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CN-121989923-A - Driving assistance device

CN121989923ACN 121989923 ACN121989923 ACN 121989923ACN-121989923-A

Abstract

The invention aims to provide a driving assistance device, which can improve deceleration control and sufficiently reduce collision risk even when a transverse object appears from a blind area of a shielding object. When an execution condition is satisfied that the collision risk of the vehicle colliding with the object is equal to or greater than a threshold risk, the driving support device executes deceleration control for decelerating the vehicle so as to reduce the collision risk. The driving support device determines whether or not a shielding condition, which is established when a blind area of the vehicle is generated between the vehicle and an object crossing the road and a shielding object crossing the object is hidden, is established when a pedestrian crossing exists within a predetermined distance from the vehicle in a traveling direction of the vehicle on the road on which the vehicle travels, and performs at least one of a deceleration preparation process for starting deceleration of the vehicle and an early stage process for advancing a timing at which the execution condition is established as compared with a case where the shielding condition is not established when the shielding condition is established.

Inventors

  • Qiu Benguang

Assignees

  • 丰田自动车株式会社

Dates

Publication Date
20260508
Application Date
20251021
Priority Date
20241106

Claims (5)

  1. 1. A driving support device configured to execute deceleration control for decelerating a vehicle in order to reduce a risk of collision when an execution condition that the risk of collision of the vehicle with an object is equal to or greater than a threshold risk is satisfied, The driving assistance device is configured to: When a pedestrian crossing exists within a predetermined distance from the vehicle in a traveling direction of the vehicle on a road on which the vehicle travels, determining whether or not a shielding condition that is established when a blind area of the vehicle is generated between the vehicle and an object that crosses the road to hide a shielding object of the crossing object is established, When the shielding condition is satisfied, at least one of deceleration preparation processing for preparing for generating braking force for the vehicle and early-stage processing for advancing the timing of the execution condition as compared with the case where the shielding condition is not satisfied is executed.
  2. 2. The driving assistance device according to claim 1, characterized in that, The driving support device includes a1 st recognition unit that is mounted on the vehicle and that recognizes the object existing in the vicinity of the vehicle using remote sensing, The driving support device is configured to determine that the shielding condition is satisfied when the 1 st recognition unit recognizes the crossing object, and then the 1 st recognition unit recognizes an object different from the crossing object between the vehicle and a predicted position where the 1 st recognition unit predicts that the crossing object is present, and the predicted position where the crossing object cannot be recognized by the 1 st recognition unit.
  3. 3. The driving assistance device according to claim 2, characterized in that, The driving assistance device is provided with a 2 nd recognition unit that recognizes the object by communicating with an external device located outside the vehicle, The driving support device is configured to determine that the shielding condition is satisfied when the object identified by the 1 st identification unit is present between the crossing object identified by the 2 nd identification unit and the vehicle.
  4. 4. The driving assistance device according to claim 1, characterized in that, The driving assistance device is configured to: in the deceleration preparation process, the brake fluid pressure is raised in advance so that the brake pads come close to the brake discs disposed on the wheels of the vehicle, In the early stage processing, the threshold risk is reduced as compared with a case where the masking condition is not satisfied.
  5. 5. The driving assistance device according to claim 2, characterized in that, The 1 st recognition unit recognizes the object when the number of times the object is detected by using the remote sensing is equal to or greater than a threshold number of times, The driving assistance device is configured to: In the case where the masking condition is satisfied, the early stage processing is performed, In the early stage processing, the threshold number of times is reduced as compared with a case where the masking condition is not satisfied.

Description

Driving assistance device Technical Field The present invention relates to a driving assistance device configured to execute deceleration control for decelerating a vehicle in order to reduce a collision risk of the vehicle colliding with an object. Background Conventionally, a driving assistance device configured to execute deceleration control for decelerating a vehicle in order to reduce a risk of collision is known. For example, the driving support device described in patent document 1 (hereinafter, referred to as "conventional device") determines whether or not a crosswalk exists in the traveling direction of the vehicle when the traveling direction of the vehicle intersects with the "traveling direction of the pedestrian or the bicycle". In the conventional device, in the case where a crosswalk is present, deceleration control is easily performed as compared with the case where a crosswalk is not present. Patent document 1 Japanese patent application laid-open No. 2018-122633 Disclosure of Invention A stopped vehicle, an opposing vehicle, or the like existing in the vicinity of the vehicle may hide a traversing object (e.g., a pedestrian, a bicycle, or the like) traversing the road on which the vehicle is traveling. Such objects that are hidden from traversing the object are referred to as "occluding objects". In this case, the crossing object enters the blind area of the vehicle due to the shielding object, and therefore the remote sensor (remote sensing sensor) mounted on the vehicle cannot detect the crossing object. Thereafter, in the case where the traversing object emerges from the blind area of the occluding object, the remote sensing sensor starts to detect the traversing object again, there is a possibility that the collision risk of the traversing object increases. In this case, even if deceleration control is started, the deceleration control may not sufficiently reduce the risk of collision. Existing devices do not take into account the presence of a occluding object. Therefore, in the case where the crossing object appears from the blind area of the shielding object, the deceleration control may not sufficiently reduce the collision risk of the crossing object. The present invention has been made to solve the above-described problems. That is, it is an object of the present invention to provide a driving assistance device capable of improving the deceleration control to sufficiently reduce the possibility of collision risk even in the case where a crossing object appears from a blind area of a shielding object. The driving support device (hereinafter referred to as the "device of the present invention") of the present invention is configured to execute deceleration control (step 530) for decelerating the Vehicle (VA) so as to reduce the risk of collision when the execution condition that the risk of collision of the vehicle with the object is equal to or greater than a threshold risk is satisfied (yes in step 525). The driving assistance device is configured to: When a pedestrian Crossing (CW) is present within a predetermined distance from the vehicle in the traveling direction of the vehicle on a road on which the vehicle travels (YES in step 315), it is determined whether or not a shielding condition that is satisfied when a blind area of the vehicle is generated and a shielding object of the crossing object is hidden is present between the vehicle and the object crossing the road (step 335, step 350), When the shielding condition is satisfied (yes in step 335 and yes in step 350), at least one of a deceleration preparation process (step 410) for preparing for generating a braking force for the vehicle and an early stage process (step 535) for advancing the timing at which the execution condition is satisfied as compared with the case where the shielding condition is not satisfied is executed. If the deceleration preparation process is executed when the shielding condition is satisfied, the delay time from the start of deceleration control to the actual start of application of the braking force to the vehicle is shortened. Thus, the device of the present invention can improve the possibility of sufficiently reducing the risk of collision even in the case where the crossing object appears from the blind area of the shielding object. If the early stage processing is executed when the shielding condition is satisfied, the deceleration control is executed at an earlier timing than when the shielding condition is not satisfied. Thus, the device of the present invention can improve the possibility of sufficiently reducing the risk of collision even in the case where the crossing object appears from the blind area of the shielding object. Drawings Fig. 1 is a schematic system configuration diagram of a driving assistance device according to an embodiment of the present invention. Fig. 2 is an explanatory diagram of an operation example of the driving assistance device according to the embodim