JP2017117191A - Drive support apparatus - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a drive support apparatus for guiding a vehicle to the best direction with little damage in order to prevent a collision with an obstacle.SOLUTION: A drive support apparatus 30 includes: obstacle detection means 21 for detecting presence of an obstacle surrounding a vehicle itself; category discrimination means 22 for discriminating a category of the detected obstacle; collision discrimination means 23 for discriminating whether the vehicle itself in travel collides with one obstacle M located on an extended line of a progress direction of the vehicle itself; course selection means 24 for selecting, in the case of being discriminated that the vehicle itself collides with the one obstacle, with a non-obstacle course existing along the progress direction, the non-obstacle course as an avoidance course, whereas with no non-obstacle course existing, recognizing, as a low-influence obstacle, an obstacle with the least seriousness of an accident in a case where the vehicle itself collide with, when comparing between the one obstacle and another obstacle, thus selecting the direction of the low-influence obstacle as an avoidance course; and course control means 25 for modifying the progress direction of the vehicle itself automatically toward the selected avoidance course.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a driving support apparatus for a vehicle that avoids a collision with an obstacle.

  Conventionally, when a pedestrian or the like has jumped out in front of a running vehicle, the possibility of the collision is determined, and if there is a possibility of collision, a driving assistance device that notifies the driver of the possibility Has been proposed (for example, Patent Document 1).

  In addition, a driving support device has also been proposed that rotates a vehicle to a predetermined direction in which a vehicle occupant is less likely to be injured when it is determined that a collision is unavoidable in case the driver's collision avoidance operation is delayed. (For example, refer to Patent Document 2).

JP 2002-342899 A JP 2006-273266 A

  In the driving support device of Patent Document 1, even if a pedestrian or the like jumps out in front of the traveling vehicle, if the recognition of the pop-out is delayed, the avoidance is not in time, and the steering operation to avoid it, etc. Depends on the skill of the driver. For this reason, a driving assistance device that can reliably avoid a collision regardless of the driver's recognition and skill is desired.

  Further, in the driving support device of Patent Document 2, when it is determined that a collision is unavoidable, the direction of the vehicle is rotated regardless of the driver's intention so that the occupant is positioned on the side far from the collision side. Stay on. For this reason, when there is another pedestrian or vehicle, or a fixed object such as a utility pole or a house in the direction rotated in order to avoid a collision, it may be difficult to avoid appropriately.

  Therefore, the object of the present invention is to avoid a collision with an obstacle such as a pedestrian when there is an obstacle such as a pedestrian in front of the traveling vehicle, and to guide the vehicle in the best direction with less damage. is there.

  In order to solve the above-described problems, the present invention includes an obstacle detection unit that detects the presence or absence of an obstacle around the host vehicle, a type determination unit that determines the type of the detected obstacle, When it is determined that the vehicle collides with the one obstacle, which is the obstacle located on the extension line of the traveling direction, and that the vehicle collides with the one obstacle. If there is a path without obstacles along the direction of travel, the path without obstacles is selected as an avoidance path. If there is no path without obstacles, the type of the one obstacle and the one obstacle are selected. If the vehicle collides with another obstacle type that is another obstacle, the obstacle having the lowest severity is identified as a low-impact obstacle and the low-impact obstacle A route selection means for selecting the direction of the object as an avoidance route, and the selected circuit A route control means for correcting the traveling direction of the automatic vehicle towards the route, employing the driving support device comprising a.

  The other obstacle may be configured to be located on the right side or the left side or both in the traveling direction of the vehicle with respect to the one obstacle.

  In addition, the type determining means determines at least a type of the obstacle consisting of a person, a traveling vehicle, and various types of objects other than the traveling vehicle, and the course control means is configured to detect the person as the obstacle. Further, it is possible to adopt a configuration in which any of the obstacles excluding the person is recognized as the low-impact obstacle.

  The person may adopt a configuration including a vehicle that does not have a vehicle body that protects an occupant, such as a bicycle, a moped, or a motorcycle.

  The route selection means, when the obstacle includes a traveling vehicle, if the traveling vehicle is traveling in the same direction as the own vehicle, the traveling vehicle and the obstacle other than the person are compared. A configuration for certifying the low-impact obstacle can be employed.

  The route selecting means compares the obstacles other than the person except the traveling vehicle when the traveling vehicle is traveling in the opposite direction to the own vehicle when the obstacle includes a traveling vehicle. The configuration for certifying the low-impact obstacle can be adopted.

  A vehicle speed detecting means for detecting the speed of the own vehicle; and a relative speed detecting means for detecting a relative speed of the traveling vehicle with respect to the own vehicle, wherein the route selecting means includes the relative speed and the speed of the own vehicle. Therefore, it is possible to adopt a configuration for determining whether the traveling vehicle is traveling in the same direction as the own vehicle or in the opposite direction.

  According to the present invention, when an obstacle such as a pedestrian is present in front of a traveling vehicle, the vehicle can be guided in the best direction with less damage by avoiding a collision with the obstacle.

1 is a configuration diagram of a driving support device showing an embodiment of the present invention. (A)-(c) is a schematic diagram which respectively shows the operation control of this invention. It is a schematic diagram which shows the operation control of this invention. (A) (b) is a schematic diagram which shows steering of the own vehicle.

  Embodiments of the present invention will be described with reference to the drawings. This embodiment determines the possibility of a collision when a target such as a pedestrian exists on an extension line ahead of the traveling direction of a traveling vehicle (hereinafter referred to as “own vehicle 1”). When there is a possibility of a collision, the driving assistance device 30 automatically performs steering to avoid the collision regardless of the driver's intention.

  For example, when an obstacle made of a target such as a person or a bicycle (hereinafter referred to as “one obstacle M”) jumps forward in the traveling direction of the own vehicle 1, the auto provided in the own vehicle 1 is assumed. Even if the emergency brake is automatically activated by the control brake, if it is determined that the collision is unavoidable, avoid the one obstacle M (people, bicycles, etc.) The driving control is performed to automatically guide the vehicle 1 to other routes with little or no damage.

  As shown in FIG. 1, the configuration of the driving support device 30 includes an obstacle detection unit 21 that detects the presence or absence of an obstacle around the host vehicle 1, and a type determination unit 22 that determines the type of the detected obstacle. And a collision determination means 23 for determining whether or not the traveling vehicle 1 collides with one obstacle M, which is an obstacle located on an extension line in the traveling direction. These obstacle detection means 21, type determination means 22, and collision determination means 23 are provided in an electronic control unit 20 mounted on the host vehicle 1.

  The obstacle detection means 21 acquires information from the imaging device 4 attached to the vehicle body of the host vehicle 1, and detects the presence or absence of an obstacle around the host vehicle 1 by performing image processing or the like based on the information. .

  Obstacles are detected in front of the vehicle 1 in the traveling direction, in a slightly diagonal direction from the front toward the traveling direction, in the lateral direction of the vehicle 1, the rear of the vehicle 1 (following vehicle, etc.), the vehicle The target is a slightly diagonal direction from the rear of 1 (such as a car overtaking the vehicle 1 in an adjacent lane).

  As shown in FIGS. 1 and 4A and 4B, the imaging device 4 includes a front monitoring camera 4a attached to the front of the vehicle body 1e, a right front side monitoring camera 4b attached to the right front of the vehicle body 1e, and the vehicle body 1e. The left front side monitoring camera 4c attached to the left front side, the right rear side monitoring camera 4d attached to the right rear side of the vehicle body 1e, the left rear side monitoring camera 4e attached to the left rear side of the vehicle body 1e, and the rear side of the vehicle body 1e. A rear monitoring camera 4f to be attached is provided. These imaging devices 4 are controlled by the imaging device control means 18.

  Further, the type discriminating unit 22 discriminates the obstacle detected by the obstacle detecting unit 21 by at least various types of objects other than a person, a traveling vehicle, and a traveling vehicle. Here, the person includes a vehicle that does not have a vehicle body that protects an occupant, such as a bicycle, a moped, and a motorcycle. Light vehicles such as bicycles and motorcycles are classified into the same type as humans because the passengers are not protected by a box-shaped vehicle body and are considered to be damaged when they collide.

  Whether the collision determination means 23 can stop by one obstacle M when the own vehicle 1 activates an automatic emergency brake for the one obstacle M ahead of the own vehicle 1 in the traveling direction. Determine whether or not. Whether or not the host vehicle 1 can be stopped by one obstacle M is calculated by calculating a braking distance from the traveling speed of the host vehicle 1 until the host vehicle 1 stops, and the distance between the host vehicle 1 and the one obstacle M is calculated. This can be done depending on whether or not the braking distance is exceeded. The traveling speed of the host vehicle 1 can be detected by the host vehicle speed detection means 15 based on information from the speedometer 5 provided in the host vehicle 1.

  When the collision determination means 23 determines that the own vehicle 1 can stop before the one obstacle M by operating the automatic emergency brake, the brake actuator 8 provided in the own vehicle 1 is applied to the brake control means. The automatic emergency brake is activated by the control of 13. At this time, the throttle control means 14 controls the throttle actuator 9 that adjusts the amount of intake air into the combustion chamber of the engine, so that the accelerator-off control is automatically performed.

  Further, the driving support device 30 determines the best direction in which the vehicle 1 should proceed based on the information on the presence / absence of the obstacle detected by the obstacle detection unit 21 and the obstacle determination result by the type determination unit 22. Is provided with a route selection means 24 for selecting.

  The course selection means 24 determines that the host vehicle 1 cannot be stopped by one obstacle M even if the automatic emergency brake is operated, and the collision with the one obstacle M is unavoidable. In addition, when there is an unobstructed route without other obstacles in an area where the route can be changed along the traveling direction, the unobstructed route is selected as an avoidance route. Further, the route selection means 24, if there is no obstacle route in the area where the route can be changed, the type of one obstacle M and the other obstacle 2 which is an obstacle different from the one obstacle M. Compared with the type of X, if the vehicle 1 collides, the other obstacle 2, X with the lowest severity of the accident is recognized as a low-impact obstacle, and the direction of the low-impact obstacle As the avoidance path.

  At this time, when the person is included in the one obstacle M and the other obstacles 2 and X, the course selection means 24 recognizes any of the obstacles other than the person as a low-impact obstacle. . Further, when a traveling vehicle is included in another obstacle X, a low-impact obstacle is recognized in consideration of the traveling direction of the traveling vehicle. The traveling direction of the traveling vehicle is determined based on the relative speed between the host vehicle 1 and another traveling vehicle, as will be described later.

  Here, the case where the other obstacles 2 and X are located on the right side or the left side in the traveling direction of the host vehicle 1 with respect to the one obstacle M, or both of them is considered. Further, when there is a succeeding vehicle traveling in the same direction as the own vehicle 1 in the lane adjacent to the own vehicle 1, the other obstacles 2 are the left side, the right side, the left diagonally rear side, the right diagonal side of the own vehicle 1. It is also possible to be behind.

  Further, the driving support device 30 includes a route control unit 25 that automatically corrects the traveling direction of the host vehicle toward the avoidance route selected by the route selection unit 24.

  When the avoidance course is selected by the course selection means 24, the course control means 25 controls the steering actuator 7 and the yaw control actuator 10 included in the host vehicle 1 by the steering control means 12 so that the course control means 25 moves toward the avoidance course. Control to steer.

  When the avoidance route is selected by the route selection means 24, the degree of steering is controlled electronically in advance based on information such as the current traveling direction of the vehicle 1, the vehicle speed, the direction of the avoidance route, etc. It is determined based on the information stored in the storage means 18 in the unit 20. The storage means 18 stores how much the steering actuator 7 and the yaw control actuator 10 should be operated based on information such as the current traveling direction of the host vehicle 1, the host vehicle speed, and the direction of the avoidance path. . The steering control means 12 performs steering control based on these pieces of information.

  These route selection means 24, route control means 25, steering control means 12, brake control means 13, throttle control means 14, own vehicle speed detection means 15, imaging device control means 17, etc. are also electronically mounted on the own vehicle 1. It is provided in the unit 20.

  The own vehicle 1 also includes a navigation device 11 that functions as another own vehicle speed detection means 15. The navigation device 11 includes an antenna 11a, and can recognize the position and traveling speed of the own vehicle 1 by a global positioning system, and can also perform route guidance to a destination. . Information on the speed of the vehicle may be information from the speedometer 5 or information from the navigation device 11.

The navigation device 11 is connected to the electronic control unit 20, and the position information of the host vehicle 1 and the information on the host vehicle speed detected by the navigation device 11 are appropriately transmitted to the electronic control unit 20.

  Further, the host vehicle 1 is a relative speed detection unit 16 that detects the relative speed of the other traveling vehicle (hereinafter referred to as “other vehicle 2”) positioned forward and rearward in the traveling direction of the host vehicle 1 with respect to the host vehicle 1. It has.

  The relative speed detection means 16 acquires information from the radar device 6 provided in the vehicle body of the host vehicle 1, and calculates the relative speed of the other vehicle 2 with respect to the host vehicle 1 based on the information. The relative speed detection means 16 is provided in the electronic control unit 20.

  As the radar apparatus 6 controlled by the relative speed detection means 16, for example, a millimeter wave radar that can detect a relative distance, a relative speed, and the like with respect to an object by transmitting a radio wave from an antenna and receiving the radio wave reflected on the object. An apparatus can be used. In addition to this, the radar device 6 is acquired by an infrared laser device or a stereo camera that can detect a relative distance, a relative speed, and the like with an object by transmitting a laser wave and receiving a reflected wave thereof. In addition, a camera device that can detect a relative distance, a relative speed, and the like from an object can be employed from the time-series images.

  The relative speed detection means 16 is configured so that the front and rear other vehicles 2 are in a direction opposite to the own vehicle 1 based on information on the own vehicle speed that is the speed of the own vehicle 1 and the relative speed of the other vehicle 2 with respect to the own vehicle 1. Whether the vehicle is traveling or traveling in the same direction can be determined.

  The operation control will be described below based on specific examples.

  FIG. 2A assumes a case where there is no preceding vehicle, following vehicle, or oncoming vehicle in the lane adjacent to the lane in which the host vehicle 1 travels. In this state, it is assumed that a person has jumped out as one obstacle M ahead of the traveling direction of the own vehicle 1. If the vehicle 1 cannot stop by one obstacle M even if the emergency brake is operated while proceeding in the direction b in the figure as it is, the vehicle 1 follows the avoidance path in the direction c in the figure. Select and automatically control the steering. At this time, you may control so that a brake action | operation and an accelerator off may be performed automatically.

  At this time, the host vehicle 1 has room to select at least the avoidance path in the direction a or c in the figure while avoiding at least people, but if the host vehicle 1 enters the area A outside the road, the host vehicle 1 is damaged. Is assumed. For this reason, the avoidance course in the direction c in the figure where there is no oncoming vehicle is selected.

  FIG. 2B assumes a case where there is an oncoming vehicle in a lane adjacent to the lane in which the host vehicle 1 travels. In this state, it is assumed that a person has jumped out as one obstacle M ahead of the traveling direction of the own vehicle 1. If the vehicle 1 cannot stop by one obstacle M even if the emergency brake is operated while proceeding in the direction b in the figure as it is, the vehicle 1 will follow the avoidance path in the direction a in the figure. Select and automatically control the steering. At this time, you may control so that a brake action | operation and an accelerator off may be performed automatically.

  At this time, the own vehicle 1 has room to select at least the avoidance route in the direction a or c in the figure while avoiding at least a person, but the other vehicle in which the own vehicle 1 is an oncoming vehicle in the opposite lane. When the vehicle collides with the vehicle 2, a great deal of physical and human damage is assumed in the vehicle 1 and the other company 2. For this reason, avoiding the oncoming vehicle, the avoidance course in the direction a in the figure is selected. Since there is no structure or the like in the area A, it is considered that physical and human damage to the own vehicle 1 is not so great.

  FIG. 2C assumes a case where there is an oncoming vehicle in a lane adjacent to the lane in which the host vehicle 1 travels. In addition, in the area B outside the road, there are structures X such as utility poles and houses. In this state, it is assumed that a person has jumped out as one obstacle M ahead of the traveling direction of the own vehicle 1. If the vehicle 1 cannot stop by one obstacle M even if the emergency brake is operated while proceeding in the direction b in the figure as it is, the vehicle 1 will follow the avoidance path in the direction a in the figure. Select and automatically control the steering. At this time, you may control so that a brake action | operation and an accelerator off may be performed automatically.

  At this time, the own vehicle 1 has room to select at least the avoidance route in the direction a or c in the figure while avoiding at least a person, but the other vehicle in which the own vehicle 1 is an oncoming vehicle in the opposite lane. When the vehicle collides with the vehicle 2, a great deal of physical and human damage is assumed in the vehicle 1 and the other company 2. For this reason, avoiding the oncoming vehicle, the avoidance course in the direction a in the figure is selected. There is a structure in the area B, but it is more difficult for the vehicle 1 to collide with the structure X, which is a fixed object, than to collide with an oncoming vehicle approaching the vehicle 1. The human damage is considered relatively small.

  FIG. 3 assumes a case where there is a preceding vehicle traveling in the same direction as the own vehicle 1 in the lane adjacent to the lane in which the own vehicle 1 travels. In addition, in the area B outside the road, there are structures X such as utility poles and houses. In this state, it is assumed that a person has jumped out as one obstacle M ahead of the traveling direction of the own vehicle 1. If the vehicle 1 cannot stop by one obstacle M even if the emergency brake is operated while proceeding in the direction b in the figure as it is, the vehicle 1 will follow the avoidance path in the direction ca in the figure. Select and automatically control the steering. At this time, you may control so that a brake action | operation and an accelerator off may be performed automatically.

  At this time, the own vehicle 1 has room to select at least one avoidance route in the direction a or c in the figure while avoiding at least a person, but the own vehicle 1 is a structure X in the B region outside the road. If there is a collision with the vehicle, physical damage or personal damage to the vehicle 1 or the structure X is assumed. For this reason, avoiding the structure X, the avoidance path in the direction c in the figure is selected. In the adjacent lane in the c direction, there is another vehicle 2 that is a preceding vehicle that travels in the same direction as the own vehicle 1, but the relative speed between the own vehicle 1 and the other vehicle 2 is small. Steering away from the vehicle is considered to have relatively little physical and human damage.

  However, a situation where the collision of the own vehicle 1 with the other vehicle 2 is considered to cause a great damage, for example, the own vehicle 1 and the other vehicle 2 are traveling at a high speed, When other traveling vehicles are present, it is also assumed that the direction of arrow a is selected as the avoidance route of the own vehicle 1 while avoiding these traveling vehicle groups.

  4A and 4B are schematic views showing the steering of the host vehicle 1 based on the control of the course control means 25, respectively.

  FIG. 4A shows a course change of the own vehicle 1 by yaw control. In order to change the course of the host vehicle 1 to the selected avoidance course, the left and right torque distribution ratios of the front wheels, rear wheels, or front and rear wheels, which are drive wheels, are adjusted. For example, if the torque of the driving wheel on the left side in the traveling direction is made smaller than the torque of the driving wheel on the right side, the own vehicle 1 changes its course to the left side in the traveling direction. For example, if the torque of the driving wheel on the right side in the traveling direction is made smaller than the torque of the driving wheel on the left side, the own vehicle 1 changes the course to the right side in the traveling direction.

  The steering by the yaw control is performed by the steering control means 12 of the electronic control unit 20 controlling the yaw control actuator 10 based on the information in the storage means 18.

  FIG. 4B changes the course of the vehicle 1 by steering control. In order to change the course of the host vehicle 1 to the selected avoidance path, the direction of the front wheels as drive wheels is adjusted by the operation of the steering actuator 7. For example, if the left and right front wheels are turned to the left, the vehicle 1 changes its course to the left in the traveling direction. Further, if the left and right front wheels are directed to the right side, the own vehicle 1 changes its course to the right side in the traveling direction.

  The steering by the steering control tends to be slower in response to the course change than the steering by the yaw control. For this reason, it is advantageous to employ roots for the control of the course change in an emergency. This is because the quicker the response to the course change, the higher the time margin for taking various avoidance exercises.

  As described above, in the present invention, when it is determined that the own vehicle 1 collides with one obstacle M and there is an unobstructed path without an obstacle along the traveling direction, the unobstructed path is avoided. Select as a course. When there is no obstacle course, the type of one obstacle M is compared with the type of other obstacles 2 and X that are different from the one obstacle M, and the vehicle 1 In the event of a collision, the obstacle with the lowest severity of the accident is recognized as a low-impact obstacle, and the direction of the low-impact obstacle is selected as an avoidance path. When a detected obstacle includes a person, the person is always excluded from the selection of the low-impact obstacle.

  In addition, when the detected obstacle includes the other vehicle 2 that is a traveling vehicle, and the other vehicle 2 is traveling in the same direction as the own vehicle 1, the obstacle other than the other vehicle 2 and the person Qualify low-impact obstacles by comparing with objects. Furthermore, when the detected obstacle includes the other vehicle 2 that is a traveling vehicle, if the other vehicle 2 is an oncoming vehicle that travels in the opposite direction to the own vehicle 1, the other vehicle that is the oncoming vehicle Comparing obstacles other than people except for cars 2 to recognize low-impact obstacles.

  With these configurations, when an obstacle such as a pedestrian or a vehicle jumps out in front of the traveling vehicle 1, the vehicle 1 is the best with little damage in order to avoid collision with the obstacle. Can lead to

  In these embodiments, the type discriminating means 22 is configured to discriminate the obstacle detected by the obstacle detecting means 21 into at least three types, that is, an object other than a person, a traveling vehicle, and a traveling vehicle. The number of classifications is not limited to this embodiment, and may be two, four, five or more classifications.

  For example, obstacles made of objects other than traveling vehicles are classified by image processing into fixed objects such as utility poles and houses, consumable fixed objects such as guardrails, temporary fences and other objects with a low weight. You may make the setting which the damage degree at the time of a collision becomes small gradually in order of a thing and a placement thing. At this time, when selecting either a fixed or consumable fixed object as an obstacle, select a consumable fixed object with relatively little physical or human damage, and select either the consumable fixed object or the mounted object. When selecting, a mounted object with relatively little physical and human damage is selected.

1 Car 2 Driving car (other car)
4 Imaging device 4a Front monitoring camera 4b Right front side monitoring camera 4c Left front side monitoring camera 4d Right rear side monitoring camera 4e Left rear side monitoring camera 4f Rear monitoring camera 5 Speedometer 6 Radar device 7 Steering actuator 8 Brake actuator 9 Throttle actuator 10 Yaw control actuator 11 Navigation device 12 Steering control means 13 Brake control means 14 Throttle control means 15 Own vehicle speed detection means 16 Relative speed detection means 17 Imaging device control means 19 Storage means 20 Electronic control unit 21 Obstacle detection means 22 Type discrimination means 23 Collision discrimination means 24 Course selection means 25 Course control means 30 Driving support device M One obstacle (person)
X Other than traveling vehicles (structure)

Claims (7)

Obstacle detection means for detecting the presence or absence of obstacles around the vehicle;
Type discrimination means for discriminating the type of the detected obstacle;
A collision determination means for determining whether or not the traveling vehicle collides with one obstacle which is the obstacle located on the extension line in the traveling direction;
If it is determined that the vehicle collides with the one obstacle, and there is an unobstructed route that does not have the obstacle along the traveling direction, the unobstructed route is selected as an avoidance route, and there is no unobstructed route If the vehicle collides by comparing the type of the one obstacle with another obstacle type that is different from the one obstacle, the severity of the accident is the lowest. A course selection means for recognizing the obstacle as a low-impact obstacle and selecting the direction of the low-impact obstacle as an avoidance course;
A course control means for automatically correcting the traveling direction of the vehicle toward the selected avoidance course;
A driving support apparatus comprising: 2. The driving assistance device according to claim 1, wherein the other obstacle is located on the right side or the left side in the traveling direction of the own vehicle with respect to the one obstacle, or both. The type discriminating means discriminates at least a type of the obstacle consisting of various types of things other than a person, a traveling vehicle and a traveling vehicle,
The driving support device according to claim 1, wherein the route control unit recognizes any of the obstacles excluding the person as the low-impact obstacle when the person is detected as the obstacle. The driving support device according to claim 3, wherein the person includes a vehicle that does not have a vehicle body that protects an occupant, such as a bicycle, a moped, and a motorcycle. The route selection means, when the obstacle includes a traveling vehicle, if the traveling vehicle is traveling in the same direction as the own vehicle, the traveling vehicle and the obstacle other than the person are compared. The driving support device according to claim 3 or 4, wherein the low-impact obstacle is recognized. The route selecting means compares the obstacles other than the person except the traveling vehicle when the traveling vehicle is traveling in the opposite direction to the own vehicle when the obstacle includes a traveling vehicle. The driving support device according to claim 3 or 4, wherein the low-impact obstacle is recognized. Own vehicle speed detecting means for detecting the speed of the own vehicle;
A relative speed detecting means for detecting a relative speed of the traveling vehicle with respect to the own vehicle;
With
The driving according to claim 5 or 6, wherein the route selection means determines whether the traveling vehicle is traveling in the same direction as the host vehicle or in the opposite direction based on the relative speed and the speed of the host vehicle. Support device.

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