JP-7856533-B2 - Driver assistance device, driver assistance method, and driver assistance program

JP7856533B2JP 7856533 B2JP7856533 B2JP 7856533B2JP-7856533-B2

Inventors

石井綾
上撫琢也
松永尚也
大石将士
猪飼正樹

Assignees

トヨタ自動車株式会社
株式会社デンソー

Dates

Publication Date: 20260511
Application Date: 20220915

Claims (4)

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 a parking area determination function that determines whether the vehicle is located within a parking area including a row of parking spots arranged in parallel based on the surrounding information, and an error detection function that determines whether the vehicle's accelerator pedal has been pressed incorrectly based on the operation information, and further having an acceleration suppression function that suppresses the acceleration of the vehicle when it is determined that the vehicle is located within the parking area and that the accelerator pedal has been pressed incorrectly. A driver assistance device equipped with, The control device is When the vehicle's speed is above a predetermined speed, the system predicts the vehicle's trajectory if it were to move, and further predicts the time required for the vehicle to reach the point where the trajectory intersects with the row of parking spots. If the predicted time is less than or equal to the predetermined time, the system determines that the vehicle is located within the parking area. When the speed of the vehicle is less than the predetermined speed or when the vehicle is stopped, if the area of determination, which is a predetermined length extending from the vehicle in the direction the vehicle can travel, overlaps with the row of parking spots, the vehicle is determined to be located within the parking area. A driver assistance system configured in such a way.
In the driving support device according to claim 1, The aforementioned determination target area is the area that the vehicle would pass through if it moved forward while maintaining its current steering angle, according to the driver assistance device.
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, The system includes a parking area determination step that determines whether the vehicle is located within a parking area including a row of parking spots arranged in parallel based on the surrounding information, and an error determination step that determines whether the vehicle's accelerator pedal has been pressed incorrectly based on the operation information, and further includes an acceleration suppression step that suppresses the acceleration of the vehicle if it is determined that the vehicle is located within the parking area and that the accelerator pedal has been pressed incorrectly. A driving assistance method that includes, The control step described above is: The steps include: predicting the trajectory of the vehicle if it were to move when its speed is above a predetermined speed, predicting the time required for the vehicle to reach the point where the trajectory intersects with the row of parking spots, and determining that the vehicle is located within the parking area if the predicted time is less than or equal to the predetermined time; When the speed of the vehicle is less than the predetermined speed or when the vehicle is stopped, if a predetermined area extending from the vehicle, which is determined according to the steering angle of the vehicle, overlaps with the row of parking spots, the vehicle is determined to be located within the parking area. A driving assistance method configured to include the following:
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, The system includes a parking area determination step that determines whether the vehicle is located within a parking area including a row of parking spots arranged in parallel based on the surrounding information, and an error determination step that determines whether the vehicle's accelerator pedal has been pressed incorrectly based on the operation information, and further includes an acceleration suppression step that suppresses the acceleration of the vehicle if it is determined that the vehicle is located within the parking area and that the accelerator pedal has been pressed incorrectly. A driver assistance program that enables the execution of, The control step described above is: The steps include: predicting the trajectory of the vehicle if it were to move when its speed is above a predetermined speed, predicting the time required for the vehicle to reach the point where the trajectory intersects with the row of parking spots, and determining that the vehicle is located within the parking area if the predicted time is less than or equal to the predetermined time; When the speed of the vehicle is less than the predetermined speed or when the vehicle is stopped, if a predetermined area extending from the vehicle, which is determined according to the steering angle of the vehicle, overlaps with the row of parking spots, the vehicle is determined to be located within the parking area. A driver assistance program configured to include the following:

Description

This invention relates to a driver assistance device, a driver assistance method, and a driver assistance program that suppress the acceleration of the vehicle when there is a high probability that the driver has mistakenly pressed the accelerator pedal. A driver assistance system has been proposed that includes an acceleration suppression function to suppress the acceleration of the vehicle when there is a high probability that the driver has mistakenly pressed the accelerator pedal (see, for example, the patent document below). The driver assistance system described in Patent Document 1 (hereinafter referred to as the "conventional system") determines, for example, that the driver has mistakenly pressed the accelerator pedal when the rate of increase in the accelerator pedal depression depth (increase per unit time) exceeds a threshold. In this case, the conventional system executes acceleration suppression control, controlling the vehicle's drive system, braking system, etc., to prevent the vehicle from accelerating. Japanese Patent Publication No. 2021-49981 For example, in a parking area that includes rows of parallel parking spaces, if a driver accidentally presses the accelerator pedal too hard while attempting to park their vehicle in one of the spaces, the acceleration suppression function can reduce the vehicle's acceleration, thereby enhancing the vehicle's safety. On the other hand, if a driver intentionally presses the accelerator pedal to overtake a preceding vehicle, and the acceleration suppression function reduces the vehicle's acceleration, the driver may find this suppression bothersome. One of the objectives of this invention is to provide an acceleration suppression device that can reduce unnecessary acceleration suppression for the driver and thereby reduce driver discomfort. To achieve the above objective, the driving support device (1) of the present invention is: The vehicle (V) has operation sensors (23, 24, 25, 26, 27) that acquire operation information (AD, BD, DR, SP, θ) which is information regarding the operation of the driving control devices (AP, BP, SL, DI, SW) equipped on the vehicle (V), a vehicle sensor (22) that acquires vehicle information (vs) which is information regarding the driving state of the vehicle, a surrounding sensor (21) that acquires surrounding information which is information regarding objects present around the vehicle, and a control device. The control device has a parking area determination function that determines whether the vehicle is located within a parking area (PA) including a row of parking spots (PSA) arranged in parallel based on the surrounding information, and an error determination function that determines whether the accelerator pedal (AP) of the vehicle has been mistakenly pressed based on the operation information, and further has an acceleration suppression function that suppresses the acceleration of the vehicle when it is determined that the vehicle is located within the parking area and that the accelerator pedal has been mistakenly pressed. The control device is configured such that, when the vehicle's speed (vs) is equal to or greater than a predetermined speed (vsth), it predicts the vehicle's trajectory (T) if the vehicle were to move, and further predicts the time (Δt) required for the vehicle to reach the point (X) where the trajectory intersects with the row of parking spots. If the predicted time is less than or equal to a predetermined time (Δtth), it determines that the vehicle is located within the parking area. When the vehicle's speed is less than the predetermined speed or the vehicle is stopped, it determines that the vehicle is located within the parking area if the row of parking spots overlaps with a predetermined length of area (A0) that extends from the vehicle in the direction the vehicle can move. Here, the direction the vehicle can move is the direction the vehicle is traveling in when the vehicle is moving forward, and the direction in which the vehicle is most likely to move when it is stopped from its stopping position. In the driver assistance system according to the present invention, the control device can only perform acceleration suppression control in situations where driving operations for parking are being performed. That is, the control device can perform acceleration suppression control if it determines that the vehicle is located within the parking area, but does not suppress the vehicle's acceleration in other cases. In other words, if the vehicle is located outside the parking area, the vehicle's acceleration is controlled according to the accelerator pedal input. Specifically, the control device sets a determination target area extending from the front of the vehicle in the direction of possible travel, for example, when the vehicle is traveling at a low speed below a predetermined speed or when stopped. It determines that the vehicle is located within the parking area when this determinatio