aforementioned step S9 and outputs driving assistance information from the notification unit T to remind the driver DR to grip the steering wheel S firmly.

[0104] On the other hand, in step S8 described above, the driving control unit CON determines, based on the grip determination information acquired by the grip determination unit N, whether the driver DR is gripping the steering wheel S or not gripping the steering wheel S firmly. If it determines that the driver DR is gripping the steering wheel S firmly, it executes step S11 described above to transition the operating mode to normal mode.

[0105] Furthermore, in step S12 described above, if the operation control unit CON does not detect an obstacle OB within the mode switching reference distance Lth, it determines whether the measurement accuracy of the LiDAR unit K is reduced due to interference from the surrounding environment Z. If it determines that the measurement accuracy of the LiDAR unit K is not reduced due to interference from the surrounding environment Z, it executes step S11 to transition the operation mode to normal mode.

[0106] Then, in step S11, the driving control unit CON transitions the operating mode to normal mode, thus completing the series of control flows. If the vehicle 200 continues to travel, the driving control unit CON returns to step S1 and, upon detecting a new obstacle, repeats the same control flow as in step S2 and beyond.

[0107] In this embodiment, through the control flow of steps S1 to S3 described above, the operation control unit CON controls the operation assistance information output from the notification unit T based on the measurement distance L and interval value WA acquired by the LiDAR unit K.

[0108] As a result, the driver DR can recognize the driving assistance information output from the notification unit T of the driving assistance device 100, and based on that driving assistance information, grip and operate the steering wheel S to appropriately drive along the road R in the surrounding environment Z.

[0109] As described above, the driving assistance device 100 according to this embodiment can appropriately assist the driver by detecting obstacles in the surrounding environment of the vehicle using LiDAR, acquiring distance information related to the obstacles with high accuracy, and notifying the driver to grip the steering wheel at an appropriate time.

[0110] [First variation] In the embodiments described above, an example was explained in which a notification unit T provided in the driving assist device 100 directly notifies the driver DR of driving assistance information. However, the invention is not limited to this, and for example, the notification unit T may notify the driver DR of driving assistance information via a portable device separate from the driving assist device carried by the driver DR.

[0111] Therefore, in this first modification, an example is described in which the notification unit T notifies the driver DR of driving assistance information via a portable device separate from the driving assistance device held by the driver DR. Here, Figure 7 is a diagram showing an example of the configuration of a vehicle to which the driving assistance device according to the first modification is applied. Note that the portable device P does not necessarily have to be held by the driver DR, but is only necessary to be placed in the vehicle 200 so that the driver DR can recognize the driving assistance information output from the portable device P.

[0112] For example, as shown in Figure 7, the notification unit T outputs a notification signal containing driving assistance information to a portable device P held by the driver DR via wireless or wired communication. The portable device P then displays a warning or alert based on the driving assistance information, vibrates with a frequency and / or amplitude based on the driving assistance information, or emits a voice and / or warning sound in response to the notification signal.

[0113] This portable device P is, for example, a wireless communication device such as a smartwatch or a smartphone, but it may also be any other device with similar functionality.

[0114] The driver DR can appropriately drive along the road R in the surrounding environment Z by recognizing the driving assistance information output from the portable device P and, based on that driving assistance information, gripping and operating the steering wheel S.

[0115] Furthermore, the other configurations and functions of the driving assist device 100 according to this first modified example are the same as those of the driving assist device 100 according to the previously described embodiment. That is, according to this first modified example, obstacles in the surrounding environment of the vehicle can be detected by LiDAR, distance information regarding the obstacles can be acquired with high accuracy, and a notification can be sent to the driver prompting them to grip the steering wheel at an appropriate time, thereby appropriately assisting the driver's driving.

[0116] [Second variation] In the embodiments described above, the case was explained in which the driving control unit CON of the driving assist device 100 controls the driving assistance information output from the notification unit T based on the measured distance L and the distance value WA between obstacles. However, the driving control unit CON may also control the driving assistance information output from the notification unit T based on the altitude HA from the road R to the obstacle located above the road R, instead of the measured distance L and the distance value WA.

[0117] Therefore, in this second modification, an example will be described in which the driving control unit CON controls the driving assistance information output from the notification unit T based on the measured distance L and altitude HA. The configuration of the driving assist device 100 in this second modification is the same as the configuration of the driving assist device 100 according to the embodiment shown in Figure 1B described above.

[0118] Here, Figure 8 is a side view of the vehicle according to the second modified example. Figure 9 is a diagram showing an example of point cloud data measured by the LiDAR unit of the driving assistance device according to the second modified example.

[0119] As described above, the driving control unit CON may acquire the measured distance L, which is the distance between the vehicle 200 and the obstacle OB, based on the measurement information output by the LiDAR unit K. In addition, instead of the interval value WA, it may acquire the altitude HA, which is the distance from the road R in the surrounding environment Z to the obstacle located above the road R, as shown in Figure 9.

[0120] Furthermore, the operation control unit CON may control the operation assistance information output from the notification unit T based on the measured distance L and altitude HA.

[0121] Here, Figure 10 shows an example of the control flow of the driving assist device according to the second modified example. Note that the control flow of the driving assist device according to the second modified example shown in Figure 10 is the same as the control flow shown in Figure 6 described above, except for steps S5X to 8X. Below, we will focus on steps S5X to S8X and explain the control flow of the driving assist device according to the second modified example.

[0122] For example, as shown in Figure 10, if the driving control unit CON determines in step S4 that the measured distance L is less than the judgment criterion distance LB, it compares the altitude HA with a first judgment criterion altitude Hth1 that is higher than the preset vehicle height H1 (Figure 8) (step S5X).

[0123] Furthermore, after executing the map mode in step S13, the driving control unit CON may compare the altitude HA between obstacles in the surrounding environment with a preset first criterion altitude Hth1 that is higher than the vehicle height H1, based on the position information (step S5X).

[0124] Then, if the control unit CON determines in step S5X that the altitude HA is less than the first criterion altitude Hth1, it compares the altitude HA with a preset second criterion altitude Hth2 that is smaller than the first criterion altitude Hth1 (step S6X).

[0125] Then, if the driving control unit CON determines in step S6X that the altitude HA is less than the second judgment criterion altitude Hth2, it causes the notification unit T to output driving assistance information warning that the vehicle 200 cannot pass under the obstacle OBD, and / or reminding the driver DR to hold the steering wheel S (step S7X).

[0126] On the other hand, if the driving control unit CON determines in step S6X that the altitude HA is equal to or greater than the second judgment criterion altitude Hth2, it determines, based on the grip judgment information acquired by the grip judgment unit N, whether the driver DR is not gripping the steering wheel S or is not gripping the steering wheel S firmly (step S8X).

[0127] Then, if the driving control unit CON determines in step S8X that the driver DR is not gripping the steering wheel S or is not gripping the steering wheel S firmly, it causes the notification unit T to output driving assistance information to remind the driver DR to grip the steering wheel S firmly (step S9).

[0128] Then, if the operation control unit CON determines in step S5X that the altitude HA is equal to or greater than the first criterion altitude Hth1, it transitions the operation mode to the normal mode described above (step S11).

[0129] Furthermore, the other control flow of the driving assist device 100 according to this second modified example is the same as the control flow of the driving assist device 100 according to the previously described embodiment. That is, the driver DR recognizes the driving assistance information output from the notification unit T and, based on the driving assistance information, grips and operates the steering wheel S to appropriately drive along the road in the surrounding environment Z.

[0130] Furthermore, the other configurations and functions of the driving assist device 100 according to this second modified example are the same as those of the driving assist device 100 according to the previously described embodiment. In other words, according to this second modified example, obstacles in the surrounding environment of the vehicle can be detected by LiDAR, distance information regarding the obstacles can be acquired with high accuracy, and a notification can be sent to the driver prompting them to grip the steering wheel at an appropriate time, thereby appropriately assisting the driver's driving.

[0131] [Third variation] In the embodiments described above, the case was explained in which the driving control unit CON of the driving assist device 100 controls the driving assistance information output from the notification unit T based on the measured distance L and the distance value WA between obstacles. However, the driving control unit CON may also control the driving assistance information output from the notification unit T based on the measured distance L, the distance value WA, and the altitude HA from the road R to an obstacle located above the road R.

[0132] Therefore, in this third modified example, an example will be described in which the driving control unit CON controls the driving assistance information output from the notification unit T based on the measured distance L, interval value WA, and altitude HA. The configuration of the driving assist device 100 in this third modified example is the same as the configuration of the driving assist device 100 according to the embodiment shown in Figure 1B described above.

[0133] Here, Figure 11A is a view of the vehicle according to the third modified example from above. Figure 11B is a view of the vehicle according to the third modified example from the side. Figure 12 is a diagram showing an example of point cloud data measured by the LiDAR unit of the driving assist device according to the third modified example.

[0134] As previously described, the driving control unit CON may acquire the measured distance L, which is the distance between the vehicle 200 and the obstacle OB, based on the measurement information acquired by the LiDAR unit K, acquire the interval value WA, which is the distance between adjacent obstacles OBc and OBb, and further acquire the altitude HA, which is the distance from the driving path R in the surrounding environment Z to the obstacle OBd located above the driving path R.

[0135] Furthermore, the operation control unit CON may control the operation assistance information output from the notification unit T based on the measured distance L, interval value WA, and altitude HA.

[0136] Here, Figure 13 shows an example of the control flow of the driving assist device according to the third modified example. Note that the control flow of the driving assist device according to the third modified example shown in Figure 13 is the same as the control flow shown in Figure 6 described above, except for steps S5Y to 8Y. Below, we will focus on steps S5X to S8Y and explain the control flow of the driving assist device according to the third modified example.

[0137] For example, as shown in Figure 13, if the driving control unit CON determines that the measured distance L is less than the judgment criterion distance LB, it compares the altitude HA with a first judgment criterion altitude Hth1 which is higher than the preset vehicle height H1 (Figure 11B), and also compares the interval value WA with a first judgment criterion interval value Wth1 which is greater than the preset vehicle width W (Figure 11A) (step S5Y).

[0138] Furthermore, after executing the map mode in step S13, the driving control unit CON may, based on the position information, compare the altitude HA between obstacles in the surrounding environment with a first criterion altitude Hth1 that is higher than the preset vehicle height H1 of the vehicle 200, and also compare the interval value WA with the first criterion interval value Wth1 (step S5X).

[0139] Then, in step S5Y, if the operation control unit CON determines that the altitude HA is less than the first criterion altitude Hth1 or the interval value WA is less than the first criterion interval value Wth1, it compares the altitude HA with a preset second criterion altitude Hth2 that is smaller than the first criterion altitude Hth1, or compares the interval value WA with a preset second criterion interval value Wth2 that is smaller than the first criterion interval value Wth1 (step S6Y).

[0140] Then, if the driving control unit CON determines in step S6Y that the altitude HA is less than the second judgment criterion altitude Hth2, or that the interval value WA is less than the second judgment criterion interval value Wth2, it causes the notification unit T to output driving assistance information, for example, warning that the vehicle 200 cannot pass through the road R between obstacles OBc and OBb, or the road under obstacle OBd, and / or reminding the driver DR to hold the steering wheel S (step S7Y).

[0141] On the other hand, in step S6Y described above, if the driving control unit CON determines that the altitude HA is equal to or greater than the second judgment criterion altitude Hth2 and the interval value WA is equal to or greater than the second judgment criterion interval value Wth2, it determines, based on the grip determination information acquired by the grip determination unit N, whether the driver DR is not gripping the steering wheel S or is not gripping the steering wheel S firmly (step S8Y).

[0142] Then, if the driving control unit CON determines that the driver DR is not holding the steering wheel S or is not holding the steering wheel S firmly, it will output driving assistance information from the notification unit T, for example, a warning to the driver DR to hold the steering wheel S firmly (step S9).

[0143] Then, if the operation control unit CON determines in step S5Y that the altitude HA is equal to or greater than the second criterion altitude Hth2 and the interval value WA is equal to or greater than the second criterion interval value Wth2, it transitions the operation mode to the normal mode described above (step S11).

[0144] Furthermore, the other control flow of the driving assist device 100 according to this third modified example is the same as the control flow of the driving assist device 100 according to the previously described embodiment. That is, the driver DR recognizes the driving assistance information output from the notification unit T, and based on the driving assistance information, grips and operates the steering wheel S to appropriately drive along the road in the surrounding environment Z.

[0145] Furthermore, the other configurations and functions of the driving assist device 100 according to this third modified example are the same as those of the driving assist device 100 according to the previously described embodiment. In other words, according to this third modified example, obstacles in the surrounding environment of the vehicle can be detected by LiDAR, distance information regarding the obstacles can be acquired with high accuracy, and a notification can be sent to the driver prompting them to grip the steering wheel at an appropriate time, thereby appropriately assisting the driver's driving.

[0146] While several embodiments of the present invention have been described, these embodiments are presented as examples only and are not intended to limit the scope of the invention. These embodiments can be carried out in a variety of other forms, and various omissions, substitutions, and modifications can be made without departing from the spirit of the invention. These embodiments and their variations are included in the scope and spirit of the invention, as well as in the claims and their equivalents. [Explanation of symbols]

[0147] 100 Driving Assist Devices 200 vehicles DR Driver S Steering Z Surrounding Environment M storage section K LiDAR section CON Operation Control Unit T Notification section OBa Obstacle OBb Obstacle OBC Obstacle

Claims

1. A driving assistance device that assists the driver in operating a vehicle, A grip determination unit detects that the driver is gripping the steering wheel of the vehicle and acquires grip determination information based on the detection result. A LiDAR (Light Detection And Ranging) unit acquires measurement information about obstacles by irradiating them with laser light and detecting the reflected light from the obstacles in the surrounding environment in the direction of travel of the vehicle, A notification unit that notifies the driver of driving assistance information to assist in driving the vehicle, The system includes an operation control unit that controls the operation assistance information output by the notification unit based on the measurement information acquired by the LiDAR unit and the gripping determination information acquired by the gripping determination unit, The aforementioned operation control unit, Based on the measurement information, the measured distance between the vehicle and the obstacle is obtained, and the interval value between adjacent obstacles is also obtained. A driving assistance device characterized by the following features.

2. The notification unit displays cautionary or warning information corresponding to the driving assistance information, vibrates with a period and / or amplitude based on the driving assistance information, or emits voice and / or warning sounds. The driving assist device according to feature 1.

3. The notification unit notifies the driver by vibrating the steering wheel, thereby tactilely transmitting the driving assistance information to the driver. The driving assist device according to feature 1.

4. The notification unit outputs a notification signal containing the driving assistance information to a portable device connected to the notification unit via wireless or wired communication. The portable device, in response to the notification signal, displays a warning or alert information based on the driving assistance information, vibrates with a period and / or amplitude based on the driving assistance information, or emits voice and / or warning sounds. The driving assist device according to feature 1.

5. In detection mode, the operation control unit, Based on the measurement information, the measured distance between the vehicle and the obstacle is obtained, and the interval value between adjacent obstacles is obtained. Based on the measured distance and the interval value, control the driving assistance information output from the notification unit. The driving assist device according to feature 1.

6. The aforementioned operation control unit, The measurement distance is compared with a preset judgment criterion distance, and if it is determined that the measurement distance is less than the judgment criterion distance, the driving assistance information output from the notification unit is controlled based on the interval value. The driving assist device according to feature 5.

7. The aforementioned operation control unit, If it is determined that the measurement distance is less than the judgment criterion distance, the interval value is compared with a first judgment criterion interval value that is larger than the width of the vehicle, If it is determined that the interval value is less than the first criterion interval value, the interval value is compared with a preset second criterion interval value that is smaller than the first criterion interval value. If it is determined that the interval value is less than the second judgment criterion interval value, the notification unit will output the driving assistance information warning that the vehicle cannot pass between the obstacles and / or reminding the driver to hold the steering wheel. The driving assist device according to feature 6.

8. The aforementioned operation control unit, If the interval value is determined to be equal to or greater than the first judgment criterion interval value, the grip determination unit determines, based on the grip determination information acquired, whether the driver is not gripping the steering wheel or is not gripping the steering wheel firmly. If the system determines that the driver is not holding the steering wheel or is not holding the steering wheel firmly, the system will output driving assistance information from the notification unit to remind the driver to hold the steering wheel firmly. The driving assist device according to feature 7.

9. The aforementioned operation control unit, After the notification unit outputs the aforementioned warning driving assistance information, it is determined, based on the measurement information, whether or not the vehicle has passed between the obstacles. If it is determined that the vehicle has not passed between the obstacles, the notification unit will output the aforementioned driver assistance information to warn the driver. The driving assist device according to feature 8.

10. The driving assist device according to claim 1, characterized in that the grip determination unit is a HoD (Hands Off Detection) device that detects whether the driver is gripping the steering wheel by detecting a change in capacitance in the area of ​​the steering wheel that is gripped by the driver using a capacitance sensor provided on the steering wheel.

11. The grip determination unit compares the HoD capacitance sense level detected by the capacitance sensor provided on the steering wheel with a preset capacitance threshold, and acquires the grip determination information based on this comparison result. The driving assist device according to feature 10.

12. The aforementioned operation control unit, The normal mode is executed to operate the LiDAR unit and the gripping determination unit. In the normal mode, based on the measurement information acquired by the LiDAR unit, it is determined whether or not an obstacle present in the surrounding environment in the direction of travel of the vehicle has been detected within a mode switching reference distance that is longer than the judgment reference distance. If the aforementioned obstacle is detected within the mode switching reference distance, the system will transition from the normal mode to the detection mode. The driving assist device according to feature 7.

13. The mode switching reference distance is set to a range in which the LiDAR unit can measure obstacles present in the surrounding environment in the direction of travel of the vehicle. The driving assist device according to feature 12.

14. The aforementioned operation control unit, If the aforementioned obstacle is not detected within the mode switching reference distance, it is determined whether the measurement accuracy of the LiDAR unit has decreased due to interference from the surrounding environment. If it is determined that the measurement accuracy of the LiDAR unit is reduced due to the surrounding environment, the map mode is executed. In the map mode, a map corresponding to the surrounding environment is read, and positional information regarding the vehicle's position in the surrounding environment and the positions of obstacles present in the surrounding environment is acquired based on the map. The driving assist device according to feature 12.

15. The aforementioned operation control unit, After executing the map mode, the interval values ​​between obstacles in the surrounding environment are compared with the first judgment criterion interval values ​​based on the location information. If the interval value is determined to be equal to or greater than the first judgment criterion interval value, the grip determination unit determines, based on the grip determination information acquired, whether the driver is not gripping the steering wheel or is not gripping the steering wheel firmly. If the system determines that the driver is not holding the steering wheel or is not holding the steering wheel firmly, the system will output driving assistance information from the notification unit to remind the driver to hold the steering wheel firmly. The driving assist device according to feature 14.

16. The interference caused by the surrounding environment that reduces the measurement accuracy of the LiDAR unit is weather conditions in the surrounding environment, including rain or fog. The driving assist device according to feature 14.

17. The aforementioned operation control unit, Based on the measurement information, the measured distance between the vehicle and the obstacle is obtained, and the altitude from the road in the surrounding environment to the obstacle located above the road is obtained. Based on the measured distance and altitude, the driver assistance information output from the notification unit is controlled. The driving assist device according to feature 1.

18. The aforementioned operation control unit, Based on the measurement information, the measured distance between the vehicle and the obstacle is obtained, the interval value between adjacent obstacles is obtained, and the altitude from the road in the surrounding environment to the obstacle located above the road is obtained. Based on the measured distance, the interval value, and the altitude, the system controls the driving assistance information output from the notification unit. The driving assist device according to feature 1.

19. The aforementioned operation control unit further comprises a storage unit that stores information for executing a predetermined process, The driving assist device according to claim 14, characterized in that the driving control unit reads the map from the storage unit in the map mode.

20. The measurement information includes point cloud data, which includes distance information about the obstacle acquired by the LiDAR unit. In the normal mode, the operation control unit compares the point cloud data acquired by the LiDAR unit at multiple time points to confirm in advance that the object is not a ghost of the obstacle, in order to avoid false detection / ghosting of the obstacle. The driving assist device according to feature 12.

21. A control method for a driving assistance device that assists a driver in operating a vehicle, The driving assist device comprises: a grip determination unit that detects whether the driver is gripping the steering wheel of the vehicle and acquires grip determination information based on the detection result; a LiDAR (Light Detection And Ranging) unit that irradiates laser light onto obstacles in the surrounding environment in the direction of travel of the vehicle and acquires measurement information about the obstacles by detecting the reflected light from the obstacles; a notification unit that notifies the driver of driving assistance information to assist in driving the vehicle; and a driving control unit. The operation control unit controls the operation assistance information output by the notification unit based on the measurement information acquired by the LiDAR unit and the gripping determination information acquired by the gripping determination unit. The aforementioned operation control unit, Based on the measurement information, the measured distance between the vehicle and the obstacle is obtained, and the interval value between adjacent obstacles is also obtained. A control method for a driving assistance device, characterized by the following:

22. A program executed by a driving assist device comprising: a grip determination unit that detects whether the driver is gripping the steering wheel of the vehicle and acquires grip determination information that determines the result of this detection; a LiDAR (Light Detection And Ranging) unit that irradiates laser light onto obstacles in the surrounding environment in the direction of travel of the vehicle and acquires measurement information about the obstacles by detecting the reflected light from the obstacles; a notification unit that notifies the driver of driving assistance information to assist in driving the vehicle; and a driving control unit, The program is characterized in that the driving control unit controls the driving assistance information output by the notification unit based on the measurement information acquired by the LiDAR unit and the gripping determination information acquired by the gripping determination unit, and the driving control unit causes the computer to execute a process to acquire the measured distance, which is the distance between the vehicle and the obstacle, and to acquire the interval value, which is the distance between adjacent obstacles, based on the measurement information.

23. A vehicle driven by a driver, The steering wheel and The vehicle is equipped with a driving assist device that assists the driver in operating the vehicle, The aforementioned driving assist device, A grip determination unit detects that the driver is gripping the steering wheel of the vehicle and acquires grip determination information based on the detection result. A LiDAR (Light Detection And Ranging) unit acquires measurement information about obstacles by irradiating them with laser light and detecting the reflected light from the obstacles in the surrounding environment in the direction of travel of the vehicle, A notification unit that notifies the driver of driving assistance information to assist in driving the vehicle, The system includes an operation control unit that controls the operation assistance information output by the notification unit based on the measurement information acquired by the LiDAR unit and the gripping determination information acquired by the gripping determination unit, The aforementioned operation control unit, Based on the measurement information, the measured distance between the vehicle and the obstacle is obtained, and the interval value between adjacent obstacles is also obtained. A vehicle characterized by the following features.

24. A method of controlling a vehicle driven by a driver, The aforementioned vehicle is The steering wheel and The vehicle is equipped with a driving assist device that assists the driver in operating the vehicle, The driving assist device comprises: a grip determination unit that detects whether the driver is gripping the steering wheel of the vehicle and acquires grip determination information based on the detection result; a LiDAR (Light Detection And Ranging) unit that irradiates laser light onto obstacles in the surrounding environment in the direction of travel of the vehicle and acquires measurement information about the obstacles by detecting the reflected light from the obstacles; a notification unit that notifies the driver of driving assistance information to assist in driving the vehicle; and a driving control unit. The operation control unit controls the operation assistance information output by the notification unit based on the measurement information acquired by the LiDAR unit and the gripping determination information acquired by the gripping determination unit. The aforementioned operation control unit, Based on the measurement information, the measured distance between the vehicle and the obstacle is obtained, and the interval value between adjacent obstacles is also obtained. A vehicle control method characterized by the following features.

Images