Drive assistance device and drive assistance method
This drive assistance device comprises an ACC unit, an abnormality detection unit for detecting an abnormality from a detector used to perform ACC, and a vehicle stop control unit for performing control to stop an ego vehicle when an abnormality is detected by the abnormality detection unit and an inter-vehicle distance to a preceding vehicle satisfies a certain condition.
1. A driving assistance apparatus that assists driving of a vehicle, the driving assistance apparatus comprising:
an ACC section that executes adaptive cruise control (ACC) on basis of at least an inter-vehicle distance from own car to a leading car and a relative speed between the own car and the leading car;
an abnormality detection section that detects an abnormality of a detector used to execute the ACC; and
a vehicle-stopping control section that performs vehicle-stopping control of the own car when an abnormality is detected by the abnormality detection section and the inter-vehicle distance from the leading car satisfies a predetermined condition, wherein
ACC processing by the ACC section is removed and the vehicle-stopping control by the vehicle-stopping control section is not performed when an abnormality is detected by the abnormality detection section and the inter-vehicle distance is greater than a predetermined threshold value or the inter-vehicle distance is not on a decreasing trend.
2. The driving assistance apparatus according to claim 1 , wherein the vehicle-stopping control section performs the vehicle-stopping control of the own car when an abnormality is detected by the abnormality detection section and the inter-vehicle distance is on a decreasing trend.
3. The driving assistance apparatus according to claim 1 , wherein the vehicle-stopping control section performs the vehicle-stopping control of the own car when an abnormality is detected by the abnormality detection section, the inter-vehicle distance is equal to or less than a predetermined threshold value, and the inter-vehicle distance is on a decreasing trend.
4. The driving assistance apparatus according to claim 1 , wherein ACC processing by the ACC section is removed when the vehicle-stopping control by the vehicle-stopping control section is executed.
5. The driving assistance apparatus according to claim 1 , wherein the vehicle-stopping control section outputs a target deceleration speed at a fixed value independent of the detector in which an abnormality is detected.
6. The driving assistance apparatus according to claim 1 , further comprising a state determination section that determines that the own car is about to be stopped, wherein the vehicle-stopping control by the vehicle-stopping control section is executed when the state determination section determines that the own car is about to be stopped.
7. The driving assistance method according to claim 6 , wherein the state determination section determines whether the own car is about to be stopped, on basis of the inter-vehicle distance from the leading car and an own car speed.
8. The driving assistance apparatus according to claim 7 , wherein the inter-vehicle distance from the leading car used in the determination of whether the vehicle stopping is about to be performed is a distance shorter than an inter-vehicle distance set for the ACC.
9. The driving assistance apparatus according to claim 1 , wherein the vehicle-stopping control by the vehicle-stopping control section is continued until there is an operation relating to traveling by a driver.
10. A driving assistance method of assisting driving of a vehicle, the driving assistance method comprising:
an ACC step of executing adaptive cruise control (ACC) on the basis of at least an inter-vehicle distance from own car to a leading car and a relative speed between the own car and the leading car;
an abnormality detection step of detecting an abnormality of a detector used to execute the ACC; and
a vehicle-stopping control step of performing vehicle-stopping control of the own car when an abnormality is detected in the abnormality detection step and the inter-vehicle distance from the leading car satisfies a predetermined condition, wherein
ACC processing by the ACC step is removed and the vehicle-stopping control by the vehicle-stopping control step is not performed when an abnormality is detected in the abnormality detection step and the inter-vehicle distance is greater than a predetermined threshold value or the inter-vehicle distance is not on a decreasing trend.