JP5900293B2 - Collision avoidance support device and collision avoidance support method - Google Patents

Description

  The present invention relates to a collision avoidance support apparatus and a collision avoidance support method that perform collision avoidance support between a vehicle and an object.

  Conventionally, as a collision avoidance support device and a collision avoidance support method, for example, as described in Japanese Patent Application Laid-Open No. 2008-132867, the intervention scheduled timing is corrected according to the size of the front obstacle blocking the estimated course of the own vehicle. An apparatus and a method for determining an intervention start timing and delaying the intervention start timing when a front obstacle slightly blocks the estimated course of the own vehicle are known.

JP 2008-132867 A

  By the way, with such an apparatus and method, in many situations, turning avoidance assistance in the moving direction of the object in the width direction of the vehicle, for example, turning left when the object moves leftward in front of the vehicle By promoting avoidance support, it is considered that turning avoidance support that matches the driver's feeling can be performed. However, in a specific situation, it is assumed that the turning avoidance assistance does not match the driver's feeling by promoting the turning avoidance support in the moving direction of the object in this way.

  Therefore, the present invention intends to provide a collision avoidance support device and a collision avoidance support method that can suppress turning avoidance support that does not match the driver's feeling.

A collision avoidance assistance device according to the present invention is a collision avoidance assistance device that performs collision avoidance assistance between a vehicle and an object, and includes an object information acquisition unit that acquires object information indicating a movement state of an object in front of the vehicle, Based on the travel path information acquisition unit that acquires travel path information indicating the shape of the travel path and the object information and the travel path information , the degree of curvature of the travel path in the direction opposite to the moving direction of the object in the width direction of the vehicle is And a support control unit that suppresses or prohibits turning avoidance support in the moving direction when it is determined that the threshold for the degree of bending is exceeded .

  As a result, in a situation where the degree of curvature of the traveling path in the direction opposite to the moving direction of the object moving in front of the vehicle is large, by suppressing the turning avoidance support in the moving direction of the object, the direction opposite to the curved direction of the traveling path is achieved. Turning avoidance in the direction is suppressed, and turning avoidance assistance that does not match the driver's feeling can be suppressed.

The collision avoidance assistance device according to the present invention may further include a driver information acquisition unit that acquires driver information indicating a degree of consciousness reduction of the driver of the vehicle, and the support control unit includes the driver control unit in the width direction of the vehicle. It is determined that the degree of curvature of the travel path in the direction opposite to the moving direction of the object exceeds a threshold value for the degree of curvature, and the driver's degree of consciousness exceeds a threshold value for the degree of consciousness reduction. If it is determined that the vehicle is turning, the turning avoidance support in the moving direction may be suppressed or prohibited.

Further, in the collision avoidance assistance device according to the present invention, when the assistance control unit determines that the degree of curvature of the travel path exceeds a threshold value with respect to the degree of curvature, the turning in the direction opposite to the movement direction. Avoidance assistance may be provided.

In the collision avoidance assistance device according to the present invention, the threshold value is variably set according to at least one of a traveling state of the vehicle, a moving state of the object, and a traveling road state in front of the vehicle. Also good.

A collision avoidance support method according to the present invention is a collision avoidance support method executed by a collision avoidance support device that performs collision avoidance support between a vehicle and an object, and acquires object information indicating a movement state of the object in front of the vehicle. acquires travel path information indicating the shape of the road ahead of the vehicle, on the basis of the object information and the travel path information, the degree of curvature of the traveling path of the moving direction opposite to the direction of the object in the width direction of the vehicle is the When it is determined that the threshold for the degree of bending is exceeded, this includes suppressing or prohibiting turning avoidance support in the moving direction .

In the collision avoidance support method according to the present invention, the method further includes obtaining driver information indicating a degree of consciousness reduction of the driver of the vehicle in a direction opposite to the moving direction of the object in the width direction of the vehicle. When it is determined that the degree of curvature of the travel path exceeds a threshold for the degree of curvature, and the degree of consciousness reduction of the driver exceeds a threshold for the degree of consciousness, the movement direction The turning avoidance assistance to the vehicle may be suppressed or prohibited. In this case, when it is determined that the degree of curvature of the travel path exceeds a threshold value for the degree of curvature, turning avoidance assistance in the direction opposite to the movement direction may be performed.

  ADVANTAGE OF THE INVENTION According to this invention, the collision avoidance assistance apparatus and the collision avoidance assistance method which can suppress the turning avoidance assistance which does not match a driver | operator's sense can be provided.

It is a block diagram which shows the collision avoidance assistance apparatus which concerns on 1st Embodiment of this invention. It is a flowchart which shows the collision avoidance assistance method which concerns on 1st Embodiment. It is a figure explaining the collision avoidance assistance method shown in FIG. It is a block diagram which shows the collision avoidance assistance apparatus which concerns on 2nd Embodiment of this invention. It is a flowchart which shows the collision avoidance assistance method which concerns on 2nd Embodiment. It is a figure explaining the collision avoidance assistance method shown in FIG.

  Hereinafter, a collision avoidance assistance device and a collision avoidance assistance method according to an embodiment of the present invention will be described in detail with reference to the accompanying drawings. In the description of the drawings, the same elements are denoted by the same reference numerals, and redundant description is omitted.

  Hereinafter, the collision avoidance assistance device 10 and the collision avoidance assistance method according to the first embodiment of the present invention will be described with reference to FIGS. 1 to 3. 1st Embodiment suppresses specific turning avoidance assistance according to the grade of the curve of the traveling path ahead of a vehicle.

  First, with reference to FIG. 1, the collision avoidance assistance apparatus 10 which concerns on 1st Embodiment is demonstrated. FIG. 1 is a block diagram showing a collision avoidance assistance device 10 according to the first embodiment of the present invention.

  The collision avoidance assistance device 10 is a device that is mounted on a vehicle and performs collision avoidance assistance between the vehicle and an object. As illustrated in FIG. 1, the collision avoidance assistance device 10 includes a vehicle information acquisition unit 11, an object information acquisition unit 12, a travel path information acquisition unit 13, a support execution unit 14, and an ECU 15 (Electronic Control Unit).

  The vehicle information acquisition unit 11 acquires vehicle information indicating the position and running state of the vehicle. For example, at least one of a GPS (Global Positioning System) sensor, a wheel speed sensor, an acceleration sensor, a steering angle sensor, a steering torque sensor, and a yaw rate sensor is used for the vehicle information acquisition unit 11. For example, the vehicle information acquisition unit 11 acquires the position, speed, acceleration, steering angle, steering torque, yaw rate, and the like of the vehicle and supplies them to the ECU 15.

  The object information acquisition unit 12 acquires object information indicating the movement state of the object in front of the vehicle. An object is an obstacle that can hinder the traveling of a vehicle such as a pedestrian, a bicycle, or another vehicle, and is an obstacle that crosses a traveling path in front of the vehicle. For the object information acquisition unit 12, for example, at least one of a radar sensor such as a millimeter wave radar and a laser radar and an image sensor such as a stereo camera, a video camera, and a near infrared camera is used. The object information acquisition unit 12 acquires, for example, the position, moving direction, moving speed, and the like of the object and supplies them to the ECU 15.

  The travel path information acquisition unit 13 acquires travel path information indicating the shape of the travel path in front of the vehicle. For example, at least one of an image sensor such as a stereo camera, a video camera, and a near-infrared camera, a car navigation device, a road-vehicle communication device, a vehicle-to-vehicle communication device, and the like is used for the traveling road information acquisition unit 13. The traveling road information acquisition unit 13 acquires, for example, the degree of curvature of the traveling road, the road width, the inclination, the intersection state, the road surface state, the degree of congestion, and the like and supplies the ECU 15 to the ECU 15.

  The degree of curvature of the travel path is expressed as the curvature or radius of curvature of the travel path within a distance range where turning can be avoided in front of the vehicle, and the greater the curvature or the smaller the curvature radius, the greater the degree of curvature. The traveling road is divided into a straight road, a right curve that curves in the right direction with respect to the traveling direction of the vehicle, and a left curve that curves in the left direction according to the planar shape.

  The support execution unit 14 executes collision avoidance support for avoiding a collision between the vehicle and the object. The support execution unit 14 is controlled by the ECU 15 to execute at least one of notification support and control support. In the notification support, for example, information for alerting a collision and guiding to a collision avoidance operation is notified to the driver using a display, a speaker, a vibrator, and the like. In the control support, for example, a control intervention for the purpose of braking avoidance support, turning avoidance support, collision safety support, or the like is performed using a brake actuator, a steering actuator, a seat belt actuator, or the like.

  In the braking avoidance support, for example, automatic braking support, assistance support for a braking operation by a driver, and continuing support for a braking operation using a physical stimulus are performed. In the turning avoidance assistance, for example, automatic steering assistance, assistance assistance for steering by the driver, and continuing assistance for steering using physical stimulation are performed. In addition to these, for example, turning avoidance assistance by cooperation of automatic steering assistance and automatic braking assistance, turning avoidance assistance using yaw moment generated by automatic braking, and the like may be performed.

  The ECU 15 is composed mainly of a CPU, a ROM, and a RAM, and realizes a function as a support control unit through execution of a program by the CPU. The ECU 15 may partially realize the functions of the vehicle information acquisition unit 11, the object information acquisition unit 12, and the travel path information acquisition unit 13.

  The ECU 15 controls the execution of collision avoidance support for avoiding a collision between the vehicle and the object. The ECU 15 controls at least one of notification assistance and control assistance according to the possibility of collision with an object. In the control support, the ECU 15 controls at least one of braking avoidance support, turning avoidance support, and collision safety support.

  Here, the ECU 15 provides assistance for avoiding turning in the moving direction as the degree of curvature of the traveling path in the direction opposite to the moving direction of the object in the width direction of the vehicle is larger based on the object information and the traveling path information. Suppress. The moving direction of the object means the moving direction of the object in the width direction of the vehicle, and is obtained based on the moving track of the object. The degree of curve of the road in the direction opposite to the moving direction of the object represents the degree of curve of the left curve when the object is moving to the right, and when the object is moving to the left It represents the degree of curvature of the right curve. Further, suppressing the turning avoidance support means, for example, ending (releasing) the turning avoidance support or reducing the avoidance amount by turning avoidance.

  Further, the ECU 15 may suppress or prohibit turning avoidance support in the moving direction when it is determined that the degree of curve of the travel path exceeds the threshold value. Here, the threshold value may be variably set according to at least one of the traveling state of the vehicle, the moving state of the object, and the traveling road state ahead of the vehicle. For example, the threshold value may be set large in a situation where collision avoidance by turning avoidance assistance is easy, but may be set small in a situation where collision avoidance is difficult. Thereby, according to the situation where collision avoidance by turning avoidance assistance is performed, turning avoidance assistance in the moving direction can be appropriately suppressed or prohibited.

  Next, operations of the collision avoidance support method and the collision avoidance support device 10 according to the first embodiment will be described with reference to FIGS. 2 and 3. FIG. 2 is a flowchart showing the collision avoidance support method according to the first embodiment. The collision avoidance assistance device 10 repeatedly executes the process shown in FIG. 2 for each processing cycle.

  The vehicle information acquisition unit 11 acquires vehicle information indicating the position and running state of the vehicle (S11). The object information acquisition unit 12 acquires object information indicating the moving state of the object in front of the vehicle (S12). The travel path information acquisition unit 13 acquires travel path information indicating the shape of the travel path ahead of the vehicle (S13).

  The ECU 15 determines the possibility of collision with an object based on the vehicle information and the object information (S14). The collision possibility is obtained based on, for example, the vehicle speed, the relative speed between the vehicle and the object, the lateral position of the object, the lateral position of the collision, the existence probability of the object, or a combination thereof. The lateral position of the object is the lateral distance to the object at the current time (the distance in the width direction of the vehicle), and the collision lateral position is the lateral distance to the object at the predicted time of the collision, It is obtained based on the movement trajectory of the object. The existence probability of the object represents the accuracy of the object information acquired by the object information acquisition unit 12, and is obtained based on the acquisition state of the object information. Note that the possibility of collision may be obtained in consideration of travel path information.

  The ECU 15 determines whether or not it is necessary to execute the turning avoidance support based on the possibility of collision (S15). For example, when the conditions of various indices used for calculating the collision possibility are satisfied and the collision allowance time (TTC) is less than the threshold value, it is determined that the turning avoidance support needs to be executed. The collision allowance time is the allowance time until the vehicle and the object collide, and is obtained by dividing the vertical distance to the object (the distance in the traveling direction of the vehicle) by the relative speed between the vehicle and the object.

  When it is determined that turning avoidance support needs to be executed, the ECU 15 determines whether or not the degree of curvature of the travel path in the direction opposite to the moving direction of the object, that is, the appearance direction of the object exceeds a threshold value. (S16). On the other hand, if it is not determined that it is necessary, the process returns to S11.

  If it is determined in S16 that the degree of bending exceeds the threshold value, the ECU 15 determines to perform turning avoidance support in the direction opposite to the moving direction of the object, that is, in the appearance direction of the object (S17). That is, the greater the degree of curvature of the travel path in the direction opposite to the moving direction of the object, the more the turning avoidance assistance in the moving direction of the object is suppressed. On the other hand, when it is not determined in S16 that the degree of bending exceeds the threshold value, the ECU 15 determines to perform turning avoidance support in the moving direction of the object (S18).

  When the direction of the turning avoidance support is determined, the support executing unit 14 executes the turning avoidance support based on the control of the ECU 15 (S19). Specifically, the ECU 15 obtains an avoidance route corresponding to the direction of the turning avoidance support based on the vehicle information, the object information, and the travel route information, and realizes the turning avoidance support in accordance with the avoidance route. Find the momentum. Further, the ECU 15 obtains a control target related to the turning avoidance amount (steering angle, steering torque, brake hydraulic pressure) according to the amount of movement of the vehicle, and performs feedback control based on the difference between the control target and the vehicle information.

  FIG. 3 is a diagram for explaining the collision avoidance support method shown in FIG. In the situation shown in FIG. 3A, the pedestrian P is going to cross the front of the vehicle C traveling on the straight road Ra from right to left. When the collision avoidance assistance device 10 performs the turning avoidance assistance, the degree of curvature of the travel path in the direction opposite to the movement direction Dp of the pedestrian P, that is, the right direction is less than a threshold (because it is a straight road, the degree of curvature is substantially It is determined to be 0). Then, the collision avoidance assistance device 10 determines to perform the turn avoidance assistance in the moving direction Dp of the pedestrian P, that is, in the left direction. Thereby, the turning avoidance support suitable for the driver's sense can be performed by the turning avoidance Dca in the moving direction Dp of the pedestrian P.

  On the other hand, in the situation shown in FIG. 3B, the pedestrian P is about to cross from the right to the left in front of the vehicle C traveling on the right curve Rb. The collision avoidance assistance device 10 determines that the degree of curve of the travel path in the direction opposite to the movement direction Dp of the pedestrian P, that is, the right direction, exceeds the threshold when executing the turning avoidance assistance. Then, the collision avoidance assistance device 10 determines to perform turning avoidance assistance in the direction opposite to the movement direction Dp of the pedestrian P, that is, in the right direction. As a result, when the degree of curvature of the travel path in the direction opposite to the movement direction Dp of the pedestrian P, that is, the direction of appearance of the pedestrian P is large, the turn avoidance Dcb in the direction of appearance matches the driver's feeling. Can avoid turning.

  As described above, according to the collision avoidance assistance device 10 and the collision avoidance assistance method according to the first embodiment of the present invention, the degree of curve of the travel path in the direction opposite to the moving direction of the object moving in front of the vehicle is increased. By suppressing turning avoidance assistance in the moving direction of the object in a large situation, turning avoidance in the direction opposite to the curve direction of the travel path is suppressed, and turning avoidance assistance that does not match the driver's feeling can be suppressed.

  In the description of the above embodiment, when the degree of curve of the travel path in the direction opposite to the direction of movement of the object exceeds the threshold value, by performing turning avoidance support in the direction opposite to the direction of movement, the movement direction The case where the turning avoidance support to the vehicle is suppressed has been described. However, the greater the degree of curvature of the travel path in the direction opposite to the moving direction of the object, the more the turning avoidance support in the moving direction is suppressed by executing the braking avoidance support instead of the turning avoidance support in the moving direction. May be.

  Hereinafter, a collision avoidance support device 20 and a collision avoidance support method according to a second embodiment of the present invention will be described with reference to FIGS. 2nd Embodiment suppresses specific turning avoidance assistance according to the consciousness fall degree of the driver | operator of a vehicle. In addition, below, the description which overlaps with the description which concerns on 1st Embodiment is abbreviate | omitted.

  First, the collision avoidance assistance device 20 according to the second embodiment will be described with reference to FIG. FIG. 4 is a block diagram showing a collision avoidance assistance device 20 according to the second embodiment of the present invention.

  The collision avoidance support device 20 is a device that is mounted on a vehicle and performs collision avoidance support between the vehicle and an object. As shown in FIG. 4, the collision avoidance assistance device 20 includes a vehicle information acquisition unit 11, an object information acquisition unit 12, a travel route information acquisition unit 13, a driver information acquisition unit 21, a support execution unit 14, and an ECU 25 (Electronic Control Unit). ). The configurations and functions of the vehicle information acquisition unit 11, the object information acquisition unit 12, the travel route information acquisition unit 13, and the support execution unit 14 are the same as those in the first embodiment.

  The driver information acquisition unit 21 acquires driver information indicating the state of the driver, particularly the degree of consciousness reduction. The driver information acquisition unit 21 is, for example, at least one of a monitoring camera and a biosensor that detects a driver's pulse, heart rate, sweating, and brain waves. The driver information acquisition unit 21 acquires, for example, the driver's face orientation, eyelid open / closed state, pulse value, heart rate value, sweat rate, brain wave value, and the like, and supplies them to the ECU 25.

  ECU25 implement | achieves the function as an assistance control part which controls execution of collision avoidance assistance. The ECU 25 may partially realize the functions of the vehicle information acquisition unit 11, the object information acquisition unit 12, the travel path information acquisition unit 13, and the driver information acquisition unit 21.

  The ECU 25 controls execution of collision avoidance support for avoiding a collision between the vehicle and the object. The ECU 25 controls execution of at least one of notification assistance and control assistance according to the possibility of collision with an object. In the control support, the ECU 25 controls execution of at least one of braking avoidance support, turning avoidance support, and collision safety support.

  Here, especially ECU25 suppresses the turning avoidance assistance to the moving direction of the object in the width direction of a vehicle, so that a driver | operator's consciousness fall degree is high based on object information and driver | operator information. The moving direction of the object means the moving direction of the object in the width direction of the vehicle, and is obtained based on the moving track of the object. The driver's degree of consciousness reduction is an index that represents the degree to which the driver's consciousness has decreased due to looking away, falling asleep, poor physical condition, etc. It is obtained based on changes in pulse value, heart rate value, sweating amount, and electroencephalogram value.

  In addition, the ECU 25 may suppress or prohibit turning avoidance support in the moving direction when it is determined that the driver's degree of consciousness deterioration exceeds the threshold value. Here, the threshold value may be variably set according to at least one of the traveling state of the vehicle, the moving state of the object, and the traveling road state ahead of the vehicle. For example, the threshold value may be set large in a situation where collision avoidance by turning avoidance assistance is easy, but may be set small in a situation where collision avoidance is difficult. Thereby, according to the situation where collision avoidance by turning avoidance assistance is performed, turning avoidance assistance in the moving direction can be appropriately suppressed or prohibited.

  Next, operations of the collision avoidance support method and the collision avoidance support device 20 according to the second embodiment will be described with reference to FIGS. 5 and 6. FIG. 5 is a flowchart showing a collision avoidance support method according to the second embodiment. The collision avoidance assistance device 20 repeatedly executes the process shown in FIG. 5 every processing cycle.

  The vehicle information acquisition unit 11 acquires vehicle information indicating the position and running state of the vehicle (S21). The object information acquisition unit 12 acquires object information indicating the movement state of the object in front of the vehicle (S22). The travel path information acquisition unit 13 acquires travel path information indicating the state of the travel path ahead of the vehicle (S23). The driver information acquisition unit 21 acquires driver information indicating the state of the driver of the vehicle, particularly the degree of consciousness reduction (S24).

  The ECU 25 determines the possibility of collision with the object based on the vehicle information and the object information (S25). The ECU 25 determines whether or not it is necessary to execute the turning avoidance support based on the possibility of collision (S26). And when it determines with execution of turning avoidance assistance being required, ECU25 determines whether a driver | operator's consciousness fall degree exceeds the threshold value (S27). On the other hand, if it is not determined that it is necessary, the process returns to S21.

  If it is determined in S27 that the degree of consciousness reduction exceeds the threshold, the ECU 25 determines to perform turning avoidance support in the direction opposite to the moving direction of the object, that is, in the appearance direction of the object (S28). That is, the higher the driver's consciousness reduction level, the more the turning avoidance assistance in the moving direction of the object is suppressed. On the other hand, when it is not determined in S27 that the degree of consciousness deterioration exceeds the threshold, the ECU 25 determines to perform turning avoidance support in the moving direction of the object (S29). When the direction of turning avoidance support is determined, the support execution unit 14 performs turning avoidance support based on the control of the ECU 25 (S30).

  FIG. 6 is a diagram for explaining the collision avoidance support method shown in FIG. In the situation shown in FIG. 6A, the pedestrian P is about to cross from the right to the left in front of the vehicle C traveling on the straight road Ra. When executing the turning avoidance support, the collision avoidance support device 20 determines that the driver's degree of consciousness decrease is less than a threshold based on, for example, the degree of eyelid opening Ea. Then, the collision avoidance assistance device 20 determines to perform the turn avoidance assistance in the moving direction Dp of the pedestrian P, that is, in the left direction. Thereby, the turning avoidance support suitable for the driver's sense can be performed by the turning avoidance Dca in the moving direction Dp of the pedestrian P.

  On the other hand, in the situation shown in FIG. 6B, the pedestrian P is going to cross the front of the vehicle C traveling on the straight road Ra from right to left. When executing the turning avoidance support, the collision avoidance assistance device 20 determines that the driver's degree of consciousness reduction exceeds the threshold based on, for example, the degree of eyelid opening Eb. Then, the collision avoidance assistance device 20 determines to perform turning avoidance assistance in the direction opposite to the moving direction Dp of the pedestrian P, that is, in the right direction. Thus, when it is assumed that turning avoidance support in the moving direction Dp is promoted despite the necessity of performing turning avoidance support in accordance with the driver's feeling is low, it is assumed that the driver's feeling will not be met. The turning avoidance assistance that does not match the driver's sense can be suppressed by the turning avoidance Dcb in the direction opposite to the pedestrian moving direction Dp, that is, the appearance direction of the pedestrian P.

  As described above, according to the collision avoidance assistance device 20 and the collision avoidance assistance method according to the second embodiment of the present invention, it is necessary to provide turning avoidance assistance in accordance with the driver's feeling because the degree of driver's consciousness decrease is large. Suppressing turning avoidance support in the direction of movement of the object in a low-performance situation suppresses turning avoidance that does not match the driver's sense of low consciousness, and provides turning avoidance support that does not match the driver's sense Can be suppressed.

  In the description of the above embodiment, when the driver's degree of consciousness reduction exceeds a threshold, turning avoidance support in the direction opposite to the moving direction of the object is performed, thereby suppressing turning avoidance support in the moving direction. Explained when to do. However, the greater the degree of driver consciousness reduction, the more the turning avoidance support in the moving direction may be suppressed by executing the braking avoidance support instead of the turning avoidance support in the moving direction of the object.

  The above-described embodiments are the best embodiments of the collision avoidance support devices 10 and 20 and the collision avoidance support method according to the present invention, and the collision avoidance support devices 10 and 20 and the collision avoidance according to the present invention are described. The support method is not limited to the one described in this embodiment. The collision avoidance support apparatuses 10 and 20 and the collision avoidance support method according to the present invention are the collision avoidance support apparatuses 10 and 20 and the collision avoidance support method according to the present embodiment without departing from the gist of the invention described in each claim. It may be modified or applied to others.

  For example, by combining the first embodiment and the second embodiment, the greater the degree of curve of the travel path in the direction opposite to the moving direction of the object, and the greater the degree of consciousness reduction of the driver, You may suppress turning avoidance assistance.

  DESCRIPTION OF SYMBOLS 10, 20 ... Collision avoidance assistance apparatus, 11 ... Vehicle information acquisition part, 12 ... Object information acquisition part, 13 ... Driving road information acquisition part, 14 ... Support execution part, 15, 25 ... ECU, 21 ... Driver information acquisition part .

Claims (7)

In a collision avoidance support device that performs collision avoidance support between a vehicle and an object,
An object information acquisition unit for acquiring object information indicating a moving state of the object in front of the vehicle;
A road information acquisition unit for acquiring road information indicating the shape of the road ahead of the vehicle;
When it is determined, based on the object information and the travel path information , that the degree of curvature of the travel path in the direction opposite to the moving direction of the object in the width direction of the vehicle exceeds a threshold for the degree of curvature A support control unit that suppresses or prohibits turning avoidance support in the moving direction ;
A collision avoidance assistance device comprising: A driver information acquisition unit that acquires driver information indicating a degree of consciousness reduction of the driver of the vehicle ;
The support control unit determines that the degree of curvature of the travel path in the direction opposite to the moving direction of the object in the width direction of the vehicle exceeds a threshold for the degree of curvature, and the driver's When it is determined that the degree of consciousness exceeds the threshold for the degree of consciousness, the turning avoidance support in the moving direction is suppressed or prohibited.
The collision avoidance assistance device according to claim 1. The support control unit performs turning avoidance support in a direction opposite to the movement direction when it is determined that the degree of curvature of the travel path exceeds a threshold value for the degree of curvature.
The collision avoidance assistance device according to claim 1. The threshold value, the traveling state of the vehicle, the movement state of the object, and the is variably set depending on at least either the condition of the vehicle ahead of the traveling path, to any one of claims 1 to 3 The collision avoidance assistance device described. In a collision avoidance support method executed by a collision avoidance support device that performs collision avoidance support between a vehicle and an object,
Obtaining object information indicating a moving state of the object in front of the vehicle;
Obtaining travel path information indicating the shape of the travel path ahead of the vehicle;
When it is determined, based on the object information and the travel path information, that the degree of curvature of the travel path in the direction opposite to the moving direction of the object in the width direction of the vehicle exceeds a threshold for the degree of curvature Suppressing or prohibiting turning avoidance support in the moving direction ,
A collision avoidance support method including Further including obtaining driver information indicating a degree of consciousness reduction of the driver of the vehicle,
It is determined that the degree of curve of the travel path in the direction opposite to the moving direction of the object in the width direction of the vehicle exceeds a threshold for the degree of curve, and the driver's degree of consciousness decrease is the consciousness When it is determined that the threshold value for the degree of decrease is exceeded, the turning avoidance support in the moving direction is suppressed or prohibited.
The collision avoidance support method according to claim 5. When it is determined that the degree of curvature of the travel path exceeds a threshold for the degree of curvature, turning avoidance support in the direction opposite to the movement direction is performed.
The collision avoidance support method according to claim 5.

Images