JP2023069223A - Driving assistance device - Google Patents

Abstract

To suppress a notification for promoting a driver to start a self-vehicle when the driver has no intention to start the self vehicle.SOLUTION: A driving assistance device 100 comprises: a stop factor resolution determination unit 11 that is mounted on a self vehicle 900 and determines whether or not a stopping factor for traveling of the self vehicle has been resolved by using a detection result of a sensor 400 which detects a surrounding situation; a notification control unit 12 that controls a notification that is given by a notification unit 500 mounted on the self vehicle and is for promoting a driver to start the self vehicle; and a condition holding determination unit 13 that determines an intension lacking condition holds or not, the intension lacking condition being a preset condition indicating that the driver of the self vehicle has no intension to start the self vehicle. If it is determined that the stopping factor has been resolved, the notification control unit makes the notification unit provide a notification when it is determined that the intension lacking condition does not hold and suppresses a notification by the notification unit when it is determined that the condition holds.SELECTED DRAWING: Figure 1

Description

The present disclosure relates to driving assistance for vehicles.

As a driving support device for assisting the driving of a vehicle, when the vehicle changes from a state in which it is stopped to a state in which it is possible to start, driving that performs notification such as outputting a voice announcement to encourage the vehicle to start. A support device has been proposed. Further, in such a driving support device, various techniques have been proposed for adjusting whether or not notification is to be executed and notification timing. For example, in Patent Document 1, when the driver sees that the traffic light has changed to permission to proceed (blue), or when there is a passenger in the passenger seat and there is a high possibility that the driver will be notified of the change in the display of the traffic light, When there is a high possibility that the driver knows the change of the traffic signal, the notification is not performed. Further, in Patent Document 1, when there is no following vehicle, it is assumed that there is little need to rush to start after the display of the traffic light changes, and no notification is given. With such a process, in Patent Document 1, the driver is prevented from feeling uncomfortable that "the vehicle was forced to start more quickly than necessary."

In addition, in Patent Document 2, infrastructure information is acquired, and based on the infrastructure information, it is determined whether or not the timing at which it is possible to start is delayed due to factors such as the road width being wide, the presence of pedestrian signals and pedestrian crossings, When it is determined that it will be delayed, the notification is delayed so that the notification is made at an appropriate timing.

JP-A-2006-92129 JP 2010-152494 A

In the technique of Patent Document 1, it is determined whether or not to notify based on the situation of the occupants in the own vehicle (whether the driver is looking at the traffic light, or whether there is an occupant in the passenger seat, etc.) and whether or not there is a following vehicle. Therefore, when the driver does not intend to start the own vehicle, there is a risk that the notification will be made. Similarly, in Patent Document 2, the notification timing is simply adjusted according to the surrounding conditions indicated by the infrastructure information. There is a risk that notification will be performed when the arrival of If the notification is given when there is no intention to start the own vehicle in this way, there is a problem that the driver is annoyed. Therefore, there is a demand for a technology capable of suppressing notification for prompting the vehicle to start when the driver does not intend to start the vehicle.

The present disclosure has been made to solve at least part of the problems described above, and can be implemented as the following modes.

In one aspect of the present disclosure, there is provided a driving assistance device that is mounted on and used in an own vehicle. This driving support device includes a stop factor elimination determination unit that determines whether or not a cause for stopping the progress of the own vehicle has been eliminated by using detection results from a sensor that is mounted on the own vehicle and detects surrounding conditions. and a notification control unit for controlling notification by the notification unit mounted on the own vehicle and for urging the start of the own vehicle, and a driver of the own vehicle having no intention of starting the own vehicle. and a condition satisfaction determination unit that determines whether or not a lack of intention condition, which is a predetermined condition indicating that, is satisfied. When it is determined that the lack of intention condition is not satisfied when it is determined that the cause for stopping has been eliminated, the notification control unit causes the notification unit to perform the notification, and the lack of intention condition is satisfied. When it is determined that the notification has been made, the notification by the notification unit is suppressed.

According to the driving support device of this aspect, it is determined whether or not the lack of intention condition, which is a predetermined condition indicating that the driver of the own vehicle has no intention of starting the own vehicle, is established. is determined to be true, the notification for urging the vehicle to start is suppressed by the notification unit. can be suppressed.

1 is a block diagram showing the configuration of a driving assistance device as an embodiment of the present disclosure; FIG. 4 is a flowchart showing the procedure of notification control processing; FIG. 11 is a flow chart showing a procedure of a lack of intention condition satisfaction determination process; FIG.

A. Embodiment:
A1. Vehicle configuration:
A driving assistance device 100 according to the present embodiment shown in FIG. 1 is used by being mounted on a vehicle 900 . The vehicle 900 is also called "own vehicle 900" in order to distinguish it from other vehicles. The driving support device 100 supports driving of the own vehicle 900 . “Driving assistance” means automatically executing engine control, brake control, and steering control of own vehicle 900 instead of the driver, and assisting the driver's driving control. In the present embodiment, "supporting driving control by the driver" means that, in a state in which the host vehicle 900 is stopped, in other words, in a state in which the travel of the host vehicle 900 is stopped, when such a stop factor is resolved, , and notification to prompt the driver to start.

Before describing the driving assistance device 100 in detail, the configuration of the own vehicle 900 will be described. Self-vehicle 900 includes operation execution unit 200 , operation control unit 300 , sensor group 400 , notification unit 500 , display unit 510 , and speaker 520 in addition to driving support device 100 .

The operation execution unit 200 operates the own vehicle 900, that is, runs, steers, and brakes, and operates accessories including various lamps. The operation executing unit 200 includes an engine 210 , a braking mechanism 220 , a steering mechanism 230 , and an emergency blinking indicator lamp (hereinafter also referred to as “hazard lamp”) 240 . The brake mechanism 220 consists of a group of devices (actuators) related to brake control, such as sensors, motors, valves, and pumps. The steering mechanism 230 includes a group of devices (actuators) related to steering such as a power steering motor. The hazard lamps 240 are the same lamps as turn signal lamps (winkers) arranged in front of and behind the vehicle. Hazard lamp 240 blinks at predetermined time intervals by an operation such as pressing of a predetermined button by the driver. As a result, the following vehicle or the like can be alerted. Generally, the flashing operation is performed when the host vehicle 900 is temporarily stopped.

The action control section 300 controls the action execution section 200 . The operation control unit 300 controls an engine ECU 310 that controls the engine 210, a brake ECU 320 that controls the brake mechanism 220, a steering ECU 330 that controls the steering mechanism 230, and lighting operations of various lamps including blinking and extinguishing of the hazard lamps 240. and a lamp ECU 340 that controls the . The engine ECU 310 controls the opening/closing operation of a throttle valve, the ignition operation of an igniter, the opening/closing operation of an intake valve, and the like by controlling various actuators (not shown). Brake ECU 320 controls the operation of actuators involved in brake control. The steering ECU 330 controls the operation of actuators involved in steering. The lamp ECU 340 controls blinking, lighting, extinguishing, irradiation direction, and the like of various lamps such as headlights, direction indicator lights, hazard lamps, and tail lamps. Flashing control of the hazard lamps is executed according to the pressed state of a push button provided on the instrument panel inside the vehicle. That is, when the button is pressed, the hazard lamps are flashed, and when the button is pressed again, the hazard lamps are turned off. In this way, in host vehicle 900, the lighting and extinguishing of the hazard lamps are triggered by the user's manual operation of pressing a button. Each of the ECUs 310 to 340 forming the operation control unit 300 is configured to be able to communicate with the driving support device 100 via the in-vehicle network. As an in-vehicle network, for example, CAN (Controller Area Network), LIN (Local Interconnect Network), Flex Ray, or Ethernet (registered trademark) may be used.

The sensor group 400 consists of a plurality of sensors. Specifically, sensor group 400 includes camera 410 operating as an imaging sensor, millimeter wave radar 420 , vehicle speed sensor 430 , and shift position sensor 440 . Camera 410 captures an image of the surroundings of own vehicle 900 to obtain a captured image. The camera 410 may be, for example, a monocular camera that captures an image of the front of the vehicle 900 or a stereo camera. The millimeter wave radar 420 detects the position and distance of an object by emitting millimeter waves and receiving reflected waves reflected by the object. The “object” detected by the millimeter wave radar 420 is, more accurately, a set of multiple detection points (targets). Also, the moving speed of the object can be detected from the detection result of the millimeter wave radar 420 . Shift position sensor 440 detects the shift position, that is, the position indicated by the shift lever (also called shift range). In this embodiment, four shift positions are set: park (P), reverse (R), neutral (N), and forward (D). Various sensors 410 to 440 included in the sensor group 400 are all electrically connected to the driving assistance device 100 through dedicated wiring.

The notification unit 500 controls the display unit 510 and the speaker 520 in accordance with an instruction from the driving support device 100 to perform predetermined notification. In the present embodiment, the notification made by the notification unit 500 includes notification for prompting the own vehicle 900 to start. In this notification, the notification unit 500 causes the display unit 510 to display a message such as "the stop factor has disappeared", and outputs a voice announcement "the stop factor has disappeared" from the speaker 520. Note that the notification content is not limited to these, and may be arbitrary notification content such as lighting or blinking a predetermined icon on the display unit 510, lighting or blinking a predetermined lamp provided on the instrument panel, or vibrating the steering wheel. good too.

A display unit 510 is arranged on the instrument panel, and displays various menu screens, map information, and messages. Speaker 520 outputs sound to the interior of the vehicle.

A2. Configuration of the driving support device:
In this embodiment, the driving assistance device 100 is configured by an ECU (Electronic Control Unit) including a CPU 10, a ROM 20, and a RAM 30, which are connected to each other via an internal bus 90. As shown in FIG. Although the driving support device 100 has an interface for connecting to an in-vehicle network and an interface for connecting to the sensor group 400, these interfaces are omitted for convenience of illustration.

By executing a control program stored in advance in the ROM 20, the CPU 10 executes a stop factor elimination determination unit 11, a notification control unit 12, a condition establishment determination unit 13, a vehicle speed acquisition unit 14, a road shoulder stop determination unit 15, an elapsed time It functions as an identification unit 16 , a white line crossing determination unit 17 , and a shift position identification unit 18 .

The stopping factor elimination determination unit 11 determines whether or not the stopping factor of the vehicle 900 has been eliminated. The notification control unit 12 controls the notification unit 500 to perform various notifications. The condition establishment determining unit 13 determines whether or not a predetermined condition indicating that the driver of the own vehicle 900 has no intention of starting the own vehicle 900 (hereinafter referred to as a "lack of intention condition") is established. The vehicle speed acquisition unit 14 acquires the vehicle speed of the own vehicle 900 using the detection result of the vehicle speed sensor 430 . The road shoulder stop determination unit 15 determines whether or not the host vehicle 900 is stopped on the road shoulder. The elapsed time specifying unit 16 specifies the elapsed time after the host vehicle 900 has stopped. In the present embodiment, the driving support device 100 has a timer (not shown), starts the timer when the vehicle speed of the host vehicle 900 becomes zero, and stops and resets the timer when the vehicle speed becomes non-zero. The elapsed time specifying unit 16 specifies the elapsed time after the vehicle 900 stops based on the timer value. The determination unit 17 determines whether or not the host vehicle 900 is stopped across the white line. Shift position identifying unit 18 identifies the shift position using the detection result of shift position sensor 440 . The details of the processing contents of each functional unit will be described in the notification control processing described later.

The driving support device 100 having the above configuration executes the notification control process described later, so that even if the cause of stopping the vehicle 900 is resolved, the driver does not intend to start the vehicle 900. , the notification prompting the vehicle 900 to start is suppressed.

A3. Notification control processing:
The notification control process shown in FIG. 2 is a process for controlling the notification prompting the own vehicle 900 to start. In the driving support device 100, when the own vehicle 900 stops moving (stops), a notification control process is executed.

The stop factor elimination determining unit 11 determines whether or not the stop factor of the host vehicle 900 has been eliminated (step S105). In the present embodiment, the stop factor elimination determination unit 11 provides an instruction to permit the vehicle to proceed under the condition that the vehicle positioned in front of the vehicle 900 is moving and at the traffic signal closest to the front of the vehicle 900. is fulfilled, that is, in Japan, when either of the two conditions of the condition that the "blue" lamp is lit is satisfied, it is determined that "the stop factor has been eliminated". If the vehicle ahead of the own vehicle 900 is moving forward, it is unlikely that the own vehicle 900 will collide even if the own vehicle 900 starts moving, and it can be determined that the stop factor has been eliminated. However, if the vehicle is stopped at the foremost position at the intersection, this condition is not satisfied because there is no preceding vehicle. However, even in this case, if the "blue" lamp is lit at the nearest traffic light in front of the host vehicle 900, it can be determined that the stop factor of the lighting of the "red" lamp has been eliminated. The fact that the vehicle in front of the own vehicle 900 is moving can be identified using the detection results from the sensor group 400 . For example, when the size of the forward vehicle captured in the captured image acquired by the camera 410 decreases with the lapse of time, it can be identified that the forward vehicle has started and is proceeding. Also, for example, the detection result of the millimeter wave radar 420 is used to detect the vehicle speed of the vehicle ahead, and if the vehicle speed is not zero, it can be specified that the vehicle ahead has started and is progressing. The stop factor elimination determination unit 11 repeatedly executes step S105 until it determines that the stop factor has been eliminated.

When it is determined that the stop factor has been eliminated (step S105: YES), the condition establishment determination unit 13 executes the lack of intention condition determination process (step S110).

The lack of intention condition satisfaction determination process shown in FIG. 3 is a process for specifying whether or not the lack of intention condition is satisfied. Condition establishment determination unit 13 determines whether the shift position is park (P) or reverse (R) (step S205). When it is determined that the shift position is P or R (step S205: YES), the condition satisfaction determination unit 13 determines that the lack of intention condition is satisfied (step S225). If the shift position is P or R, it is different from the shift position (D), which is the shift position used to drive the vehicle 900. Therefore, there is a high possibility that the driver does not intend to start the vehicle 900. It is from.

When it is determined that the shift position is not P or R (step S205: NO), the condition establishment determination unit 13 determines whether or not the hazard lamp is blinking (step S210). Such determination is performed based on information obtained from the lamp ECU 340 indicating the current lighting status of the hazard lamps. When it is determined that the hazard lamp is blinking (step S210: YES), the above-described step S225 is executed, and it is specified that the lack of intention condition has been established. This is because when the hazard lamps are blinking, it is highly likely that the driver has pressed the push button for controlling the lighting of the hazard lamps and that the driver has no intention of starting the vehicle 900 .

When it is determined that the hazard lamps are not blinking (step S210: NO), the road shoulder stop determination unit 15 determines whether or not the host vehicle 900 has stopped on the road shoulder for more than the first threshold time (step S215). At this time, the roadside stop determination unit 15 determines whether or not the elapsed time specified by the elapsed time specifying unit 16 exceeds the first threshold time, and analyzes the image obtained by the camera 410 to determine whether the vehicle is stopped. Determine whether the 900 is parked on the shoulder of the road. For example, a white line at the left edge of the lane is detected from the image by a well-known method, and it is determined whether the vehicle 900 is stopped on the road shoulder based on whether the vehicle 900 is positioned to the left of the position of the white line. good too. Alternatively, the position of the own vehicle 900 can be determined by classifying the area of each captured image into each type, for example, vehicle, pedestrian, road, white line, center line, road shoulder, curb, shrubbery, etc., by machine learning or the like. You may judge whether it is within. The above-mentioned first threshold time is "3 seconds" in this embodiment. Note that the time is not limited to 3 seconds, and may be any time shorter than 3 seconds or any time longer than 3 seconds. When it is determined that the host vehicle 900 has stopped on the shoulder for more than the first threshold time (step S215: YES), the above-described step S225 is executed, and it is specified that the lack of intention condition has been met. This is because there is a high possibility that the driver does not intend to start the vehicle 900 when the vehicle 900 has been stopped on the shoulder for more than the first threshold time.

When it is determined that the vehicle 900 has not stopped on the road shoulder for more than the first threshold time (step S215: NO), the white line crossing determining unit 17 determines whether the vehicle 900 has crossed the white line for more than the second threshold time. is stopped (step S220). At this time, the white line crossing determining unit 17 determines whether or not the elapsed time specified by the elapsed time specifying unit 16 exceeds the second threshold time, and also analyzes the image obtained by the camera 410 to It is determined whether or not the vehicle 900 is stopped across the white line. For example, a white line is detected from an image by a well-known method, and the vehicle 900 is detected depending on whether the position of the white line overlaps with the position of the own vehicle 900 in the image (mostly on the front side of the lateral center of the image). It may be determined whether or not the vehicle is stopped across the white line. The above-mentioned second threshold time is "3 seconds", which is the same as the first threshold time in this embodiment. Note that the time is not limited to 3 seconds, and may be any time shorter than 3 seconds or any time longer than 3 seconds. Alternatively, the time may be different from the first threshold time.

When it is determined that the host vehicle 900 has stopped across the white line for the second threshold time (step S220: YES), the above-described step S225 is executed, and it is specified that the lack of intention condition has been established. This is because there is a high possibility that the driver does not intend to start the vehicle 900 when the vehicle 900 has stopped straddling the white line for more than the second threshold time. On the other hand, when it is determined that the host vehicle 900 has not stopped across the white line for more than the second threshold time (step S220: NO), the condition satisfaction determination unit 13 determines that the lack of intention condition is not satisfied ( step S230).

In other words, the lack of intention condition satisfaction determination process described above determines that the lack of intention condition is satisfied when any one of the following (condition i) to (condition iV) is satisfied, and This is processing for determining that the lack of intention condition is not satisfied when none of the conditions are satisfied.
(Condition i) The shift position is park (P) or reverse (R).
(Condition ii) The hazard lamp is blinking.
(Condition iii) The host vehicle 900 has stopped on the road shoulder for more than the first threshold time.
(Condition iV) The host vehicle 900 has stopped across the white line for more than the second threshold time.

As shown in FIG. 4, after completion of the lack of intention condition satisfaction determination process (step S110), the condition satisfaction determination unit 13 determines whether or not the lack of intention condition is satisfied as a result of step S110. ) is determined (step S115). Then, when it is determined that the lack of intention condition is not satisfied (step S115: NO), that is, when step S230 described above is executed, the notification control unit 12 controls the notification unit 500 to A notification is given to prompt the vehicle 900 to start (step S120). On the other hand, if it is determined that the lack of intention condition is satisfied (step S115: YES), that is, if the above-described step S225 is executed, the notification control unit 12 causes the notification unit 500 to is suppressed (step S125). In the present embodiment, “suppression of notification” means that display of a predetermined message by display unit 510 and predetermined voice announcement by speaker 520 are not executed.

According to the driving support device 100 of the present embodiment described above, whether or not the lack of intention condition, which is a predetermined condition indicating that the driver of the own vehicle 900 has no intention of starting the own vehicle 900, is established. is determined, and if it is determined that the lack of intention condition is established, the notification for prompting the vehicle 900 to start is suppressed by the notification unit 500, so the driver has no intention to start the vehicle 900. In this case, the notification for prompting the vehicle 900 to start can be suppressed.

The lack of intention condition includes the condition (condition i) that the shift position is park (P) or reverse (R). Notification can be suppressed.

Further, since the lack of intention condition includes the condition (condition ii) that the hazard lamps mounted on the vehicle 900 are blinking, there is a possibility that the driver does not have the intention to start the vehicle 900. Notification can be suppressed when it is high.

Further, since the lack of intention condition includes the condition (condition iii) that the own vehicle 900 is stopped on the road shoulder and the elapsed time exceeds the predetermined first threshold time, The notification can be suppressed when the possibility that the driver does not intend to start the vehicle 900 is higher than when the vehicle is stopped only during the threshold time or less.

In addition, since it includes the condition (condition (iv)) that it is determined that the vehicle 900 is stopped across the white line and that the elapsed time exceeds the predetermined second threshold time, The notification can be suppressed when the possibility that the driver does not intend to start the vehicle 900 is higher than when the vehicle 900 is stopped across the white line only during the second threshold time or less.

In addition, the stop factor elimination determination unit 11 determines that the stop factor has been eliminated when it is determined that the forward vehicle is moving based on the detection result of the camera 410 or the millimeter wave radar 420. Therefore, the stop factor is eliminated. can be determined with high accuracy. Further, the stop factor elimination determination unit 11 determines that the stop factor has been eliminated when the instruction content indicated by the traffic light in the captured image obtained by the camera 410 is permission to proceed. Accurate determination is possible.

B. Other embodiments:
(B1) In the above embodiment, the stop factor elimination determination unit 11 determines that the stop factor has been eliminated when it is specified that the vehicle ahead is moving and when the instruction content indicated by the traffic light is permission to proceed. However, the present disclosure is not limited to this. For example, based on the detection results of the camera 410 and the millimeter wave radar 420, it is determined whether or not the crossing gate is down at the railroad crossing. good too.

(B2) In the above embodiment, the success or failure of all of the above (conditions i) to (conditions iv) is determined in the lack of intention condition satisfaction determination process, but the present disclosure is not limited to this. Of the above (conditions i) to (conditions iv), any three or less conditions may be omitted.

(B3) In the above embodiment, if the hazard lamps are not blinking (step S210: NO), the notification is given on the premise that the other two conditions (conditions (iii) and (iv)) do not hold. has been practiced, the disclosure is not so limited. After the hazard lamps are switched from the flashing state to the extinguished state, the suppression of the notification may be continued until the vehicle speed of the host vehicle 900 exceeds a predetermined speed, and the notification may be performed when the speed exceeds the predetermined speed. According to this configuration, the notification control unit 12 continues to suppress the notification by the notification unit 500 until the vehicle speed of the own vehicle 900 exceeds the predetermined speed after starting the suppression of the notification. It is possible to prevent annoyance (discomfort) from being given to the driver when the vehicle cannot immediately start due to the presence of other vehicles following the vehicle immediately after the vehicle is turned off.

(B4) In step S215 of the above embodiment, it is determined whether or not the vehicle has stopped on the shoulder for more than the first threshold time. ” may be determined. Similarly, in step S220, it may simply be determined whether or not the vehicle is stopped across the white line without considering the elapsed time.

(B5) "Suppression of notification" in step S125 of the above embodiment means that neither the display of the predetermined message by the display unit 510 nor the predetermined voice announcement by the speaker 520 is executed. The disclosure is not so limited. For example, it may mean that only one of display of a predetermined message by display unit 510 and predetermined voice announcement by speaker 520 is not executed. It may also mean, for example, reducing the volume of the voice announcement to be output. Further, for example, in a configuration in which a predetermined message is displayed or a voice announcement is repeatedly output, it may mean that the time interval between executions is increased (longer).

(B6) The driving assistance device 100 and methods thereof described in the present disclosure were provided by configuring a processor and memory programmed to perform one or more functions embodied by a computer program. It may also be implemented by a dedicated computer. Alternatively, the driving assistance device 100 and techniques described in this disclosure may be implemented by a dedicated computer provided by configuring a processor with one or more dedicated hardware logic circuits. Alternatively, the driving assistance device 100 and techniques described in the present disclosure are a processor and memory programmed to perform one or more functions and a processor configured by one or more hardware logic circuits. It may also be implemented by one or more dedicated computers configured in combination. The computer program may also be stored as computer-executable instructions on a computer-readable non-transitional tangible recording medium.

The present disclosure is not limited to the embodiments described above, and can be implemented in various configurations without departing from the scope of the present disclosure. For example, the technical features in the embodiments corresponding to the technical features described in the Summary of the Invention column are used to solve some or all of the above problems, or to achieve some or all of the above effects. To achieve this, it is possible to make suitable substitutions and combinations. Also, if the technical features are not described as essential in this specification, they can be deleted as appropriate.

The present disclosure can also be implemented in various forms other than the driving support device 100. FIG. For example, it can be realized in the form of a vehicle 900 equipped with the driving support device 100, a driving support method, a notification control method, a computer program for realizing these methods, a storage medium storing such a computer program, or the like. For example, it may be realized in the following forms.
[Mode 1] A computer program for assisting driving of own vehicle,
A function of determining whether or not a cause for stopping the progress of the own vehicle has been eliminated by using the detection result of a sensor mounted on the own vehicle that detects the surrounding situation;
A function of controlling the notification by the notification unit mounted on the own vehicle for prompting the start of the own vehicle;
a function of determining whether or not an intention lack condition, which is a predetermined condition indicating that the driver of the own vehicle has no intention of starting the own vehicle, is established;
is realized in the computer mounted on the vehicle,
The function for controlling the notification is, when it is determined that the cause for stopping has been eliminated,
When it is determined that the lack of intention condition is not satisfied, causing the notification unit to perform the notification,
A computer program comprising a function of suppressing the notification by the notification unit when it is determined that the lack of intention condition is satisfied.

DESCRIPTION OF SYMBOLS 11... Stop cause elimination determination part, 12... Information control part, 13... Condition establishment determination part, 100... Driving assistance device, 400... Sensor, 500... Notification part, 900... Own vehicle

Claims (8)

A driving support device (100) mounted and used in an own vehicle (900),
A stop factor elimination determination unit (11) for determining whether or not a cause for stopping the progress of the own vehicle has been eliminated by using a detection result from a sensor (400) mounted on the own vehicle for detecting surrounding conditions. and,
a notification control unit (12) for controlling notification by a notification unit (500) mounted on the own vehicle and for prompting the start of the own vehicle;
a condition establishment determining unit (13) for determining whether or not an intention lacking condition, which is a predetermined condition indicating that the driver of the own vehicle has no intention of starting the own vehicle, is established;
with
The notification control unit, when it is determined that the stop factor has been eliminated,
When it is determined that the lack of intention condition is not satisfied, causing the notification unit to perform the notification,
suppressing the notification by the notification unit when it is determined that the lack of intention condition is satisfied;
Driving assistance device. In the driving support device according to claim 1,
The driving assistance device, wherein the lack of intention condition includes a condition that an emergency flashing indicator light (240) mounted on the own vehicle is blinking. In the driving support device according to claim 2,
further comprising a vehicle speed acquisition unit (14) for obtaining a vehicle speed of the own vehicle from a vehicle speed sensor mounted on the own vehicle,
The driving support device, wherein the notification control unit continues to suppress the notification by the notification unit until the vehicle speed exceeds a predetermined speed after starting the suppression of the notification. In the driving support device according to any one of claims 1 to 3,
Further comprising a road shoulder stop determination unit (15) that determines whether the vehicle is stopped on the road shoulder using the detection result of the sensor,
The driving support device, wherein the lack of intention condition includes a condition that the own vehicle is stopped on the shoulder of the road. In the driving support device according to claim 4,
Further comprising an elapsed time specifying unit (16) that specifies the elapsed time since the vehicle stopped,
The driving assistance device, wherein the lack of intention condition includes a condition that the own vehicle is stopped on the shoulder of the road and that the elapsed time exceeds a predetermined first threshold time. In the driving support device according to any one of claims 1 to 5,
A white line crossing determination unit (17) that uses the detection result of the sensor to identify whether the own vehicle is stopped across the white line (17),
The driving assistance device, wherein the lack of intention condition includes a condition that the own vehicle is stopped while straddling a white line. In the driving support device according to claim 6,
further comprising an elapsed time identifying unit that identifies the elapsed time since the vehicle stopped,
The driving assistance device, wherein the lack of intention condition includes a condition that the host vehicle is determined to be stopped across a white line and that the elapsed time exceeds a predetermined second threshold time. In the driving support device according to any one of claims 1 to 7,
further comprising a shift position identifying unit (18) that identifies a shift position of a shift lever in the host vehicle,
The driving assistance device, wherein the lack of intention condition includes a condition that the specified shift position is park (P) or reverse (R).

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