Driving assistance device, driving assistance method, and program

Abstract

This driving assistance device makes a second preparatory motion when the degree of proximity between a target object and a vehicle satisfies a third condition and when it is determined, upon satisfaction of the third condition, that there will be no advancible space on traveling courses on the lateral sides of the target object after making avoidance thereof by steering; and makes a third preparatory motion when the existence of the target object is uncertain and traveling courses on the lateral sides of a traveling course on which the vehicle is present are in a congested state.

Description

【Technical Field】 【0001】 The present invention relates to a driving support device, a driving support method, and a program. 【Background Art】 【0002】 In recent years, inventions of vehicle control devices that perform automatic deceleration control and automatic steering control have been disclosed (see, for example, Patent Document 1). 【Prior Art Documents】 【Patent Documents】 【0003】 【Patent Document 1】 Japanese Unexamined Patent Application Publication No. 2020-50010 【Summary of the Invention】 【Problems to be Solved by the Invention】 【0004】 In a vehicle capable of performing automatic steering control in addition to automatic deceleration control, the probability of being able to quickly respond to a sudden change in the surrounding environment of the vehicle is high, and the margin of control becomes relatively high. On the other hand, when there is no avoidance space on the side of the target object, automatic steering control becomes difficult, so the margin of control is the same as that of a vehicle that only performs automatic deceleration control. In the conventional technology, there are cases where it is not possible to perform operations according to such environmental differences. 【0005】 The present invention has been made in consideration of such circumstances, and one of the objectives is to provide a driving support device, a driving support method, and a program that can perform appropriate preliminary operations according to the recognition status of the target object. 【Means for Solving the Problems】 【0006】 The driving support device, the driving support method, and the program according to this invention employ the following configuration. (1) A driving assistance device according to one aspect of the present invention includes a braking control unit that, when the degree of proximity between the target object and the vehicle is satisfied by a first condition, refers to the output of a detection device that detects the presence of an object in front of the vehicle, and instructs the vehicle's braking device to stop the vehicle, and a steering avoidance control unit that instructs the vehicle's steering device to avoid contact with the target object by steering, wherein the braking control unit includes a first preparatory action control unit that performs a first preparatory action when the degree of proximity is satisfied by a second condition, and when the degree of proximity is satisfied by a third condition, and Article 3 The system further includes a second preparatory action control unit that performs a second preparatory action if, at the time the condition is met, it is determined that there is no space to proceed after steering avoidance in any of the roads to the side of the target object, and the second preparatory action control unit performs a third preparatory action if the existence of the target object is unknown and the road to the side of the road where the vehicle is located is congested, and the first condition is met when the degree of approach is higher than that of the second condition, and the second condition is met when the degree of approach is higher than that of the third condition. 【0007】 (2) In the embodiment of (1) above, the second preliminary operation is an operation that is started at an earlier timing than the first preliminary operation. 【0008】 (3): In the embodiment of (1) or (2) above, at least one of the first preparatory action and the second preparatory action is an action that instructs the braking device to output a braking force smaller than the braking force that the braking control unit instructs the braking device to output. 【0009】 (4): In the embodiment of (3) above, both the first preparatory action and the second preparatory action are actions that instruct the braking device to output a braking force smaller than the braking force that the braking control unit instructs the braking device to output, and the braking force initially output in the second preparatory action is smaller than the braking force initially output in the first preparatory action. 【0010】 (5) In the embodiment of (4) above, the third preliminary operation is an operation in which the output device is instructed to display, output an audio, or output a vibration for the purpose of drawing attention, and then the braking control unit instructs the braking device to output a braking force smaller than the braking force that the braking device is instructed to output. 【0011】 (6) In any embodiment of (1) to (5) above, the third preparatory action includes an action that instructs the braking device and the vehicle's driving force output device to suppress acceleration and deceleration of the vehicle until the target object is recognized. 【0012】 (7) In any embodiment of (1) to (6) above, the second preliminary operation control unit performs the third preliminary operation if the existence of the target object is unknown and all of the lanes adjacent to the lane where the vehicle is located are congested, and does not perform the third preliminary operation if at least one of the lanes adjacent to the lane where the vehicle is located is not congested. 【0013】 (8) In any of the embodiments of (1) to (6) above, the second preliminary operation control unit performs the third preliminary operation if the existence of the target object is unknown and all of the lanes to the side of the lane where the vehicle is located are congested; the third preliminary operation is not performed if the existence of the target object is unknown, there are lanes to the left and right of the lane where the vehicle is located, and only one of the lanes is congested, and a branch road is connected to the congested lane; and the third preliminary operation is performed if the existence of the target object is unknown, there are lanes to the left and right of the lane where the vehicle is located, and only one of the lanes is congested, and a branch road is not connected to the congested lane. 【0014】 (9): A driving assistance method according to another aspect of the present invention involves a driving assistance device that refers to the output of a detection device for detecting the presence of an object in front of a vehicle, and when the degree of proximity between the target object and the vehicle satisfies a first condition, it instructs the vehicle's braking system to stop the vehicle and instructs the vehicle's steering system to avoid contact with the target object by steering, or both; when the degree of proximity satisfies a second condition, it performs a first preliminary action; when the degree of proximity satisfies a third condition, and it is determined that at the time the third condition is satisfied, there is no space to proceed after avoiding the target object by steering in any of the roads to the side of the target object; when the presence of the target object is unknown and the road to the side of the road where the vehicle is located is congested, it performs a third preliminary action; the first condition is satisfied when the degree of proximity is higher than that of the second condition, and the second condition is satisfied when the degree of proximity is higher than that of the third condition. 【0015】 (10): A program according to another aspect of the present invention causes a computer to refer to the output of a detection device that detects the presence of an object in front of a vehicle, and, if the degree of proximity between the target object and the vehicle satisfies a first condition, to instruct the vehicle's braking system to stop the vehicle and instruct the vehicle's steering system to avoid contact with the target object by steering, or both; if the degree of proximity satisfies a second condition, to perform a first preliminary action; if the degree of proximity satisfies a third condition, and at the time the third condition is satisfied, it is determined that there is no space to proceed after avoiding the target object by steering in any of the roads to the side of the target object; and if the presence of the target object is unknown and the road to the side of the road where the vehicle is located is congested, to perform a third preliminary action, wherein the first condition is satisfied when the degree of proximity is higher than that of the second condition, and the second condition is satisfied when the degree of proximity is higher than that of the third condition. [Effects of the Invention] 【0016】 According to the above aspects (1) to (10), an appropriate preliminary operation according to the recognition status of the target object can be performed. 【Brief Description of the Drawings】 【0017】 [Figure 1] It is a configuration diagram of a vehicle equipped with the driving support device of the embodiment. [Figure 2] It is a diagram showing an outline of the functions of the driving support device. [Figure 3] It is a diagram showing an example of an operation scene of the steering avoidance control unit. [Figure 4] It is a diagram for explaining the preliminary operation. [Figure 5] It is a flowchart showing an example of the flow of processing executed by the driving support device. [Figure 6] It is a diagram for explaining whether or not to execute the third preliminary operation in Pattern A. [Figure 7] It is a flowchart showing an example of the flow of processing executed by the second preliminary operation control unit 130 when Pattern A is adopted. [Figure 8] It is a diagram for explaining whether or not to execute the third preliminary operation in Pattern B. [Figure 9] It is a flowchart showing an example of the flow of processing executed by the second preliminary operation control unit 130 when Pattern B is adopted. 【Mode for Carrying Out the Invention】 【0018】 Hereinafter, embodiments of the driving support device, driving support method, and program of the present invention will be described with reference to the drawings. 【0019】 [Overall Configuration] Figure 1 is a diagram showing the configuration of a vehicle M on which the driver assistance device 100 of the embodiment is installed. The vehicle M is, for example, a two-wheeled, three-wheeled, or four-wheeled vehicle, and its drive source is an internal combustion engine such as a diesel engine or a gasoline engine, an electric motor, or a combination thereof. The electric motor operates using power generated by a generator connected to the internal combustion engine, or discharge power from a secondary battery or fuel cell. 【0020】 Vehicle M is equipped with, for example, a camera 10, a radar device 12, a LiDAR (Light Detection and Ranging) 14, an object recognition device 16, an HMI (Human Machine Interface) 30, a vehicle sensor 40, a driver control unit 80, a driver assistance device 100, a driving force output device 200, a brake device 210, and a steering device 220. These devices and equipment are connected via multiplex communication lines such as CAN (Controller Area Network) communication lines and serial communication lines. They are connected to each other by wires, wireless communication networks, etc. Note that the configuration shown in Figure 1 is merely an example; some parts of the configuration may be omitted, or other configurations may be added. 【0021】 Camera 10 uses, for example, a CCD (Charge Coupled Device) or CMOS (Complementary This is a digital camera that utilizes a solid-state image sensor such as a metal oxide semiconductor. Camera 10 is mounted at any location on the vehicle (hereinafter referred to as vehicle M) on which the vehicle system 1 is installed. When imaging the area in front, camera 10 is mounted on the top of the front windshield, behind the rearview mirror, etc. Camera 10, for example, periodically and repeatedly images the area around vehicle M. Camera 10 may also be a stereo camera. 【0022】 The radar device 12 emits radio waves such as millimeter waves around the vehicle M and detects radio waves reflected by objects (reflected waves) to determine at least the position (distance and bearing) of an object. The radar device 12 can be mounted at any location on the vehicle M. The radar device 12 uses the FM-CW (Frequency Modulated Continuous Wave) method to determine the position and velocity of an object. It may be detected. 【0023】 LIDAR14 irradiates light (or electromagnetic waves with a wavelength close to light) around vehicle M and measures the scattered light. Based on the time from emission to reception, LIDAR14 detects the distance to the target. The irradiated light is, for example, pulsed laser light. LIDAR14 can be attached to any location on vehicle M. 【0024】 The object recognition device 16 performs sensor fusion processing on the detection results from some or all of the camera 10, radar device 12, and LIDAR 14 to recognize the position, type, speed, etc., of an object. The object recognition device 16 outputs the recognition results to the driver assistance device 100. The object recognition device 16 may output the detection results from the camera 10, radar device 12, and LIDAR 14 directly to the driver assistance device 100. The object recognition device 16 may be omitted from the vehicle system 1. Some or all of the camera 10, radar device 12, LIDAR 14, and object recognition device 16 are examples of "detection devices". 【0025】 The HMI30 displays various information to the occupants of vehicle M and accepts input operations from the occupants. The HMI30 includes various display devices, speakers, buzzers, vibration generators (vibrators), touch panels, switches, keys, etc. 【0026】 The vehicle sensor 40 includes a vehicle speed sensor for detecting the speed of the vehicle M, an acceleration sensor for detecting acceleration, a yaw rate sensor for detecting angular velocity around the vertical axis, and an orientation sensor for detecting the orientation of the vehicle M. 【0027】 The navigation device 50 includes, for example, a GNSS (Global Navigation Satellite System) receiver, a guidance control unit, and a memory unit that stores map information. The GNSS receiver determines the position of the vehicle M based on signals received from GNSS satellites. The position of the vehicle M may be determined or supplemented by an INS (Inertial Navigation System) that utilizes the output of the vehicle sensor 40. The guidance control unit determines, for example, a route from the position of the vehicle M determined by the GNSS receiver (or any input position) to a destination input by the occupant, by referring to map information, and causes the HMI 30 to output guidance information so that the vehicle M travels along the route. The map information is, for example, information in which the road shape is represented by links indicating roads and nodes connected by links. The map information may also include road curvature and POI (Point of Interest) information. The navigation device 50 communicates via a communication device. Alternatively, the vehicle M may send its current location and destination to the navigation server and obtain a route from the navigation server. 【0028】 The driver control elements 80 include, for example, an accelerator pedal, a brake pedal, a steering wheel, a shift lever, and other controls. The driver control elements 80 are equipped with sensors that detect the amount of operation or whether or not an operation is being performed, and the detection results are output to some or all of the driving force output device 200, the brake device 210, and the steering device 220. 【0029】 The driving force output device 200 outputs driving force (torque) to the drive wheels for the vehicle to move. The driving force output device 200 includes, for example, a combination of an internal combustion engine, an electric motor, and a transmission, and an ECU (Electronic Control Unit) that controls them. The CU controls the above configuration according to information input from the driver assistance device 100 or from the driver control device 80. 【0030】 The brake system 210 includes, for example, a brake caliper, a cylinder that transmits hydraulic pressure to the brake caliper, an electric motor that generates hydraulic pressure in the cylinder, and an ECU. The ECU controls the electric motor according to information input from the driver assistance device 100 or from the driver control unit 80, so that brake torque corresponding to the braking operation is output to each wheel. The brake system 210 may also include a backup mechanism that transmits hydraulic pressure generated by the operation of the brake pedal included in the driver control unit 80 to the cylinder via a master cylinder. The brake system 210 is not limited to the configuration described above, and may also be an electronically controlled hydraulic brake system that controls an actuator according to information input from the driver assistance device 100 to transmit hydraulic pressure from the master cylinder to the cylinder. 【0031】 The steering device 220 includes, for example, a steering ECU and an electric motor. The electric motor, for example, applies force to a rack and pinion mechanism to change the direction of the steering wheels. The steering ECU drives the electric motor to change the direction of the steering wheels according to information input from the driver assistance device 100 or from the driver control device 80. 【0032】 [Driving assistance system] The driver assistance device 100 includes, for example, a braking control unit 110, a steering avoidance control unit 120, and a second preliminary action control unit 130. The braking control unit 110 includes a first preliminary action control unit 112, and the second preliminary action control unit 130 includes a steering avoidance feasibility determination unit 132. These functional units are programmed by, for example, a hardware processor such as a CPU (Central Processing Unit). This is achieved by executing RAM (software). Some or all of these components may also be realized by hardware (including circuitry) such as LSI (Large Scale Integration), ASIC (Application Specific Integrated Circuit), FPGA (Field-Programmable Gate Array), and GPU (Graphics Processing Unit), or by the cooperation of software and hardware. The program may be stored in advance in a storage device (a storage device with a non-transient storage medium) such as the HDD or flash memory of the driver assistance device 100, or it may be stored in a removable storage medium such as a DVD or CD-ROM and installed in the HDD or flash memory of the driver assistance device 100 when the storage medium (non-transient storage medium) is mounted on a drive device. 【0033】 Instructions from the driver assistance device 100 to the driving force output device 200, the brake device 210, and the steering device 220 are configured internally within the driving force output device 200, the brake device 210, and the steering device 220 to be executed with priority over detection results from the driver control device 80. Regarding braking, if the braking force based on the amount of brake pedal operation is greater than the instruction from the driver assistance device 100, the system may be configured to prioritize the latter. Furthermore, a communication priority system within the in-vehicle LAN may be used as a mechanism to prioritize the execution of instructions from the driver assistance device 100. 【0034】 Figure 2 is a diagram illustrating the overview of the functions of the driver assistance system 100. The following explanation will describe each part of the driver assistance system 100 with reference to this figure and Figure 1. In Figure 2, vehicle M is traveling on a three-lane road and is in the center lane L2. M This indicates the direction of travel for vehicle M. 【0035】 The braking control unit 110 refers to the output of a detection device (described above) that detects the presence of an object in front of the vehicle M, and if the degree of proximity between the target object TO and the vehicle M satisfies the first condition, it instructs the brake device 210 and / or the driving force output device 200 to decelerate and stop the vehicle M. The target object TO is an object that is on the same road as the vehicle M and on the side in the direction of travel of the vehicle M, and is an object that the vehicle M should avoid contact with, excluding objects that can be driven over, such as manholes. The braking control unit 110 extracts such an object and sets it as the target object TO. In the example in Figure 2, the other vehicle at the rear of the conventional line is set as the target object TO. The road is, for example, a lane, but it may also be a virtual lane that the vehicle M virtually sets on a road surface where there are no road markings. The same applies in the following explanation. 【0036】 "Proximity" refers to various index values ​​that indicate the degree of proximity between objects. For example, "proximity" is the index value TTC (Time To Collision), which is obtained by dividing the distance by the relative velocity (with the direction of approach being positive). Note that if the relative velocity is negative (relatively), If the vehicle is moving away from the vehicle, TTC is assumed to be set to infinity. TTC is an index value that indicates a higher "degree of proximity" the smaller its value is. The "first condition" is satisfied if, for example, TTC is less than the first threshold Th1. The first threshold Th1 is, for example, a value of about a few tenths of a second [sec]. In place of TTC, an index value with similar properties, such as head time, distance, or other index values, may be used as the "degree of proximity". Alternatively, a TTC adjusted to take into account acceleration and jerk may be used as the "degree of proximity". In the following explanation, "degree of proximity" will be described as TTC. 【0037】 The braking control unit 110 instructs the brake device 210 and / or the driving force output device 200 to output a braking force to decelerate the vehicle M by a first deceleration B1, for example, when the TTC is less than a first threshold Th1. The first deceleration B1 is, for example, a deceleration of about 0.something G (close to 1). As a result, the braking control unit 110 quickly decelerates and stops the vehicle M, avoiding contact with the target object TO. The ECUs of the brake device 210 and the driving force output device 200 have functions to determine the brake output, regenerative control amount, engine brake amount, etc., from the instructed deceleration, and the ECUs determine the respective control amounts based on the instructed deceleration and the speed of the vehicle M. This is publicly known technology, so a detailed explanation is omitted. 【0038】 The operation of the first preliminary operation control unit 112 will be described later; first, the steering avoidance control unit 120 will be explained. 【0039】 Figure 3 shows an example of the operation of the steering avoidance control unit 120. When the braking control unit 110 determines that it is difficult to stop the vehicle M before the target object TO, the steering avoidance control unit 120 determines whether there is space for the vehicle M to move in the road to the side of the target object TO (e.g., lanes L1, L2). If it determines that space exists, it generates an avoidance trajectory ET and instructs the steering device 220 to move along the avoidance trajectory ET (steering avoidance). For example, the steering avoidance control unit 120 determines whether there is an object in the lateral region extending from slightly in front of to behind the target vehicle on both sides of the target vehicle TO, as shown in regions A2L and A2R in Figure 3. If no object exists, it determines that there is space for the vehicle M to move in the road to the side of the target object TO. The determination of whether it is difficult for the braking control unit 110 to stop the vehicle M before the target object TO may be made by the braking control unit 110 or by the steering avoidance control unit 120. The steering avoidance control unit 120 also recognizes the boundaries of the road by recognizing, for example, the white lines and shoulders in the camera image. If either of the drivable areas A2L or A2R does not exist, for example, if either lane L1 or L3 does not exist, it may determine that an object exists in that area. 【0040】 Steering avoidance is performed in situations where there is a sudden change in the vehicle's surrounding environment, such as when the target object TO decelerates unexpectedly, or when an object other than the recognized target object TO intervenes between vehicle M and target object TO and is set as a new target vehicle TO. In such situations, the deceleration calculated in advance to stop before the target vehicle TO may not be sufficient, but the steering avoidance function increases the probability of being able to respond to sudden changes in the vehicle's surrounding environment. 【0041】 [Preparatory actions] The processing of the first preliminary operation control unit 112 and the second preliminary operation control unit 130 will be described below. Figure 4 is a diagram illustrating the preliminary operation. 【0042】 The first preliminary action control unit 112 performs a first preliminary action to inform the driver of vehicle M of the presence of the target object TO when the degree of proximity between the target object TO and vehicle M satisfies the second condition (for example, when TTC is less than the second threshold Th2). The first preliminary action is, for example, an action that instructs the brake device 210 and / or the driving force output device 200 to output a braking force that decelerates vehicle M by a second deceleration B2 from when TTC is less than the second threshold Th2 until it is less than the first threshold Th1. The second deceleration B2 is a deceleration smaller (closer to zero) than the first deceleration B1. The second threshold Th2 is a value larger than the first threshold Th1. Therefore, the first condition is a condition that is satisfied when the degree of proximity is higher than that of the second condition. 【0043】 The second preliminary action control unit 130 performs a second preliminary action to inform the driver of vehicle M of the presence of the target object TO if the degree of proximity between the target object TO and vehicle M satisfies the third condition (for example, TTC is less than the third threshold Th3), and if, at the time the third condition is satisfied, it is determined that there is no space to proceed after steering to avoid the target object TO in any of the lateral paths. The determination regarding the space to proceed is made by the steering avoidance feasibility determination unit 132. The third threshold Th3 is a value greater than the second threshold Th2. Therefore, the second condition is a condition that is satisfied when the degree of proximity is higher than that of the third condition. 【0044】 The steering avoidance feasibility determination unit 132, for example, when TTC falls below the third threshold Th3, determines whether an object exists in the lateral region extending from slightly in front of to behind the target vehicle on both sides of the target vehicle TO, as shown in regions A1L and A1R in Figure 4. If no object exists, it determines that there is space on the road to the side of the target object TO that the vehicle M can proceed through. Regions A1L and A1R are set to be larger than regions A2L and A2R, respectively, taking into account future uncertainties. Similar to the steering avoidance control unit 120, the steering avoidance feasibility determination unit 132 also recognizes road boundaries by recognizing, for example, white lines and shoulders in camera images. If neither of the drivable regions A1L and A1R exists, for example, if neither lane L1 nor L3 exists, it may determine that an object exists in that region. In the example in Figure 4, since there is no object in region A1R, the steering avoidance feasibility determination unit 132 determines that there is space in the path to the side of the target object TO for the vehicle M to proceed. 【0045】 The second preparatory action is, for example, when the TTC has gone from below the third threshold Th3 until it goes below the first threshold Th1, the TTC first instructs the brake device 210 and / or the drive force output device 200 to output a braking force to decelerate the vehicle M by a third deceleration B3, and then instructs the brake device 210 and / or the drive force output device 200 to output a braking force to decelerate the vehicle M by a fourth deceleration B4. The third deceleration B3 is, for example, a deceleration smaller (closer to zero) than the second deceleration B2, and the fourth deceleration B4 is a deceleration larger than or about the same as the second deceleration, and smaller than the first deceleration B1. The timing for switching from the third deceleration B3 to the fourth deceleration B4 may be set arbitrarily. 【0046】 Thus, the second preparatory action is initiated earlier and performed in multiple stages compared to the first preparatory action. As mentioned above, in situations where steering avoidance is possible, the probability of being able to respond quickly to sudden changes in the surrounding environment of the vehicle increases, and the margin of control becomes relatively high. On the other hand, if there is no space to avoid the target object to the side, even if the vehicle is equipped with a steering avoidance function, it becomes difficult to perform it, and the margin of control becomes the same as that of a vehicle that can only perform automatic stopping. In other words, in situations where steering avoidance is difficult, it is preferable to give the driver of vehicle M a warning earlier and more effectively than in situations where steering avoidance is possible. According to this embodiment, by initiating the second preparatory action earlier and performing it in multiple stages compared to the first preparatory action, appropriate preparatory actions can be performed according to the surrounding conditions of the target object. 【0047】 Figure 5 is a flowchart showing an example of the processing flow performed by the driver assistance device 100. 【0048】 First, the braking control unit 110 identifies the target object TO (step S1). Next, the second preliminary operation control unit 130 determines whether the TTC between the vehicle M and the target object TO is less than the third threshold Th3 (step S2). If the TTC between the vehicle M and the target object TO is greater than or equal to the third threshold Th3, the process returns to step S1. 【0049】 If the TTC between vehicle M and target object TO is determined to be less than the third threshold Th3, the steering avoidance feasibility determination unit 132 of the second preliminary operation control unit 130 determines whether or not there is space on the side of the target object TO that vehicle M can proceed (step S3). 【0050】 If it is determined that there is no space for vehicle M to proceed in the path to the side of the target object TO, the second preliminary operation control unit 130 executes the second preliminary operation (step S4). Next, the second preliminary operation control unit 130 determines whether the TTC between vehicle M and target object TO has risen to or above the third threshold Th3 (step S5). If it is determined that the TTC between vehicle M and target object TO has risen to or above the third threshold Th3, the process returns to step S1. 【0051】 If it is not determined that the TTC between vehicle M and target object TO has increased to or above the third threshold Th3, the braking control unit 110 determines whether the TTC between vehicle M and target object TO is less than the first threshold Th1 (step S6). If it is determined that the TTC between vehicle M and target object TO is greater than or equal to the first threshold Th1, the process returns to step S3. If a positive determination is obtained in step S3, the second preparatory operation is stopped, and the process from step S8 onwards is executed. If it is determined that the TTC between vehicle M and target object TO is less than the first threshold Th1, the braking control unit 110 outputs a braking force to the brake device 210 and / or the driving force output device 200 to decelerate vehicle M by a first deceleration B1, thereby decelerating and stopping vehicle M (step S7). At this time, as described above, steering avoidance may be performed instead of (or in addition to) decelerating and stopping vehicle M. 【0052】 If a positive determination is obtained in step S3, that is, if the TTC between vehicle M and target object TO is less than the third threshold Th3 and there is space on the side of the target object TO for vehicle M to proceed, the first preliminary operation control unit 112 of the braking control unit 110 determines whether the TTC between vehicle M and target object TO is less than the second threshold Th2 (step S8). If it is determined that the TTC between vehicle M and target object TO is greater than or equal to the second threshold Th2, the process returns to step S1. 【0053】 If the first preliminary operation control unit 112 determines that the TTC between vehicle M and target object TO is less than the second threshold Th2, it executes the first preliminary operation (step S9). Next, the first preliminary operation control unit 112 determines whether the TTC between vehicle M and target object TO has increased to or above the second threshold Th2 (step S10). If it is determined that the TTC between vehicle M and target object TO has increased to or above the second threshold Th2, the process returns to step S1. 【0054】 If it is not determined that the TTC between vehicle M and target object TO has increased to or above the second threshold Th2, the braking control unit 110 determines whether the TTC between vehicle M and target object TO is less than the first threshold Th1 (step S11). If it is determined that the TTC between vehicle M and target object TO is greater than or equal to the first threshold Th1, the process returns to step S3. If a negative determination is obtained in step S3, the first preparatory operation is stopped, and the process from step S4 onwards is executed. If it is determined that the TTC between vehicle M and target object TO is less than the first threshold Th1, the braking control unit 110 outputs the first deceleration B1 to the brake device 210 and / or the driving force output device 200 to decelerate and stop vehicle M (step S7). 【0055】 [Control based on the recognition status of the target object and the condition of the lateral path] The following describes the control based on the recognition status of the target object and the condition of the side lanes. The second preliminary operation control unit 130 performs a third preliminary operation if the presence of the target object TO is unknown and the side lanes (for example, lanes L1 and L3 in Figure 2) of the lane where vehicle M is located (for example, lane L2 in Figure 2) are congested. "The side lanes are congested" means, for example, that "the area in the side lanes from the position corresponding to the position of vehicle M to a reference distance ahead in the direction of travel is congested." 【0056】 The third preparatory action is, for example, an action instructing the HMI 30 to display, output sound, or output vibration for a warning, and then instructing the brake device 210 and / or the driving force output device 200 to output a braking force that decelerates the vehicle M at a deceleration smaller than the first deceleration B1. The third preparatory action may also include an action instructing the brake device 210 and the driving force output device 200 to suppress the acceleration and deceleration of the vehicle M until the target object TO is recognized. Suppressing the acceleration and deceleration of the vehicle M may be achieved by suppressing the jerk of the vehicle M. For example, the second preparatory action control unit 130 instructs the brake device 210 and the driving force output device 200 to set an upper limit for the jerk. As a result, the respective ECUs of the brake device 210 and the driving force output device 200 set limits on the operation amount generated in response to the control instruction, and as a result the acceleration and deceleration of the vehicle M are suppressed. 【0057】 "The existence of the target object TO is unknown" means, for example, that the recognition process for the target object TO, which is performed by referring to the output of the detection device (described above), was not performed with sufficient confidence, resulting in a state where it is unknown whether the target object TO exists or not, and does not include a state where it has been confirmed with sufficient confidence that the target object TO "does not exist". For example, a situation in which "the existence of the target object TO is unknown" may occur in the event of a sudden change in weather or when direct sunlight enters the camera 10. On the other hand, a situation in which the surrounding conditions of the vehicle M can be recognized to a sufficiently far distance in the direction of travel and it is clear that there are no preceding vehicles is not a situation in which "the existence of the target object TO is unknown". Even in a situation in which "the existence of the target object TO is unknown", it may be possible to detect a traffic jam in an area close to the vehicle M on the side of the road. The entity performing the recognition process (which may be the object recognition device 16, the braking control unit 110, or the second preliminary operation control unit 130) is configured to output the confidence level of the recognition result while performing the recognition process. Traffic congestion is defined as a condition where "the average speed on a road is below a predetermined speed," or "the average distance between vehicles on a road is below a predetermined distance." 【0058】 By the way, there may be two "lateral lanes" on either side of the lane where vehicle M is located, or there may be only one, or there may be none. In this regard, the driver assistance device 100 may adopt either of the following two control patterns. In the following explanation, the lane where vehicle M is located will be referred to as the "own lane," and the "lateral lanes" will be referred to as adjacent lanes. 【0059】 [Pattern A] The second preliminary action control unit 130 may perform the third preliminary action only when there are two adjacent lanes on the left and right, and the presence of the target object TO is unknown, and both adjacent lanes on the left and right are congested. If neither of the adjacent lanes is congested, the third preliminary action may not be performed. 【0060】 Figure 6 is a diagram illustrating the feasibility of executing the third preparatory action in Pattern A. In the figure, Case 1 shows a situation where there are two adjacent lanes on the left and right, the presence of the target object TO is unknown, and both adjacent lanes on the left and right are congested. In such a case, the second preparatory action control unit 130 performs the third preparatory action. The information output by the third preparatory action is, for example, "There is a possibility of congestion ahead." This is because, under such circumstances, there is a high possibility that there will be no room to steer to avoid the situation in an emergency, and it is highly necessary to prepare the driver in advance to brake and stop. 【0061】 In the diagram, Case 2 is a situation where there are two adjacent lanes, one on the left and one on the right, and the presence of the target object TO is unknown, and neither of the adjacent lanes is congested. In such a case, the second preparatory action control unit 130 does not perform the third preparatory action. This is because, since at least one of the adjacent lanes is not congested, there is room to perform steering avoidance in an emergency. 【0062】 When pattern A is adopted, the second preliminary operation control unit 130, if adjacent lanes exist on only one side (left or right), will consider "both adjacent lanes are congested" if the adjacent lane is congested, and will consider "neither adjacent lane is congested" if the adjacent lane is not congested. Furthermore, if there are no adjacent lanes, the second preliminary operation control unit 130 will consider "both adjacent lanes are congested." 【0063】 Figure 7 is a flowchart showing an example of the processing flow executed by the second preliminary operation control unit 130 when pattern A is adopted. First, the second preliminary operation control unit 130 determines whether or not the situation is such that "the existence of the target object TO is unknown" (step S20). If it is determined that the situation is such that "the existence of the target object TO is unknown", the second preliminary operation control unit 130 determines whether or not both adjacent lanes are congested (step S21). If it is determined that both adjacent lanes are congested, the second preliminary operation control unit 130 performs the third preliminary operation (step S22). On the other hand, if a negative determination result is obtained in either step S20 or step S21, the second preliminary operation control unit 130 does not perform the third preliminary operation (step S23). 【0064】 [Pattern B] The second preliminary operation control unit 130 may perform a third preliminary operation when there are two adjacent lanes on the left and right, and the presence of the target object TO is unknown, and both adjacent lanes on the left and right are congested. If one of the adjacent lanes is congested and the other is not, the third preliminary operation may be omitted if the congested adjacent lane is connected to a branch road (within a predetermined distance in the direction of travel of the vehicle M), and the third preliminary operation may be performed if the congested adjacent lane is not connected to a branch road. 【0065】 Figure 8 is a diagram illustrating whether the third preparatory action can be performed in Pattern B. Case 1 is the same as Pattern A, so it is not illustrated or explained. Case 2 shows a similar situation to Pattern A, but in Pattern B, the third preparatory action is performed. In Case 3, one of the adjacent lanes is not congested, and the adjacent lane that is congested is connected to the junction road DW. In such a case, the third preparatory action is not performed. This is because it is presumed that congestion is occurring because vehicles are lined up on the junction road DW. In Pattern B, for Case 2, where such an assumption does not apply, a more cautious control is performed, and the third preparatory action is performed. The existence of a junction road in the direction of travel of vehicle M (more precisely, the existence of a junction road within a predetermined distance from vehicle M in the direction of travel of vehicle M) is recognized, for example, by comparing the position of vehicle M measured by the navigation device 50 with map information. 【0066】 Furthermore, when Pattern B is adopted, the second preliminary action control unit 130 will not perform the third preliminary action if, when adjacent lanes exist on only one side (either left or right), the adjacent lane is congested and connected to a branch road, and will not perform the third preliminary action if the adjacent lane is congested and not connected to a branch road. Also, if the adjacent lane is not congested, it will be assumed that "both adjacent lanes on the left and right are not congested." In addition, if there are no adjacent lanes, the second preliminary action control unit 130 will assume that "both adjacent lanes on the left and right are congested." 【0067】 Figure 9 is a flowchart showing an example of the processing flow executed by the second preliminary operation control unit 130 when pattern B is adopted. First, the second preliminary operation control unit 130 determines whether or not the situation is such that "the existence of the target object TO is unknown" (step S40). If it is determined that the situation is such that "the existence of the target object TO is unknown", the second preliminary operation control unit 130 determines whether or not both adjacent lanes are congested (step S41). If it is determined that both adjacent lanes are congested, the second preliminary operation control unit 130 performs the third preliminary operation (step S42). If the situation is not such that "the existence of the target object TO is unknown", the second preliminary operation control unit 130 does not perform the third preliminary operation (step S45). 【0068】 If a negative result is obtained in step S41, the second preliminary operation control unit 130 determines whether one of the adjacent lanes is congested (step S43). If it is determined that one of the adjacent lanes is congested, the second preliminary operation control unit 130 determines whether the congested adjacent lane is connected to a branch road (step S44). If it is determined that the congested adjacent lane is not connected to a branch road, the second preliminary operation control unit 130 performs the third preliminary operation (step S42). If it is determined that the congested adjacent lane is connected to a branch road, the second preliminary operation control unit 130 does not perform the third preliminary operation (step S45). If a negative result is obtained in step S43, the second preliminary operation control unit 130 does not perform the third preliminary operation (step S45). 【0069】 According to the embodiments described above, if the degree of proximity between the target object TO and the vehicle M satisfies the third condition, and it is determined that at the time the third condition is met, there is no space to proceed after steering to avoid the target object TO in any of the lanes to the side of the target object TO, a second preliminary action is performed. If the presence of the target object TO is unknown and the lanes to the side of the lane where the vehicle M is located are congested, a third preliminary action is performed. Thus, an appropriate preliminary action can be taken according to the recognition status of the target object TO. 【0070】 In the above embodiment, if the branching road to the destination set in the navigation device 50 is on either the left or right side of the lane in which the vehicle M is traveling, a lane change may be forcibly performed during the preparatory operation. This will ultimately guide the vehicle M to move in the direction of approaching the destination, and to a state in which the target object is not near the vehicle M. 【0071】 The embodiments described above can be expressed as follows. A storage medium that stores computer-readable instructions, A processor connected to the storage medium, The processor executes the computer-readable instructions to: The system refers to the output of a detection device that detects the presence of an object in front of the vehicle, and if the index value obtained by dividing the distance between the target object and the vehicle by the relative speed is less than a first threshold, it instructs the vehicle's braking system to stop the vehicle, or instructs the vehicle's steering system to avoid contact with the target object by steering, or both. If the aforementioned index value is less than the second threshold, the first preliminary operation is performed. If the aforementioned index value is less than the third threshold, and at the time the aforementioned index value falls below the third threshold, it is determined that there is no space to proceed after the steering maneuver to avoid the target object in any of the lateral paths, then a second preliminary action is performed. If the existence of the aforementioned object is unknown and the adjacent lane to the lane where the vehicle is located is congested, perform the third preliminary action. The first threshold is smaller than the second threshold. The second threshold is smaller than the third threshold. Both the first and second preparatory actions are operations that instruct the braking device to output a braking force smaller than the braking force that the braking control unit instructs the braking device to output, and the second preparatory action is an operation that instructs the braking device to output the braking force at an earlier timing than the first preparatory action. Driving assistance system. 【0072】 Although embodiments for carrying out the present invention have been described above using examples, the present invention is not limited in any way to these embodiments, and various modifications and substitutions can be made without departing from the spirit of the present invention. [Explanation of symbols] 【0073】 10 Cameras 12 Radar equipment 14 LIDAR 16 Object recognition device 80. Driver control panel 100 Driving support devices 110 Braking Control Unit 112 First Preliminary Operation Control Unit 120 Steering Avoidance Control Unit 130 Second Preliminary Operation Control Unit 132 Steering avoidance feasibility determination unit 200 Driving force output device 210 Brake system 220 Steering System

Claims

[Claim 1] A braking control unit that, by referring to the output of a detection device that detects the presence of an object in front of the vehicle, instructs the vehicle's braking system to stop the vehicle if the degree of proximity between the target object and the vehicle satisfies a first condition, A steering avoidance control unit that instructs the steering device of the vehicle to avoid contact with the aforementioned target object by steering, Equipped with, The braking control unit includes a first preliminary operation control unit that performs a first preliminary operation when the degree of approach satisfies the second condition, The system further includes a second preliminary action control unit that performs a second preliminary action when the degree of approach satisfies the third condition, and when it is determined that there is no space to proceed after avoiding the target object by steering in any of the sideways paths at the time the third condition is satisfied. The second preliminary operation control unit performs a third preliminary operation if the existence of the target object is unknown and the lane adjacent to the lane where the vehicle is located is congested. The first condition is a condition that is satisfied when the degree of proximity is higher than that of the second condition, The second condition is a condition that is satisfied when the degree of proximity is higher than that of the third condition. The second preliminary operation control unit is: If the existence of the aforementioned object is unknown, and all lanes adjacent to the lane where the vehicle is located are congested, the third preliminary action is performed. If at least one of the lanes adjacent to the lane where the aforementioned vehicle is located is not congested, the third preliminary action will not be performed. Driving assistance system. [Claim 2] A braking control unit that, by referring to the output of a detection device that detects the presence of an object in front of the vehicle, instructs the vehicle's braking system to stop the vehicle if the degree of proximity between the target object and the vehicle satisfies a first condition, A steering avoidance control unit that instructs the steering device of the vehicle to avoid contact with the aforementioned target object by steering, Equipped with, The braking control unit includes a first preliminary operation control unit that performs a first preliminary operation when the degree of approach satisfies the second condition, The system further includes a second preliminary action control unit that performs a second preliminary action when the degree of approach satisfies the third condition, and when it is determined that there is no space to proceed after avoiding the target object by steering in any of the sideways paths at the time the third condition is satisfied. The second preliminary operation control unit performs a third preliminary operation if the existence of the target object is unknown and the lane adjacent to the lane where the vehicle is located is congested. The first condition is a condition that is satisfied when the degree of proximity is higher than that of the second condition, The second condition is a condition that is satisfied when the degree of proximity is higher than that of the third condition. The second preliminary operation control unit is: If the existence of the aforementioned object is unknown, and all lanes adjacent to the lane where the vehicle is located are congested, the third preliminary action is performed. If the existence of the aforementioned object is unknown, and there are lanes to the left and right of the lane where the vehicle is located, and only one of the lanes is congested, and a branch road is connected to the congested lane, then the third preliminary action will not be performed. If the existence of the aforementioned object is unknown, and there are lanes to the left and right of the lane where the vehicle is located, and only one of the lanes is congested, and no branch road is connected to the congested lane, then the third preliminary action is performed. Driving assistance system. [Claim 3] A braking control unit that, by referring to the output of a detection device that detects the presence of an object in front of the vehicle, instructs the vehicle's braking system to stop the vehicle if the degree of proximity between the target object and the vehicle satisfies a first condition, A steering avoidance control unit that instructs the steering device of the vehicle to avoid contact with the aforementioned target object by steering, Equipped with, The braking control unit includes a first preliminary operation control unit that performs a first preliminary operation when the degree of approach satisfies the second condition, The system further includes a second preliminary action control unit that performs a second preliminary action when the degree of approach satisfies the third condition, and when it is determined that there is no space to proceed after avoiding the target object by steering in any of the sideways paths at the time the third condition is satisfied. The second preliminary operation control unit performs a third preliminary operation if the presence of the target object at a first distance ahead of the vehicle is unknown, and the lane to the side of the lane where the vehicle is located, which is closer than the first distance, is congested. The first condition is a condition that is satisfied when the degree of proximity is higher than that of the second condition, The second condition is a condition that is satisfied when the degree of proximity is higher than that of the third condition. Driving assistance system. [Claim 4] The second preparatory action is an action that is initiated at an earlier timing than the first preparatory action. The driving support device according to any one of claims 1 to 3. [Claim 5] At least one of the first preparatory action and the second preparatory action is an action that instructs the braking device to output a braking force smaller than the braking force that the braking control unit instructs the braking device to output. The driving support device according to any one of claims 1 to 3. [Claim 6] Both the first and second preparatory actions are operations that instruct the braking device to output a braking force smaller than the braking force that the braking control unit instructs the braking device to output. The braking force initially output in the second preparatory operation is smaller than the braking force initially output in the first preparatory operation. The driving support device according to claim 5. [Claim 7] The third preliminary action is an action in which the output device is instructed to provide a warning by displaying a message, outputting an audio signal, or outputting a vibration signal, and then the braking control unit instructs the braking device to output a braking force smaller than the braking force that the braking device is instructed to output. The driving support device according to claim 6. [Claim 8] The third preliminary action includes an action to instruct the braking system and the vehicle's driving force output device to suppress acceleration and deceleration of the vehicle until the target object is recognized. The driving support device according to any one of claims 1 to 7. [Claim 9] The driver assistance system, The system refers to the output of a detection device that detects the presence of an object in front of the vehicle, and if the degree of proximity between the target object and the vehicle satisfies the first condition, it instructs the vehicle's braking system to stop the vehicle, or instructs the vehicle's steering system to avoid contact with the target object by steering, or both. When the degree of proximity between the target object and the vehicle satisfies the second condition, the first preliminary action is performed. If the degree of proximity between the target object and the vehicle satisfies the third condition, and if, at the time the third condition is satisfied, it is determined that there is no space to proceed after the steering maneuver to avoid the target object, then the second preliminary action is performed. If the existence of the aforementioned object is unknown and the adjacent lane to the lane where the vehicle is located is congested, a third preliminary action is performed. The first condition is a condition that is satisfied when the degree of proximity is higher than that of the second condition. The second condition is a condition that is satisfied when the degree of proximity is higher than that of the third condition. If the existence of the aforementioned object is unknown, and all lanes adjacent to the lane where the vehicle is located are congested, the third preliminary action is performed. If at least one of the lanes adjacent to the lane where the aforementioned vehicle is located is not congested, the third preliminary action will not be performed. Driving assistance methods. [Claim 10] On the computer, The system refers to the output of a detection device that detects the presence of an object in front of the vehicle, and if the degree of proximity between the target object and the vehicle satisfies the first condition, it instructs the vehicle's braking system to stop the vehicle, or instructs the vehicle's steering system to avoid contact with the target object by steering, or both. If the degree of proximity between the target object and the vehicle satisfies the second condition, the first preliminary action is performed. If the degree of proximity between the target object and the vehicle satisfies the third condition, and if, at the time the third condition is satisfied, it is determined that there is no space to proceed after the steering maneuver to avoid the target object, then the second preliminary action is performed. A program to perform a third preliminary action when the existence of the aforementioned object is unknown and the road adjacent to the road where the vehicle is located is congested, The first condition is a condition that is satisfied when the degree of proximity is higher than that of the second condition. The second condition is a condition that is satisfied when the degree of proximity is higher than that of the third condition. If the existence of the aforementioned object is unknown, and all lanes adjacent to the lane where the vehicle is located are congested, the third preliminary action is performed. If at least one of the lanes adjacent to the lane where the aforementioned vehicle is located is not congested, the third preliminary action will not be performed. program.