Braking support control device

1 . A braking assistance control device that performs a braking assistance control of an own vehicle according to a possibility of collision between the own vehicle and an obstacle, the braking assistance control device comprising:

at least one object detection sensor configured to detect an object around the own vehicle and to output detection information; and

a controller comprising at least one processor and at least one non-transitory memory storing instructions that, when executed by the at least one processor, cause the controller to:

calculate an index for defining accuracy of future prediction of relative information between the own vehicle and the obstacle;

set at least one of a plurality of determination threshold values used to determine whether or not to perform the braking assistance control according to the index, the plurality of determination threshold values including a determination threshold value for obstacle determination;

determine an obstacle based on the detection information output by the at least one object detection sensor; and

change the determination threshold value for the obstacle determination according to the index such that the determination threshold value for the obstacle determination decreases as the index becomes higher.

2 . The braking assistance control device according to claim 1 , wherein the instructions, when executed by the at least one processor, further cause the controller to set a determination threshold value for starting braking to a value corresponding to an early activation as the index is higher.

3 . The braking assistance control device according to claim 1 , wherein the instructions, when executed by the at least one processor, cause the controller to calculate the index based on the occurrence degree of the driver operation.

4 . The braking assistance control device according to claim 1 , further comprising a driver monitoring sensor configured to output driver monitoring information indicating the occupancy state of the driver, wherein the instructions, when executed by the at least one processor, further cause the controller to derive the information on the occurrence degree of driver operation based on the driver monitoring information.

5 . The braking assistance control device according to claim 1 , wherein the plurality of determination threshold values further includes a determination threshold value for collision possibility determination and a determination threshold value for braking start determination.

6 . The braking assistance control device according to claim 5 , wherein the instructions, when executed by the at least one processor, further cause the controller to determine a possibility of collision from a difference between a predicted position of the own vehicle and a predicted position of the obstacle, and to change the determination threshold value for the collision possibility determination according to the index.

7 . The braking assistance control device according to claim 5 , wherein the instructions, when executed by the at least one processor, further

cause the controller to perform a braking start determination based on a collision time between the own vehicle and the obstacle, and to set the determination threshold value for the braking start determination according to the index.

8 . The braking assistance control device according to claim 7 , wherein the instructions, when executed by the at least one processor, further cause the controller to increase the determination threshold value for the braking start determination as the index becomes higher.

9 . The braking assistance control device according to claim 5 , wherein the instructions, when executed by the at least one processor, further cause the controller to increase the determination threshold value for the collision possibility determination as the index becomes higher.

10 . The braking assistance control device according to claim 1 , wherein the instructions, when executed by the at least one processor, cause the controller to:

derive information on an occurrence degree of driver operation based on information on an occupancy state of a driver of the own vehicle;

derive information on travel control performance of the own vehicle from a difference between a current position of the own vehicle and a route of a travel plan set in advance;

derive information on sensor detection performance based on a dispersion state of sensor values of the at least one object detection sensor;

calculate the index based on at least one piece of information of the occurrence degree of the driver operation by the driver of the own vehicle, the travel control performance of the own vehicle, and the sensor detection performance of the at least one object detection sensor; and

calculate the index to have higher accuracy of the future prediction when the own vehicle is in autonomous driving than when the own vehicle is in driver operation.

11 . The braking assistance control device according to claim 10 , wherein the instructions, when executed by the at least one processor, cause the controller to calculate the index based on each of the occurrence degree of the driver operation, the travel control performance of the own vehicle, and the sensor detection performance of the at least one object detection sensor.

12 . The braking assistance control device according to claim 1 , wherein the instructions, when executed by the at least one processor, cause the controller to calculate the index based on each of the travel control performance of the own vehicle and the sensor detection performance of the at least one object detection sensor.