Vehicle driving assistance system

Abstract

To perform a collision avoidance operation such that its own vehicle does not collide with continuous structures such as guardrails or sidewalls.SOLUTION: A driving assistance ECU, when determining that its own vehicle HV may collide with an end portion Pe of a continuous structure, calculates a first avoidance path R1 that avoids the collision between the own vehicle and the continuous structure solely through automatic braking, a second avoidance path R2 that avoids the collision through forward direction automatic steering, and a third avoidance path R3 that avoids the collision through reverse direction automatic steering. Among these avoidance paths, the driving assistance ECU selects the avoidance path in which the collision avoidance operation (any of the automatic braking, forward direction automatic steering, and reverse direction automatic steering) is started at the latest time as the final collision avoidance path.SELECTED DRAWING: Figure 2

Description

Technical Field

[0001] The present invention relates to a vehicle driving support device that performs a collision avoidance operation so that the host vehicle does not collide with a continuous structure such as a guardrail and a side wall.

Background Art

[0002] [[ID=II]] Conventional devices delay the start timing of "automatic braking (automatic brake) or automatic steering" as a collision avoidance operation when an obstacle in the traveling direction of the host vehicle is a continuous structure compared to when the obstacle is not a continuous structure (see Patent Document I). As a result, the possibility that the collision avoidance operation is executed before the driver himself starts a driving operation for collision avoidance is reduced, so that the frequency with which the driver feels discomfort about the collision avoidance operation can be reduced.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

[0004] However, as shown in FIGS. 2 and 3, the conventional device does not consider the case where the host vehicle HV collides with the end portion Pe on the host vehicle side of the continuous structure CS. For this reason, as shown in FIGS. 2 and 3, a first avoidance path R1 that avoids a collision only by automatic braking and a second avoidance path R2 that performs automatic steering so that the direction of the host vehicle HV is along the longitudinal direction of the continuous structure CS are considered, but a third avoidance path R3 that performs automatic steering so that the traveling direction of the host vehicle HV intersects the longitudinal direction of the continuous structure CS to avoid a collision is not considered. Therefore, according to the conventional device, in a scene where the host vehicle collides with the end portion of the continuous structure, the collision avoidance operation may be executed before the driver himself starts a driving operation for collision avoidance, and there is a problem that the frequency with which the driver feels discomfort about the collision avoidance operation cannot be sufficiently reduced.

[0005] This invention was made to solve the aforementioned problems. Specifically, one of the objectives of this invention is to provide a vehicle driving assistance device that can reduce the frequency with which the driver finds the intervention of collision avoidance maneuvers bothersome in situations where the vehicle may collide with the end of a continuous structure.

[0006] One aspect of the vehicle driving assistance device of the present invention is: A vehicle driving support device (DS) that, when an obstacle is present in a predetermined area in the direction of travel of the vehicle (S405), performs a collision avoidance operation to avoid a collision between the vehicle and the obstacle (S450), When it is determined that the obstacle is a continuous structure (CS) and that the vehicle may collide with the end (Pe) of the continuous structure on the vehicle's side (S430), In the case where the vehicle is driven along a first avoidance path (R1) which avoids a collision between the vehicle and the continuous structure by performing automatic braking to apply braking force to the vehicle as a collision avoidance operation and stopping the vehicle before the end, the first time (T1), which is the start time of the automatic braking, is calculated (S510). As the collision avoidance operation, a second avoidance path (R2) is calculated in which automatic steering is performed to change the direction of travel of the vehicle and cause the vehicle to pass through the area of ​​the continuous structure on the vehicle's side, thereby avoiding a collision between the vehicle and the continuous structure. A second time (T2) is calculated, which is the start time of the automatic steering to drive the vehicle according to the second avoidance path (R2) (S520). As the collision avoidance operation, a third avoidance path (R3) is calculated in which the vehicle is guided by automatic steering to pass through the area to the side of the end (Pe) of the continuous structure so as to intersect with the longitudinal direction of the continuous structure, thereby avoiding a collision between the vehicle and the continuous structure, and a third time (T3) is calculated, which is the start time of the automatic steering to drive the vehicle according to the third avoidance path (R3) (S550). At the latest time among the first time (T1), second time (T2), and third time (T3), one of the first avoidance paths (R1), second avoidance path (R2), and third avoidance path (R3) is selected as the (final) collision avoidance path (S580), and the collision avoidance operation corresponding to the selected collision avoidance path is started at the latest time (S450).

[0007] According to this embodiment, not only are a first avoidance path (R1) that avoids collision with the end (Pe) of the continuous structure by automatic braking, and a second avoidance path (R2) that avoids collision with the end of the continuous structure by automatically steering the vehicle through the "area on the vehicle side of the continuous structure", but a third avoidance path (R3) that avoids collision with the continuous structure by automatically steering the vehicle across the longitudinal direction of the continuous structure and passing the area to the side of the end (Pe) of the continuous structure, are considered as candidate collision avoidance paths, and the path in which the collision avoidance action starts the latest among these paths is adopted as the final collision avoidance path. As a result, the start time of the collision avoidance action is delayed, so the possibility that the collision avoidance action will be executed before the driver who is aware of the continuous structure can start driving operations to avoid the collision can be reduced. As a result, the frequency with which the driver feels something is wrong with the collision avoidance action can be reduced.

[0008] In this case, if the vehicle is driven according to the second avoidance path (R2) and there is no parking space (SP1) available after the vehicle has avoided a collision with the continuous structure without colliding with other obstacles, it is desirable that the second avoidance path not be selected as the collision avoidance path (S530, S540, S440). Furthermore, if the vehicle is driven according to the third avoidance path (R3) and there is no parking space (SP2) available after the vehicle has avoided a collision with the continuous structure without colliding with other obstacles, it is desirable that the third avoidance path not be selected as the collision avoidance path (S560, S570, S440). This is because an avoidance path in which there is no space available for the vehicle to safely stop after it has avoided a collision with the continuous structure through automatic steering is not suitable as the final collision avoidance path.

[0009] In the above description, to aid in understanding the present invention, the names and / or reference numerals used in the embodiments described later are indicated in parentheses for the components of the invention corresponding to those embodiments. However, the components of the present invention are not limited to the embodiments defined by the above names and / or reference numerals. The present invention also extends to vehicle driving assistance methods and programs thereof. [Brief explanation of the drawing]

[0010] [Figure 1] This is a schematic diagram of a vehicle driving assistance device according to an embodiment of the present invention. [Figure 2] This is a plan view showing avoidance routes to avoid collisions with continuous structures. [Figure 3] This is a plan view showing avoidance routes to avoid collisions with continuous structures. [Figure 4] This is the routine executed by the CPU of the driver assistance ECU shown in Figure 1. [Figure 5] This is a subroutine executed by the CPU of the driver assistance ECU shown in Figure 1. [Figure 6]This is a plan view showing avoidance routes to avoid collisions with continuous structures. [Modes for carrying out the invention]

[0011] An embodiment of the present invention, the "Vehicle Driving Support Device DS (hereinafter referred to as "Device DS")", comprises the components shown in Figure 1 and is applied to (mounted on) the vehicle HV. The vehicle HV may be any of the following: a vehicle powered by an internal combustion engine, a vehicle powered by an electric motor (i.e., an electric vehicle), or a hybrid vehicle.

[0012] In this specification, "ECU" refers to an electronic control unit (control unit) comprising a microcomputer including a CPU (processor), ROM, RAM, data-writable non-volatile memory, and interfaces. An ECU is also referred to as a controller or computer. The multiple ECUs shown in Figure 1 are connected to each other via CAN to exchange information. Some or all of these multiple ECUs may be integrated into a single ECU.

[0013] The driver assistance ECU 10 performs collision avoidance control using the components shown in Figure 1.

[0014] The camera device 20 includes a camera 21 and an image ECU 22. The camera 21 captures the scene in front of the vehicle HV at predetermined intervals and acquires image data. The image ECU 22 generates camera information by analyzing the image data from the camera 21 and transmits the camera information to the driver assistance ECU 10. The camera information includes the image data itself and camera target information such as the "position, relative longitudinal speed, relative lateral speed, and type" of the captured target relative to the vehicle HV. The type of target includes moving objects such as other vehicles and pedestrians, and stationary structures. Structures further include individual structures such as utility poles and poles, and continuous structures such as guardrails and side walls. Continuous structures are structures whose thickness (length in the depth direction) is less than or equal to a thickness threshold, whose horizontal length (length in the longitudinal direction) is greater than or equal to a length threshold, and which have a substantially constant height.

[0015] The radar device 30 is a well-known device that acquires information about targets existing around the host vehicle HV using radio waves in the millimeter-wave band, and includes a radar 31 and a radar ECU 32. The radar 31 transmits millimeter waves within a predetermined detection range every time a predetermined time elapses, and receives the millimeter waves reflected by the target. The radar 31 transmits information about the transmitted and received millimeter waves to the radar ECU 32. The radar ECU 32 acquires radar information based on the information from the radar 31, and transmits the radar information to the driving support ECU 10. The radar information includes the distance to the target, the azimuth of the target, the relative speed of the target, and the like.

[0016] Note that the driving support ECU 10 integrates the camera information and the radar information, and generates fusion target information including the position of the target (the longitudinal distance to the target, the lateral position of the target, the target azimuth), the relative speed of the target, and the type of the target. Further, the driving support ECU 10 recognizes the position of the target using the X-Y coordinates based on the host vehicle HV. As shown in FIG. 2, the Y-axis of this X-Y coordinate is the central axis CL extending in the longitudinal direction of the host vehicle HV, and the X-axis is an axis extending in a direction orthogonal to the central axis CL. The origin of the X-Y coordinate is the center in the vehicle width direction at the front end of the host vehicle HV.

[0017] The power train ECU 40 controls a drive device including a power source of the host vehicle HV (not shown) by driving the power train actuator 41, thereby generating a driving force.

[0018] The brake ECU 50 controls a braking device of the host vehicle HV (not shown) by driving the brake actuator 51, thereby applying a braking force to the host vehicle HV. The brake ECU 50 can drive the brake actuator 51 in response to an instruction from the driving support ECU 10 to automatically brake the host vehicle HV (apply an automatic brake to the host vehicle HV).

[0019] The steering ECU 60 controls the steering device of the host vehicle HV (not shown) by driving the steering motor 61, thereby changing the steering angle of the host vehicle HV. The steering ECU 60 can drive the steering motor 61 in accordance with an instruction from the driving support ECU 10 to automatically steer the host vehicle HV.

[0020] The warning ECU 70 can control a warning display device 71 disposed at a position visible from the driver's seat to perform a predetermined display and a warning sound generating device 72 that generates a warning sound in accordance with an instruction from the driving support ECU 10.

[0021] The driving support ECU 10 inputs the detection values (output values) of the following "sensors and switches". · An accelerator pedal operation amount sensor 81 that detects the accelerator pedal operation amount AP of the host vehicle HV. · A brake pedal operation amount sensor 82 that detects the brake pedal operation amount BP of the host vehicle HV. · A vehicle speed sensor 83 that detects the speed of the host vehicle HV (i.e., the host vehicle speed Vh). · A yaw rate sensor 84 that detects the yaw rate Yr of the host vehicle HV. · A steering angle sensor 85 that detects the steering angle St of the host vehicle HV. · Other sensor groups 86 such as a steering torque sensor, a longitudinal acceleration sensor, and a lateral acceleration sensor.

[0022] (Outline of operation) As shown in FIGS. 2 and 3, when an obstacle exists in a predetermined region in the traveling direction of the host vehicle HV and the obstacle is a continuous structure CS, the device DS determines whether or not the host vehicle HV may collide with the end portion Pe on the host vehicle side of the continuous structure CS. When the device DS determines that the host vehicle HV may collide with the end portion Pe, the device DS calculates the following three types of avoidance routes for avoiding the collision between the host vehicle HV and the end portion Pe. (1) First avoidance route R1: A route when performing automatic braking that applies a braking force to the host vehicle HV as a collision avoidance operation to stop the host vehicle HV in front of the end portion Pe. (2) Second avoidance route R2: A route that performs automatic steering as a collision avoidance action to change the direction of travel of the vehicle HV and allow the vehicle HV to pass through the "area on the vehicle side of the continuous structure CS". (3) Third avoidance route R3: A route that performs automatic steering as a collision avoidance action to change the direction of travel of the vehicle HV, causing the vehicle HV to intersect with the longitudinal direction of the continuous structure CS and pass through the area to the side of the end Pe of the continuous structure CS (an area where the continuous structure CS does not exist).

[0023] The device DS then calculates the time (first time, first timing) T1 for initiating automatic braking in the first avoidance path R1, the time (second time, second timing) T2 for initiating automatic steering in the second avoidance path R2, and the time (third time, third timing) T3 for initiating automatic steering in the third avoidance path R3, and selects the avoidance path corresponding to the latest time from among these as the final collision avoidance path. If, when the current time matches the "latest time," there is still a possibility of collision between the vehicle HV and the end Pe, the device DS will initiate the collision avoidance operation whose start time corresponds to that latest time.

[0024] (Specific operation) The CPU 10a of the driver assistance ECU 10 (hereinafter simply referred to as "CPU") executes the routine shown in the flowchart in Figure 4 at predetermined time intervals (calculation cycle) dt. In the following, "step" will be denoted as "S".

[0025] At a predetermined timing, the CPU starts processing from S400 in Figure 4 and proceeds to S405 to determine whether or not there is an obstacle in the direction of travel of the vehicle HV. More specifically, the CPU determines, based on the vehicle speed Vh and fusion target information, whether or not there is an obstacle in a strip-shaped area that has a width equal to the width of the vehicle HV (or the width plus a margin) and extends in the direction of travel of the vehicle HV, and is within a predetermined distance determined according to the vehicle speed Vh from the front of the vehicle HV. In other words, the CPU determines whether or not there is a target (obstacle) that is expected to collide with the vehicle HV within a predetermined period of time if the vehicle HV maintains its current steering angle and vehicle speed Vh. If there is no obstacle in the direction of travel of the vehicle HV, the CPU proceeds directly from S405 to S495 and terminates this routine.

[0026] In response to this, if an obstacle exists in the direction of travel of the vehicle HV, the CPU proceeds from S405 to S410 to determine whether the value of the collision avoidance action execution flag XE is "0". The value of this flag XE is set to "1" if some collision avoidance action is being performed by the collision avoidance control described later. The value of flag XE is set to "0" in an initialization routine (not shown) that is executed by the CPU when the ignition key switch of the vehicle HV (not shown) is changed from the off position to the on position. If the value of flag XE is not "0", the CPU proceeds directly from S410 to S495.

[0027] If the value of the collision avoidance action execution flag XE is "0", the CPU proceeds from S410 to S415 and determines whether the obstacle determined to be located in the direction of travel of the vehicle HV is a continuous structure, based on the fusion target information (especially camera information). For example, the driver assistance ECU 10 has previously learned the image features of "guardrails and side walls, etc." which are typical examples of continuous structures. On the other hand, the CPU extracts the features of the captured object from the image data included in the camera information. The CPU determines whether the obstacle is a continuous structure by comparing the learned image features with the features extracted from the image data (i.e., using a pattern matching method) to determine whether the obstacle is one of the continuous structures. Alternatively, the CPU may draw the position and shape of the object obtained from the fusion target information on a two-dimensional map, and determine whether the obstacle is a continuous structure based on the drawn shape.

[0028] If the obstacle is not a continuous structure, the CPU proceeds from S415 to S420 and performs the well-known "collision avoidance control for normal obstacles (moving objects and standalone structures)". When any collision avoidance action is initiated by this well-known collision avoidance control, the CPU sets the value of the collision avoidance action execution flag XE to "1". After that, the CPU proceeds to S495.

[0029] In contrast, if the obstacle is a continuous structure, the CPU proceeds from S415 to S425 and obtains the following information about the continuous structure (continuous structure information) from the fusion target information. • The horizontal (longitudinal) length L of the continuous structure CS (see Figure 2). • The angle θ of the continuous structure CS with respect to the X-axis (see Figure 2). • The position of the continuous structure CS (the position on the XY coordinate system relative to the current position of the vehicle HV).

[0030] Next, the CPU proceeds to S430 and determines whether there is a risk of the vehicle HV colliding with the vehicle-side end Pe of the continuous structure CS (see Figures 2 and 3). That is, the CPU determines whether the vehicle HV will reach the vehicle-side end Pe of the continuous structure CS if it maintains its current steering angle and vehicle speed Vh.

[0031] If there is no risk of the vehicle HV colliding with the vehicle-side end Pe of the continuous structure CS, the CPU proceeds from S430 to S435 and executes "normal collision avoidance control for the continuous structure CS (see, for example, Patent Document 1)." When some collision avoidance action is initiated by this normal collision avoidance control for the continuous structure CS, the CPU sets the value of the collision avoidance action execution flag XE to "1". After that, the CPU proceeds to S495.

[0032] In response to this, if there is a risk of the vehicle HV colliding with the vehicle-side end Pe of the continuous structure CS, the CPU proceeds from S430 to S440 to calculate and select a collision avoidance path and determine the start time (start timing) of the collision avoidance operation.

[0033] More specifically, when the CPU proceeds to S440, it starts processing the subroutine shown in Figure 5 from S500 and then proceeds to S510.

[0034] In S510, the CPU calculates the braking start time T1 (i.e., the time when the brake actuator 51 is activated via the brake ECU 50) for the "first avoidance path R1" shown in Figures 2 and 3, which avoids collision with the continuous structure CS solely by automatic braking as a collision avoidance action, based on "the vehicle speed Vh and information about the continuous structure obtained in S425 of Figure 4".

[0035] More specifically, the CPU calculates an automatic braking start time T1 so that, while the vehicle HV is maintaining its current direction of travel, the vehicle HV can be decelerated at a constant deceleration rate from its current speed Vh using the braking force generated by the braking system, and so that the vehicle HV can stop before colliding with the continuous structure CS (at a predetermined distance from the continuous structure on the vehicle HV side). This automatic braking start time T1 is also referred to as the "first time T1" for convenience.

[0036] Next, in S520, the CPU calculates the "second avoidance path R2" shown in Figures 2 and 3, which is a collision avoidance operation that performs automatic steering so that the direction of travel of the vehicle HV passes through the area of ​​the continuous structure CS on the vehicle side of the continuous structure CS along the longitudinal direction of the continuous structure CS, thereby avoiding a collision with the continuous structure CS. For convenience, this automatic steering is also referred to as "forward automatic steering". Furthermore, the CPU calculates the steering start time T2 for the automatic steering to drive the vehicle HV along the calculated second avoidance path R2 (i.e., the time when the steering motor 61 is activated via the steering ECU 60) based on the vehicle speed Vh and information about the continuous structure obtained in S425. For convenience, this steering start time T2 is also referred to as "second time T2".

[0037] As an example, in the scene shown in Figure 2, the CPU calculates multiple arcs tangent to both a straight line SL1, which is obtained by translating a straight line CSL along the surface of the continuous structure CS on the vehicle side in a plan view by a predetermined margin distance α toward the vehicle HV, and a straight line SL2, which is parallel to the central axis CL passing through the left front end PL of the vehicle HV in a plan view. The CPU calculates the lateral acceleration of the vehicle HV if it were to pass through each of these multiple arcs at its current vehicle speed Vh. Then, from the calculated multiple lateral accelerations, the CPU selects the maximum lateral acceleration that is below the allowable lateral acceleration threshold and selects the arc corresponding to that selected lateral acceleration as the second avoidance path R2. Furthermore, based on the current vehicle speed Vh, the CPU determines the time when the left front end PL of the vehicle HV reaches the point of contact CP2 between the selected second avoidance path R2 and the straight line SL2 as the steering start time T2 (i.e., second time T2).

[0038] Next, the CPU proceeds to S530 and determines whether there is a stopping space for the vehicle HV (see SP1 in Figure 2) immediately after the point in time when the vehicle HV moves along the second avoidance path R2 and avoids a collision with the continuous structure CS (i.e., the first point in time when the direction of travel of the vehicle HV becomes parallel to the longitudinal direction of the continuous structure CS). More specifically, even if the CPU determines at the first point in time that there is another obstacle in the direction of travel of the vehicle HV (see OB1 in Figure 2) or that the path that the vehicle HV can pass through has ended, it determines whether the vehicle HV can be safely stopped if automatic braking is started from that first point in time.

[0039] If there is no parking space for the vehicle HV immediately after the point in time (first time point) when the vehicle HV avoids a collision with the continuous structure CS by moving along the second avoidance route R2, the CPU proceeds from S530 to S540 and, for convenience, sets the steering start time (second time point) T2 to "current time Two" to prevent the second avoidance route R2 from being selected as a collision avoidance route. After that, the CPU proceeds to S550. On the other hand, if there is a parking space for the vehicle HV immediately after the first time point, the CPU proceeds directly from S530 to S550.

[0040] Next, in S550, the CPU calculates the "third avoidance path R3" shown in Figures 2 and 3, which is a collision avoidance operation that performs automatic steering so that the direction of the vehicle HV intersects with the longitudinal direction of the continuous structure CS, thereby avoiding a collision with the continuous structure CS. For convenience, this automatic steering is also referred to as "reverse automatic steering". Furthermore, the CPU calculates the steering start time T3 for the automatic steering to drive the vehicle HV along the calculated third avoidance path R3 (i.e., the time when the steering motor 61 is activated via the steering ECU 60) based on the vehicle speed Vh and information about the continuous structure obtained in S425. For convenience, this steering start time T3 is also referred to as "third time T3".

[0041] As an example, in the scene shown in Figure 2, the CPU calculates multiple arcs that pass through the end Pe on the vehicle HV side of the continuous structure CS in a plan view, and are tangent to a straight line SL3 that is parallel to the central axis CL and passes through the right front end PR of the vehicle HV in a plan view. The CPU calculates the lateral acceleration of the vehicle HV if it were to pass through each of these multiple arcs at its current vehicle speed Vh. Then, from the calculated multiple lateral accelerations, the CPU selects the maximum lateral acceleration that is below the allowable lateral acceleration threshold, and selects the arc corresponding to that selected lateral acceleration as the third avoidance path R3. Furthermore, based on the current vehicle speed Vh, the CPU determines the time when the right front end PR of the vehicle HV reaches the point of contact CP3 between the selected third avoidance path R3 and the straight line SL3 as the steering start time (third time) T3.

[0042] Next, the CPU proceeds to S560 and determines whether there is a stopping space for the vehicle (see SP2 in Figure 2) in the direction of the vehicle's movement at the point when the vehicle HV moves along the third avoidance path R3 and avoids a collision with the continuous structure CS (i.e., the second time point when the right rear end of the vehicle HV intersects with the longitudinal extension CSL of the continuous structure CS). More specifically, even if the CPU determines at the second time point that there is another obstacle (see OB2 in Figure 2) in the direction of the vehicle HV's movement or that the path the vehicle HV can pass through has ended, it determines whether the vehicle HV can be safely stopped if automatic braking is initiated from that second time point.

[0043] If there is no parking space for the vehicle HV immediately after the point in time (second time point) when the vehicle HV avoids a collision with the continuous structure CS by moving along the third avoidance route R3, the CPU proceeds from S550 to S570 and, for convenience, sets the steering start time (third time point) T3 to "current time Two" to prevent the third avoidance route R3 from being selected as a collision avoidance route. After that, the CPU proceeds to S580. On the other hand, if there is a parking space for the vehicle HV immediately after the second time point, the CPU proceeds directly from S560 to S580.

[0044] In S580, the CPU selects the latest time (the time furthest from the current time Tnow) among the first time T1, second time T2, and third time T3, and selects the avoidance path corresponding to that selected time as the final avoidance path. For example, if the second time T2 is the latest time, the CPU determines the second time T2 as the start time of the collision avoidance operation and selects the second avoidance path R2 corresponding to the second time T2 as the collision avoidance path. After that, the CPU proceeds to S595 and then to 445 in Figure 4.

[0045] In S445, the CPU determines whether the current time matches the start time of the collision avoidance operation determined in S440. If the current time does not match the start time of the collision avoidance operation, the CPU proceeds directly from S445 to S495. Therefore, in this case, the collision avoidance operation is not initiated.

[0046] In response to this, if the current time coincides with the start time of the collision avoidance operation determined in S440, the CPU proceeds from S445 to S450 and starts the collision avoidance operation according to the collision avoidance path selected in S440.

[0047] Next, the CPU proceeds to S455, sets the value of the collision avoidance action execution flag XE to "1", and then proceeds to S495 to terminate this routine.

[0048] As explained above, the device DS avoids collision between its vehicle HV and the end of the continuous structure CS Pe by following the path in which the collision avoidance operation starts the latest among the first avoidance path R1, the second avoidance path R2, and the third avoidance path R3. For example, in the examples shown in Figures 2 and 3, the time at which the vehicle HV reaches point CP3 is the latest, so the collision avoidance operation using the third avoidance path R3 is performed. Furthermore, if there is no parking space SP2, the collision avoidance operation using the third avoidance path R3 is not performed, so in the example shown in Figure 2, the collision avoidance operation using the second avoidance path R2 is performed, while in the example shown in Figure 3, the collision avoidance operation using the first avoidance path R1 is performed.

[0049] Furthermore, according to the above embodiment, as shown in Figure 6, instead of calculating "route R2a when a continuous structure CS exists along the entire direction of travel of the vehicle HV without considering the end point Pe" as the second avoidance route, "route R2b to avoid end point Pe" is calculated. Therefore, the start time of forward automatic steering for the second avoidance route can be set to a later time (see points CP2b and CP2a).

[0050] The present invention is not limited to the embodiments described above, and various modifications can be adopted within the scope of the present invention. For example, the method for calculating the second avoidance route R2 and the third avoidance route R3 is not limited to the method described above. For example, the driver assistance ECU 10 may pre-store in the form of a lookup table the relationship between the overlap rate Rp of the vehicle HV, the vehicle speed Vh, and the radius of the arc indicating the path to avoid the collision, assuming that the vehicle HV collides with the end Pe of the continuous structure CS, and then determine the radii of the second avoidance route R2 and the third avoidance route R3 by applying the actual overlap rate Rp and the actual current vehicle speed Vh to this lookup table, and calculate the second avoidance route R2 and the third avoidance route R3 based on the arc of the determined radius. Furthermore, the driver assistance ECU may calculate these paths using a machine learning-trained AI that derives the optimal "second avoidance route R2 and third avoidance route R3" from the vehicle speed Vh and the continuous structure information described above. Furthermore, in the examples shown in Figures 2 and 3 above, the vehicle HV is moving in a straight line, but the present invention can also be applied when the vehicle HV is turning.

[0051] In addition, the driver assistance ECU 10 may obtain from map information provided by a navigation ECU (not shown) whether or not there are spaces that could potentially be used as parking spaces (SP1, SP2). Furthermore, for example, the present invention is applicable to an autonomous vehicle in a state where the driving mode has transitioned from autonomous driving to driver-operated driving. [Explanation of Symbols]

[0052] 10...Driver assistance ECU, 20...Camera device, 30...Radar device, 50...Brake ECU, 51...Brake actuator, 60...Steering ECU, 61...Steering motor.

Claims

1. A vehicle driving assistance device that performs collision avoidance maneuvers to avoid a collision between the vehicle and an obstacle when an obstacle is present in a predetermined area in the direction of travel of the vehicle, When it is determined that the obstacle is a continuous structure and that the vehicle may collide with the end of the continuous structure on the vehicle's side, The first time is calculated as the start time of the automatic braking when the vehicle is driven along a first avoidance path that avoids a collision between the vehicle and the continuous structure by performing automatic braking, which applies braking force to the vehicle as a collision avoidance action, and stopping the vehicle before the end of the continuous structure. As the collision avoidance operation, a second avoidance path is calculated in which automatic steering is performed to change the direction of travel of the vehicle and cause the vehicle to pass through the area of ​​the continuous structure on the vehicle's side, thereby avoiding a collision between the vehicle and the continuous structure. A second time is calculated, which is the start time of the automatic steering to drive the vehicle according to the second avoidance path. As the collision avoidance operation, a third avoidance path is calculated in which the vehicle is guided by automatic steering to pass through the area to the side of the end of the continuous structure so as to intersect with the longitudinal direction of the continuous structure, thereby avoiding a collision between the vehicle and the continuous structure, and a third time is calculated, which is the start time of the automatic steering to drive the vehicle according to the third avoidance path. One of the first, second, and third avoidance paths corresponding to the latest time among the first, second, and third time periods is selected as the collision avoidance path, and the collision avoidance operation corresponding to the selected collision avoidance path is started at the latest time period. Vehicle driving assistance system.

2. A vehicle driving assistance device according to claim 1, If, when the vehicle is driven along the second avoidance path, there is no parking space available after the vehicle has avoided a collision with the continuous structure, the second avoidance path is not selected as the collision avoidance path. Vehicle driving assistance system.

3. A vehicle driving support device according to claim 1 or claim 2, If, when the vehicle is driven along the third avoidance path, there is no parking space available after the vehicle has avoided a collision with the continuous structure, the third avoidance path will not be selected as the collision avoidance path. Vehicle driving assistance system.

4. A vehicle driving assistance method that performs collision avoidance maneuvers to avoid a collision between the vehicle and an obstacle when an obstacle is present in a predetermined area in the direction of travel of the vehicle, A first step is to determine whether the obstacle is a continuous structure and whether there is a possibility that the vehicle may collide with the end of the continuous structure on the vehicle's side. If it is determined that the vehicle may collide with the end of the continuous structure on the vehicle's side, The first time is calculated as the start time of the automatic braking when the vehicle is driven along a first avoidance path that avoids a collision between the vehicle and the continuous structure by performing automatic braking, which applies braking force to the vehicle as a collision avoidance action, and stopping the vehicle before the end of the continuous structure. As the collision avoidance operation, a second avoidance path is calculated in which automatic steering is performed to change the direction of travel of the vehicle and cause the vehicle to pass through the area of ​​the continuous structure on the vehicle's side, thereby avoiding a collision between the vehicle and the continuous structure. A second time is calculated, which is the start time of the automatic steering to drive the vehicle according to the second avoidance path. As the collision avoidance operation, a third avoidance path is calculated in which the vehicle is guided through the lateral region of the end of the continuous structure so as to intersect with the longitudinal direction of the continuous structure, thereby avoiding a collision between the vehicle and the continuous structure, and a third time is calculated, which is the start time of the automatic steering to drive the vehicle along the third avoidance path. Step 2, A third step involves selecting one of the first, second, and third avoidance paths as the collision avoidance path, corresponding to the latest time among the first, second, and third time periods, and starting the collision avoidance operation corresponding to the selected collision avoidance path at the latest time period. A vehicle driving assistance method that includes this.

5. A program that causes a computer mounted on a vehicle to execute a collision avoidance maneuver when an obstacle is present in a predetermined area in the direction of travel of the vehicle, in order to avoid a collision between the vehicle and the obstacle, The program is sent to the computer, A first step is to determine whether the obstacle is a continuous structure and whether there is a possibility that the vehicle may collide with the end of the continuous structure on the vehicle's side. If it is determined that the vehicle may collide with the end of the continuous structure on the vehicle's side, The first time is calculated as the start time of the automatic braking when the vehicle is driven along a first avoidance path that avoids a collision between the vehicle and the continuous structure by performing automatic braking, which applies braking force to the vehicle as a collision avoidance action, and stopping the vehicle before the end of the continuous structure. As the collision avoidance operation, a second avoidance path is calculated in which automatic steering is performed to change the direction of travel of the vehicle and cause the vehicle to pass through the area of ​​the continuous structure on the vehicle's side, thereby avoiding a collision between the vehicle and the continuous structure. A second time is calculated, which is the start time of the automatic steering to drive the vehicle according to the second avoidance path. As the collision avoidance operation, a third avoidance path is calculated in which the vehicle is guided through the lateral region of the end of the continuous structure so as to intersect with the longitudinal direction of the continuous structure, thereby avoiding a collision between the vehicle and the continuous structure, and a third time is calculated, which is the start time of the automatic steering to drive the vehicle along the third avoidance path. Step 2, A third step involves selecting one of the first, second, and third avoidance paths as the collision avoidance path, corresponding to the latest time among the first, second, and third time periods, and starting the collision avoidance operation corresponding to the selected collision avoidance path at the latest time period. A program that executes the command.

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