JP-7856540-B2 - Driver assistance device, driver assistance method, and driver assistance program

JP7856540B2JP 7856540 B2JP7856540 B2JP 7856540B2JP-7856540-B2

Inventors

上撫琢也
猪飼正樹
大石将士
石井綾
松永尚也

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: 20221004

Claims (5)

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.
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.
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.
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 described above 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.
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 described above 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.

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 device 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 device of Patent Document 1 (hereinafter referred to as the "conventional device") comprises a camera and a control device. The control device calculates the probability that the vehicle will be parked in a parking spot based on image data acquired from the camera. For example, the control device calculates the distance between the vehicle and the parking spot's boundary line, and determines that there is a high probability that the vehicle will be parked in the parking spot if this distance is below a threshold. If the control device determines that there is a high probability that the vehicle will be parked in the parking spot and also determines that the accelerator pedal has been mistakenly pressed, it executes acceleration suppression control by controlling the drive device (throttle valve) to prevent the vehicle from accelerating. Patent No. 6299179 When a driver reverses into a parking spot, they perform a maneuver (reversing) in the area outside the parking spot (public or private road) to align their vehicle 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 system determines that the likelihood of the vehicle being parked in the spot is low. Therefore, even if a driver mistakenly presses the accelerator pedal instead of the brake 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. One of the objectives of this invention is to provide a driver assistance device that can improve safety when parking a vehicle in reverse in a parking spot. To achieve the above objective, the driving support device (1) of the present invention is: An operation sensor (22, 23, 24) acquires 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) that 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. When a vehicle's orientation relative to a parking spot is within a predetermined range, it can be estimated that there is a high probability that the vehicle will park in that spot. In the driver assistance system according to the present invention, the control device determines, based on the vehicle's orientation relative to the target parking spot, whether there is a high probability that the vehicle will park in reverse into the target parking spot. That is, the control device determines that there is a high probability that the vehicle will park in reverse into the target parking spot when the vehicle's direction relative to the target parking spot is within a predetermined range. Furthermore, if the control device determines that there is a high probability that the vehicle will deviate from the parking area and that the accelerator pedal was mistakenly pressed while the vehicle was moving forward, it suppresses the vehicle's acceleration. This enhances safety when parking a vehicle in reverse. In a driving support device according to one aspect of the present i