Driver assistance device, driver assistance method, and driver assistance program

Abstract

PURPOSE: To provide a drive support apparatus capable of improving the safety in parking backward an own vehicle at a parking spot.SOLUTION: A control apparatus is configured to: select, as a target parking spot TPS, one of parking spots PS from a parking spot array PSA where multiple parking spots PS are arranged in parallel, on the basis of surrounding information; set a parking action zone A that is a zone where the own vehicle is predicted to move when parking rearward the own vehicle at the target parking spot TPS; and suppress acceleration of the own vehicle when, within the parking action zone A, with a direction of the own vehicle relative to the target parking spot TPS falling within a predetermined range, determining that an accelerator pedal of the own vehicle has been erroneously stepped on, and therefore the own vehicle may highly possibly depart from the parking action zone A by moving forward.SELECTED DRAWING: Figure 3

Description

Technical Field

[0001] The present invention relates to a driving support device, a driving support method, and a driving support program that suppress the acceleration of a host vehicle when there is a high possibility that a driver has accidentally stepped on an accelerator pedal.

Background Art

[0002] There has been proposed a driving support device having an acceleration suppression function that suppresses the acceleration of a host vehicle when there is a high possibility that a driver has accidentally stepped on an accelerator pedal (for example, refer to the following patent document). The driving support device of Patent Document 1 (hereinafter referred to as the "conventional device") includes a camera and a control device. The control device calculates the possibility that the host vehicle is parked in a parking spot based on the image data acquired from the camera. For example, the control device calculates the distance between the host vehicle and the frame line of the parking spot, and determines that there is a high possibility that the host vehicle is parked in the parking spot when the distance is less than or equal to a threshold value. When the control device determines that there is a high possibility that the host vehicle is parked in the parking spot and determines that the accelerator pedal has been accidentally stepped on, the control device executes acceleration suppression control to control a drive device (throttle valve) so that the host vehicle is not accelerated.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

[0004] When a driver parks their vehicle in a parking spot, they perform a maneuver (reversing) in the area outside the parking spot (public or private road) to align the vehicle's orientation with the parking spot. During this maneuver, if the driver is moving the vehicle forward (away from the parking spot), the distance between the vehicle and the parking line may exceed a threshold. In this case, the control unit of the conventional device determines that the likelihood of the vehicle being parked in the parking spot is low. Therefore, even if a driver intending to press the brake pedal accidentally presses the accelerator pedal, the control unit does not perform acceleration suppression control. Consequently, there is a risk that the vehicle may suddenly accelerate against the driver's intention.

[0005] One of the objectives of the present invention is to provide a driver assistance device that can improve safety when parking a vehicle in reverse in a parking spot.

[0006] To achieve the above objective, the driving assistance device (1) of the present invention is: Operation sensors (22, 23, 24) acquire operation information, which is information related to the operation of the driving control devices (AP, SL, SW) equipped on the vehicle (V), A vehicle sensor (21) acquires vehicle information, which is information regarding the driving status of the vehicle, A surrounding sensor (25) acquires surrounding information, which is information about targets present around the vehicle, A control device (10) having an error detection function that determines whether the accelerator pedal (AP) of the vehicle has been mistakenly pressed based on the aforementioned operation information, and an acceleration suppression function that suppresses the acceleration of the vehicle, It is equipped with. The control device is Based on the surrounding information, one parking spot is selected as the target parking spot from a row of multiple parking spots arranged in parallel. A parking action area is defined as the area in which the vehicle is expected to move when it is parked backward into the target parking spot. Within this parking action area, if it is determined that the direction of the vehicle relative to the target parking spot is within a predetermined range, and that there is a high probability that the vehicle will move forward and deviate from the parking action area, and if it is determined that the accelerator pedal of the vehicle has been mistakenly pressed, the acceleration of the vehicle is suppressed.

[0007] When a vehicle is near a parking spot, if its orientation relative to the parking spot is within a predetermined range, it can be estimated that there is a high probability that the vehicle will park in that parking spot. In the driver assistance system according to the present invention, the control device determines whether there is a high probability that the vehicle will park in the target parking spot in reverse, based on the orientation of the vehicle relative to the target parking spot. That is, the control device determines that there is a high probability that the vehicle will park in the target parking spot in reverse when the direction of the vehicle relative to the target parking spot is within a predetermined range. The control device then suppresses the acceleration of the vehicle if there is a high probability that the vehicle will deviate from the parking area and the control device determines that the accelerator pedal was mistakenly pressed when the vehicle was moving forward. This enhances safety when parking a vehicle in reverse.

[0008] In a driving support device according to one aspect of the present invention, The control device is When it is determined that the vehicle is traveling along the row of parking spots in the direction of the arrangement of the parking spots, and that the vehicle's speed (vs) is less than or equal to a predetermined value (vsth0), one parking spot located to the side of the vehicle is selected as the target parking spot. It is configured in this way.

[0009] When a vehicle is traveling at a relatively low speed along a row of parking spots, it is assumed that the driver is searching for an available parking spot. In this situation, there is a high probability that the vehicle will park in one of the parking spots in the row. Of these, the parking spot located to the side of the vehicle is the one that the driver can most easily visually confirm, and therefore the one where the vehicle is most likely to park. According to the driver assistance system of this embodiment, the parking spot where the vehicle is most likely to park can be selected as the target parking spot.

[0010] In another aspect of the present invention, in a driving support device, The control device is If the angle (α) between the center line (CL) passing through the center of the vehicle in the width direction and extending forward of the vehicle and the longitudinal direction of the target parking spot is less than or equal to a predetermined value (αth), and the distance (ΔL) from a predetermined part (P0) of the vehicle to the intersection (P1) of the center line and the outer edge of the parking area is less than or equal to a predetermined value (ΔLth), or the predicted time (Δt) until the predetermined part reaches the intersection is less than or equal to a predetermined value (Δtth), then it is determined that there is a high probability that the vehicle will deviate from the parking area. It is configured in this way.

[0011] According to this, it is possible to determine relatively easily whether or not there is a high probability that your vehicle will deviate from the parking area.

[0012] Furthermore, the driving assistance method and driving assistance program according to the present invention include steps performed by each device constituting the above-mentioned driving assistance device. [Brief explanation of the drawing]

[0013] [Figure 1] Figure 1 is a block diagram of a driver assistance device according to one embodiment of the present invention. [Figure 2] Figure 2 is a plan view illustrating the process of detecting a row of parking spots and selecting a target parking spot. [Figure 3]Figure 3 is a plan view showing the state of a driver performing a parking maneuver within the parking area. [Figure 4] Figure 4 is a flowchart of the computer program for implementing the acceleration suppression function. [Figure 5] Figure 5 is a plan view showing a parking action area according to a modified example of the present invention. [Modes for carrying out the invention]

[0014] As shown in Figure 1, the driver assistance device 1 according to one embodiment of the present invention is installed in a vehicle V equipped with an autonomous driving function (hereinafter referred to as "the vehicle"). The driver assistance device 1 has a function (acceleration suppression function) that suppresses the acceleration of the vehicle when the autonomous driving function is disabled and the driver is actively performing driving operations, and there is a high possibility that the driver has mistakenly pressed the accelerator pedal AP.

[0015] As shown in Figure 1, the driver assistance system 1 includes a driver assistance ECU 10, an on-board sensor 20, and a drive unit 30. The driver assistance ECU 10 includes a microcomputer equipped with a CPU 10a, ROM 10b, RAM 10c, timer 10d, etc. The driver assistance ECU 10 is connected to other ECUs (for example, the ECU of the drive unit 30, which will be described later) via CAN (Controller Area Network).

[0016] The on-board sensor 20 includes a sensor (vehicle sensor) that acquires information about the driving state of the vehicle. Specifically, the on-board sensor 20 includes a speed sensor 21 as a vehicle sensor. The speed sensor 21 detects the speed vs of the vehicle. The speed sensor 21 transmits data representing the speed vs to the driver assistance ECU 10.

[0017] The in-vehicle sensor 20 includes a sensor (operation sensor) that acquires information regarding operations of driving operation devices (such as an accelerator pedal AP, a shift lever SL, a steering wheel SW, etc.) provided in the host vehicle. Specifically, the in-vehicle sensor 20 includes an accelerator pedal sensor 22, a shift lever position sensor 23, and a steering sensor 24 as operation sensors.

[0018] The accelerator pedal sensor 22 detects the depression depth AD of the accelerator pedal AP of the host vehicle. The accelerator pedal sensor 22 transmits data representing the depression depth AD to the driving support ECU 10.

[0019] The shift lever position sensor 23 detects a shift position SP (such as a forward position (drive position), a reverse position (reverse position), a parking position, etc.) which is the position of the shift lever SL of the host vehicle. The shift lever position sensor 23 transmits data representing the shift position SP to the driving support ECU 10.

[0020] The steering sensor 24 detects a steering angle θ (also referred to as a steering angle or a turning angle) of the steering wheel SW of the host vehicle. The steering sensor 24 transmits data representing the steering angle θ to the driving support ECU 10.

[0021] Furthermore, the in-vehicle sensor 20 includes a camera 25 as a peripheral sensor.

[0022] Camera 25 includes an imaging device and an image analysis device. The imaging device is, for example, a digital camera incorporating an image sensor such as a CCD (charge coupled device) or CIS (CMOS image sensor). The imaging device is positioned at the front of the vehicle and directed forward. The imaging device captures images of the area surrounding the vehicle at a predetermined frame rate and acquires image data. The imaging device transmits each image data to the image analysis device. Note that imaging devices may be provided not only at the front of the vehicle, but also at the sides and rear. The image analysis device analyzes the acquired image data and recognizes, for example, the frame lines PL (see Figure 2) that define parking spots PS from the image. Furthermore, the image analysis device determines whether or not there is a parking spot row PSA in which parking spots PS are arranged in parallel. For example, if there are five or more parking spots PS arranged in parallel, the image analysis device determines that there is a parking spot row PSA. The image analysis device also calculates the position and direction of the parking spot row PSA relative to the vehicle (the degree of parallelism between the direction of travel of the vehicle and the direction of arrangement of parking spots PS constituting the parking spot row PSA). The image analysis device also calculates the distance from the vehicle to a predetermined point. For example, if a row of parking spots (PSA) exists, the image analysis device calculates the distance Δd between the vehicle's center of gravity (G) and the short side of the nearest parking spot (PS). The image analysis device transmits data representing the above calculation results to the driver assistance ECU 10.

[0023] The drive unit 30 applies driving force to the drive wheels among the wheels (left front wheel, right front wheel, left rear wheel, and right rear wheel). The drive unit 30 includes an engine ECU, an internal combustion engine, a transmission, and a power transmission mechanism that transmits driving force to the wheels. The internal combustion engine includes an actuator that drives the throttle valve. The engine ECU obtains information (control signals) representing the target driving force from another ECU (driving assistance ECU 10) and drives the actuator of the internal combustion engine based on this information. In this way, the driving force (acceleration of the vehicle) applied to the drive wheels is controlled. The driving force generated by the internal combustion engine is transmitted to the drive wheels via the transmission and the power transmission mechanism. The engine ECU also obtains information (control signals) regarding the shift position of the transmission from another ECU and drives the actuator of the transmission based on this information. In this way, the shift position of the transmission is controlled.

[0024] Furthermore, if the vehicle V to which the driver assistance system 1 is applied is a hybrid electric vehicle (HEV), the engine ECU can control the vehicle's driving force generated by either the internal combustion engine or the electric motor, or both, as the vehicle's power source. Also, if the vehicle V to which the driver assistance system 1 is applied is an electric electric vehicle (BEV), an electric motor ECU that controls the vehicle's driving force generated by the electric motor, as the vehicle's power source, may be used instead of the engine ECU.

[0025] The driver assistance ECU 10 monitors the speed vs and the accelerator pedal depression depth AD based on data acquired from the speed sensor 21 and the accelerator pedal sensor 22, respectively. The driver assistance ECU 10 then determines whether the accelerator pedal AP has been pressed incorrectly based on the speed vs, depression depth AD, and the rate of increase AD ADR. In other words, the driver assistance ECU 10 has an error detection function that determines whether the accelerator pedal of the vehicle has been pressed incorrectly based on the operation information of the accelerator pedal AP and the speed information. Specifically, the driver assistance ECU 10 determines that the accelerator pedal AP has been pressed incorrectly when the following conditions 1 to 3 are met. <Condition 1> The speed vs is less than or equal to the threshold vsth1. <Condition 2> The rate of increase of the indentation depth AD, ADR, exceeds the threshold ADRth. <Condition 3> The indentation depth AD exceeds the threshold ADth0.

[0026] The driver assistance ECU 10 has an acceleration suppression function that suppresses the acceleration of the vehicle when it determines that the accelerator pedal AP has been pressed incorrectly. When the driver assistance ECU 10 executes acceleration suppression control to realize the acceleration suppression function, the driver assistance ECU 10 does not increase the opening degree of the throttle valve of the drive unit 30.

[0027] The driver assistance ECU 10 can perform acceleration suppression control when the vehicle moves forward while the driver is performing an entry operation to park the vehicle in reverse into a parking spot PS (for example, one of the parking spots PS in a row of parking spots PSA arranged on one side of the aisle, as shown in Figure 2).

[0028] Specifically, the driver assistance ECU 10 sequentially acquires data from the camera 25 regarding the recognition result of the parking spot row PSA (such as the orientation (parallelism) of the vehicle relative to the parking spot row PSA and the distance Δd between the parking spot row PSA and the vehicle), and sequentially acquires the speed vs from the speed sensor 21. Based on this data, the driver assistance ECU 10 determines whether the vehicle is moving slowly along the parking spot row PSA. If the vehicle is moving forward in the direction of the arrangement of parking spots PS that make up the parking spot row PSA on the outside passage (public or private road) of the parking spot row PSA, and the distance Δd between the vehicle and the parking spot row PSA is less than or equal to the threshold Δdth, and the speed vs is less than or equal to the threshold vsth0, the driver assistance ECU 10 determines that the vehicle is moving slowly along the parking spot row PSA.

[0029] When the driver assistance ECU 10 determines that the vehicle is moving slowly along the row of parking spots PSA, it generates (calculates) a plan view (hereinafter referred to as "map M") representing the position and direction of the vehicle relative to the row of parking spots PSA, based on the data acquired from the camera 25 (see Figure 3). Next, the driver assistance ECU 10 selects one parking spot PS located to the side of the vehicle (for example, to the left or right of the vehicle's center of gravity G) as the target parking spot TPS. Next, the driver assistance ECU 10 sets a parking action area A outside the target parking spot TPS (on the vehicle side). The parking action area A is the area that includes the trajectory that the vehicle is expected to move outside the target parking spot TPS when the driver parks the vehicle in reverse at the target parking spot TPS. In other words, parking action area A is the area used by the driver to adjust the vehicle's attitude relative to the target parking spot TPS by performing actions such as operating the accelerator pedal, brake pedal, steering wheel, and shift lever to move the vehicle forward, backward, left, and right.

[0030] For example, as shown in Figure 3, a roughly square area in map M can be adopted as the parking area A. The parking area A is adjacent to the shorter side of the target parking spot TPS on the vehicle's side. In other words, the parking area A is in communication with the target parking spot TPS. Furthermore, the corner Ca of the parking area A, which is on the rear side of the vehicle and on the parking spot row PSA side (the left side of the vehicle in the example of Figure 3), coincides with the corner Cs of the target parking spot TPS. For example, the length of one side of the parking area A is 7 meters. Note that the corner Ca of the parking area A may be slightly shifted toward the parking spot PSn adjacent to the target parking spot TPS. Alternatively, a rectangular area in plan view may be designated as the parking area A. In this case, the longer side of the parking area A may be parallel to the longer side of the target parking spot TPS, or the longer side of the parking area A may be perpendicular to the longer side of the target parking spot TPS.

[0031] The driver assistance ECU 10 sequentially acquires speed vs and steering angle θ from the speed sensor 21 and steering sensor 24. Based on this data, the driver assistance ECU 10 updates the vehicle's position on map M, as well as the vehicle's position and orientation relative to the target parking spot TPS (the angle α between the center line CL passing through the center of the vehicle in the width direction in a plan view and the long side of the target parking spot TPS). The driver assistance ECU 10 may also update the vehicle's position and orientation on map M based on data acquired from the camera 25, data acquired from a navigation system (not shown), etc.

[0032] Here, if the angle α is relatively large, the driver may intend to leave the parking area A without parking at the target parking spot TPS. In this case, it is preferable that the acceleration of the vehicle is not suppressed. On the other hand, if the angle α is relatively small, it is highly likely that the driver has steered the vehicle so that the rear of the vehicle is facing the target parking spot TPS in order to park the vehicle in reverse at the target parking spot TPS. In other words, if the angle α is relatively small, it is highly likely that the driver is performing (or is performing) an entry operation to park the vehicle in reverse at the target parking spot TPS. In this entry operation, it may be preferable that the acceleration of the vehicle be suppressed if the driver mistakenly presses the accelerator pedal AP. Therefore, the driver assistance ECU 10 determines whether the angle α is less than or equal to the threshold αth.

[0033] The driver assistance ECU 10 determines whether there is a high probability that the vehicle will deviate from the parking area A if the angle α is less than or equal to the threshold αth and the shift position SP is in the forward position. Specifically, the driver assistance ECU 10 obtains the coordinates p0 of the reference point P0, which is the central part of the front end of the vehicle in the width direction on map M. The driver assistance ECU 10 also obtains the coordinates p1 of the intersection point P1 between the straight line (center line CL) extending forward from the reference point P0 and the outer edge of the parking area A. Then, based on coordinates p0 and p1, the driver assistance ECU 10 obtains the distance ΔL between the reference point P0 and the intersection point P1. Next, based on the speed vs and distance ΔL, the driver assistance ECU 10 predicts (calculates) the time Δt (=ΔL / vs) until the reference point P0 reaches the intersection point P1.

[0034] Situations where time Δt is relatively long include situations where the vehicle is relatively far from the outer edge of parking area A, and / or where the vehicle is traveling at an extremely low speed. In these situations, even if the vehicle accelerates somewhat, the driver can brake the vehicle before it approaches the outer edge of parking area A. Therefore, in these situations, it is preferable that the acceleration of the vehicle is not suppressed. On the other hand, situations where time Δt is relatively short include situations where the vehicle is quite close to the outer edge of parking area A, and / or where the vehicle is moving at a relatively high speed. In this case, if the vehicle accelerates, there is a high possibility that it will deviate from parking area A. Therefore, in these situations, if the accelerator pedal AP is accidentally pressed, it is preferable that the acceleration of the vehicle be suppressed.

[0035] Therefore, the driver assistance ECU 10 determines that there is a high probability that the vehicle will deviate from the parking area A if time Δt is less than or equal to threshold Δtth. In this case, the driver assistance ECU 10 sequentially acquires the pedal depression depth AD from the accelerator pedal sensor 22. The driver assistance ECU 10 then sequentially determines whether the accelerator pedal AP has been pressed incorrectly (whether conditions 1 to 3 above have been met). If the driver assistance ECU 10 determines that the accelerator pedal AP has been pressed incorrectly, it controls the drive unit 30 (suppresses the acceleration of the vehicle) so that the opening of the throttle valve does not increase. The driver assistance ECU 10 continues to monitor the pedal depression depth AD of the accelerator pedal AP, and when it detects that the pedal depression depth AD has become less than threshold ADth1, which is smaller than threshold ADth0, it releases the suppression of the vehicle's acceleration. In other words, the increase in the opening of the throttle valve is prohibited until the force pressing the accelerator pedal AP is released and the pedal depression depth AD becomes shallower to a certain extent. Furthermore, a reduction in the throttle valve opening is permitted.

[0036] Next, with reference to Figure 5, we will specifically explain the operation of the driver assistance ECU 10 (hereinafter simply referred to as "CPU") (the program PR for executing acceleration suppression control during forward movement in reverse parking maneuvers).

[0037] (Program PR) When the CPU detects that the vehicle has started (the ignition switch has transitioned from the off state to the on state), it starts executing program PR from step 100 and proceeds to step 101.

[0038] When the CPU proceeds to step 101, it determines, based on the data acquired from camera 25, whether or not a parking spot row PSA exists near its own vehicle. If a parking spot row PSA exists (101: Yes), the CPU proceeds to step 102. On the other hand, if a parking spot row PSA does not exist (101: No), the CPU returns to step 101.

[0039] When the CPU proceeds to step 102, it determines whether the vehicle is moving slowly along the parking spot row PSA. If the vehicle is moving slowly along the parking spot row PSA (102: Yes), the CPU proceeds to step 103. On the other hand, if the vehicle is not moving slowly along the parking spot row PSA (102: No), the CPU returns to step 101.

[0040] When the CPU proceeds to step 103, it generates map M and then proceeds to step 104.

[0041] When the CPU proceeds to step 104, it selects one parking spot PS (the parking spot PS located to the side of the vehicle's center of gravity) from the row of parking spots PSA as the target parking spot TPS. Then the CPU proceeds to step 105.

[0042] When the CPU proceeds to step 105, it sets a parking action area A outside the target parking spot TPS on map M. Then the CPU proceeds to step 106.

[0043] When the CPU proceeds to step 106, it determines whether at least a portion of its vehicle is located within the parking area A on map M. If at least a portion of its vehicle is located within the parking area A (106: Yes), the CPU proceeds to step 107. On the other hand, if it is not located within the parking area A (106: No), the CPU returns to step 101.

[0044] When the CPU proceeds to step 107, it determines whether angle α is less than or equal to the threshold αth. If angle α is less than or equal to the threshold αth (107: Yes), the CPU proceeds to step 108. On the other hand, if angle α exceeds the threshold αth (107: No), the CPU returns to step 106.

[0045] When the CPU proceeds to step 108, it determines whether there is a high probability that the vehicle will deviate from parking area A. Specifically, the CPU determines whether the time Δt (predicted result) until the vehicle begins to deviate from parking area A is less than or equal to the threshold Δtth. Note that if the front end of the vehicle (reference point P0) is located outside parking area A, time Δt will be "0" or a negative value. If time Δt is less than or equal to the threshold Δtth (108: Yes), the CPU determines that there is a high probability that the vehicle will deviate from parking area A and proceeds to step 109. On the other hand, if time Δt exceeds the threshold Δtth (108: No), the CPU determines that there is a low probability that the vehicle will deviate from parking area A and returns to step 106.

[0046] When the CPU proceeds to step 109, it determines whether the accelerator pedal AP was pressed accidentally. If the CPU determines that the accelerator pedal AP was pressed accidentally (109: Yes), it proceeds to step 110. On the other hand, if the CPU does not determine that the accelerator pedal AP was pressed accidentally (109: No), it returns to step 106.

[0047] When the CPU proceeds to step 110, it starts acceleration suppression control. That is, the CPU controls the drive unit 30 so that the throttle valve opening does not increase (suppressing the acceleration of the vehicle). Then the CPU proceeds to step 111.

[0048] When the CPU proceeds to step 111, it determines whether the accelerator pedal AP depression depth AD is less than or equal to threshold ADth1, which is smaller than threshold ADth0. If the depression depth AD is less than or equal to threshold ADth1 (111: Yes), the CPU proceeds to step 112. On the other hand, if the depression depth AD exceeds threshold ADth1, the CPU returns to step 111. In other words, increasing the throttle valve opening is prohibited until the force pressing the accelerator pedal AP is released and the depression depth AD becomes somewhat shallower. Note that decreasing the throttle valve opening is permitted.

[0049] When the CPU proceeds to step 112, it terminates the acceleration suppression control (releases acceleration suppression). Then, the CPU returns to step 106.

[0050] (effect) According to the driver assistance system 1, if the driver accidentally presses the accelerator pedal AP while the vehicle is moving forward during a reverse parking maneuver, the acceleration of the vehicle is suppressed. This enhances the safety of the vehicle.

[0051] It should be noted that the present invention is not limited to the embodiments described above, and various modifications can be adopted within the scope of the present invention.

[0052] (Variation 1) The shape of the parking area A in map M is not limited to a rectangle. For example, as shown in Figure 5, a sector-shaped area may be adopted as the parking area A. Alternatively, a semicircular area may be adopted as the parking area A.

[0053] (Modification 2) The driver assistance ECU 10 may detect the operating status (flashing or off) of the turn signal in the parking area A, and if the turn signal is flashing, it may be unable to perform acceleration suppression control.

[0054] (Variation 3) In the above embodiment, when the accelerator pedal AP is accidentally pressed within the parking area A, the time Δt (=ΔL / vs) until the reference point P0 reaches the intersection point P1 is predicted, and if this time Δt is less than or equal to the threshold Δtth, the driver assistance ECU performs acceleration suppression control. Alternatively, for simplicity, the driver assistance ECU 10 may perform acceleration suppression control when the distance ΔL is less than or equal to the threshold ΔLth. [Explanation of Symbols]

[0055] 1...Driving assistance system, 10...Driving assistance ECU, 20...On-board sensor, 30...Drive system

Claims

1. An operation sensor that acquires operation information, which is information related to the operation of the driving control devices installed in the vehicle, A vehicle sensor that acquires vehicle information, which is information about the driving status of the vehicle, A surrounding sensor acquires surrounding information, which is information about targets present around the vehicle, A control device having an error detection function that determines whether the accelerator pedal of the vehicle has been pressed incorrectly based on the aforementioned operation information, and an acceleration suppression function that suppresses the acceleration of the vehicle, A driver assistance device equipped with, The control device is Based on the surrounding information, one parking spot is selected as the target parking spot from a row of multiple parking spots arranged in parallel. A parking action area is defined as the area where the vehicle is expected to move when it is parked backward into the target parking spot. Within this parking action area, if it is determined that the direction of the vehicle relative to the target parking spot is within a predetermined range, and that there is a high probability that the vehicle will move forward and deviate from the parking action area, and if it is determined that the accelerator pedal of the vehicle has been mistakenly pressed, the acceleration of the vehicle is suppressed. A driver assistance system configured in such a way.

2. In the driving support device according to claim 1, The control device is When it is determined that the vehicle is traveling along the row of parking spots in the direction of the arrangement of the parking spots, and that the vehicle's speed is below a predetermined value, one parking spot located to the side of the vehicle is selected as the target parking spot. A driver assistance system configured in such a way.

3. In the driving support device according to claim 1 or claim 2, The control device is If the angle between the center line, which passes through the center of the vehicle in the width direction and extends forward of the vehicle, and the longitudinal direction of the target parking spot is less than or equal to a predetermined value, and the distance from a predetermined part of the vehicle to the intersection point of the center line and the outer edge of the parking area is less than or equal to a predetermined value, or the predicted time until the predetermined part reaches the intersection point is less than or equal to a predetermined value, then it is determined that there is a high probability that the vehicle will deviate from the parking area. A driver assistance system configured in such a way.

4. An operation information acquisition step is to acquire operation information, which is information related to the operation of the driving control devices equipped in the vehicle, A vehicle information acquisition step that acquires vehicle information, which is information about the driving status of the vehicle, A surrounding information acquisition step, which acquires surrounding information that is information about targets present around the vehicle, A control step including: an error detection step that determines whether the accelerator pedal of the vehicle was pressed incorrectly based on the aforementioned operation information; and an acceleration suppression step that suppresses the acceleration of the vehicle if it is determined that the accelerator pedal was pressed incorrectly during the process of the vehicle entering a parking spot. A driving assistance method that includes, The control step is, Based on the surrounding information, one parking spot is selected as a target parking spot from a row of parallel parking spots, a parking action area is defined as the area where the vehicle is expected to move when it is parked backward into the target parking spot, and within the parking action area, it is determined that the direction of the vehicle relative to the target parking spot is within a predetermined range, and it is determined that there is a high probability that the vehicle will move forward and deviate from the parking action area, and it is also determined that the accelerator pedal of the vehicle has been mistakenly pressed, and the acceleration of the vehicle is suppressed. A driver assistance method configured in such a way.

5. The computer installed in the vehicle, An operation information acquisition step is to acquire operation information, which is information related to the operation of the driving control devices equipped in the vehicle, A vehicle information acquisition step that acquires vehicle information, which is information about the driving status of the vehicle, A surrounding information acquisition step, which acquires surrounding information that is information about targets present around the vehicle, A control step including: an error detection step that determines whether the accelerator pedal of the vehicle was pressed incorrectly based on the aforementioned operation information; and an acceleration suppression step that suppresses the acceleration of the vehicle if it is determined that the accelerator pedal was pressed incorrectly during the process of the vehicle entering a parking spot. A driver assistance program that enables the execution of, The control step is, Based on the surrounding information, one parking spot is selected as a target parking spot from a row of parallel parking spots, a parking action area is defined as the area where the vehicle is expected to move when it is parked backward into the target parking spot, and within the parking action area, it is determined that the direction of the vehicle relative to the target parking spot is within a predetermined range, and it is determined that there is a high probability that the vehicle will move forward and deviate from the parking action area, and it is also determined that the accelerator pedal of the vehicle has been mistakenly pressed, and the acceleration of the vehicle is suppressed. A driver assistance program configured in such a way.

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