Drive assist device
The control unit for controlling the travel control device causes the host vehicle to decelerate and stop at a predetermined position in front of the host vehicle when a stop target is detected in front of the host vehicle, and further. The control unit estimates a time period from when the subject vehicle catches up with the pedestrian until when the subject vehicle stops and a time period from when the subject vehicle stops until when the pedestrian catches up with the subject vehicle when the subject vehicle is less than the reference value when the sum of the two times is less than the reference value, maintains the subject vehicle in the stop state even if the subject vehicle is not detected.
1 . A drive assist device comprising:
a target detection device that detects a target around a host vehicle; a travel control device that controls travel of the host vehicle; and a control unit that controls the travel control device, wherein: the control unit is configured to decelerate the host vehicle and stop the host vehicle at a predetermined position before a temporary stop target by controlling the travel control device when the target detection device detects the temporary stop target in front of the host vehicle; and
the control unit is configured to estimate a first time period since when the host vehicle catches up with a pedestrian until when the host vehicle is stopped and estimate a second time period since when the host vehicle is stopped until when the pedestrian catches up with the host vehicle when the target detection device detects the temporary stop target in front of the host vehicle and detects the pedestrian moving at a side in front of the host vehicle in a same direction as the host vehicle, and to maintain the host vehicle in a stopped state by controlling the travel control device, even if the target detection device does not detect the temporary stop target any more, when a sum of the first and second time periods is less than a first reference value.
2 . The drive assist device according to claim 1 , wherein the control unit is configured to estimate a third time period until the host vehicle catches up with the pedestrian when the target detection device does not detect the temporary stop target any more in a situation in which the host vehicle is maintained in the stopped state and the target detection device is detecting the pedestrian at a side in front of the host vehicle, and to continue to maintain the host vehicle in the stopped state when the third time period is less than a second reference value.
3 . The drive assist device according to claim 1 , wherein the control unit is configured to estimate a first distance from a position of the host vehicle at a time when the vehicle catches up with the pedestrian to the predetermined position, and estimate the first time period based on a vehicle speed at the time when the host vehicle catches up with the pedestrian, a deceleration of the host vehicle, and the first distance.
4 . The drive assist device according to claim 1 , wherein the control unit is configured to estimate a moving speed of the pedestrian, estimate a second distance from the pedestrian to the host vehicle at a time when the host vehicle is stopped, and estimate the second time period based on the moving speed of the pedestrian and the second distance.
5 . The drive assist device according to claim 2 , wherein the control unit is configured to control the travel control device such that a vehicle speed of the host vehicle is varied in a variation pattern set in advance when the target detection device does not detect the temporary stop target any more in a situation in which the host vehicle is maintained in the stopped state and the target detection device is detecting the pedestrian at a side in front of the host vehicle, and configured to estimate a third distance from the host vehicle to the pedestrian at a time when the target detection device does not detect the temporary stop target any more, and estimate the third time period based on the variation pattern, a moving speed of the pedestrian, and the third distance.