Automated braking control device and automated braking processing program
An automated braking control device includes: an acquisition unit to acquire traveling direction information representing a traveling direction of a vehicle, speed information related to the vehicle, and position information of an object based on a detection wave transmitted and received for detecting the object in the traveling direction; an area determination unit to determine an automated braking execution area on the basis of the traveling direction information and the speed information, the automated braking execution area being set in at least one of an inner area and an outer area with respect to a vehicle width line, the vehicle width line extending in the traveling direction in accordance with a vehicle width of the vehicle; and an automated braking processing unit to, when the object is detected, determine whether to execute automated braking on the basis of the position information with respect to the automated braking execution area.
1 . An automated braking control device comprising:
an acquisition unit configured to acquire traveling direction information representing a traveling direction of a vehicle, speed information related to the vehicle, and position information of an object based on a detection wave transmitted and received for detecting the object in the traveling direction;
an area determination unit configured to determine an automated braking execution area on the basis of the traveling direction information and the speed information, the automated braking execution area being set in at least one of an inner area and an outer area with respect to a vehicle width line, the vehicle width line extending in the traveling direction in accordance with a vehicle width of the vehicle; and
an automated braking processing unit configured to, when the object is detected, determine whether to execute automated braking on the basis of the position information with respect to the automated braking execution area,
wherein the area determination unit is configured to
determine the automated braking execution area to be at a front side of the vehicle in response to determining that the traveling direction information represents forward travel of the vehicle,
determine the automated braking execution area to be at a rear side of the vehicle in response to determining that the traveling direction information represents backward travel of the vehicle,
set, in an inner area inside the vehicle width line, an automated braking execution area boundary line being a boundary of the automated braking execution area in response to determining that the traveling direction information represents forward travel of the vehicle and the speed information represents a first speed or lower,
set the automated braking execution area boundary line to include at least an outer area outside the vehicle width line in response to determining that the traveling direction information represents backward travel of the vehicle and the speed information represents lower than a second speed, and
set the automated braking execution area boundary line in the outer area outside the vehicle width line in response to determining that the traveling direction information represents backward travel of the vehicle and the speed information represents the second speed or higher.
2 . The automated braking control device according to claim 1 , wherein the automated braking execution area has an area range being set on the basis of variation in detection positions obtained when triangulation using two of sensors is performed, the sensors being provided at each of a front end and a rear end of the vehicle to transmit and receive the detection wave.
3 . The automated braking control device according to claim 2 , wherein the area determination unit is configured to
determine the automated braking execution area by the speed information obtained when the object is detected, and
maintain the determined automated braking execution area until the vehicle stops.
4 . The automated braking control device according to claim 2 , wherein the automated braking execution area is set such that an outer area of the vehicle width line in a case where the vehicle travels backward is wider than in a case where the vehicle travels forward.
5 . The automated braking control device according to claim 3 , wherein the automated braking execution area is set such that an outer area of the vehicle width line in a case where the vehicle travels backward is wider than in a case where the vehicle travels forward.
6 . An automated braking processing non-transitory computer-readable medium causing a computer to execute:
an acquisition step of acquiring traveling direction information representing a traveling direction of a vehicle, speed information related to the vehicle, and position information of an object based on a detection wave transmitted and received for detecting the object in the traveling direction;
an area determination step of determining an automated braking execution area on the basis of the traveling direction information and the speed information, the automated braking execution area being set in at least one of an inner area and an outer area with respect to a vehicle width line, the vehicle width line extending in the traveling direction in accordance with a vehicle width of the vehicle; and
an automated braking processing unit step of, when the object is detected, determining whether to execute automated braking on the basis of the position information with respect to the automated braking execution area,
wherein, in the area determination step
the automated braking execution area is determined to be at a front side of the vehicle in response to determining that the traveling direction information represents forward travel of the vehicle,
the automated braking execution area is determined to be at a rear side of the vehicle in response to determining that the traveling direction information represents backward travel of the vehicle,
an automated braking execution area boundary line being a boundary of the automated braking execution area is set in an inner area inside the vehicle width line in response to determining that the traveling direction information represents forward travel of the vehicle and the speed information represents a first speed or lower,
the automated braking execution area boundary line is set to include at least an outer area outside the vehicle width line in response to determining that the traveling direction information represents backward travel of the vehicle and the speed information represents lower than a second speed, and
the automated braking execution area boundary line is set in the outer area outside the vehicle width line in response to determining that the traveling direction information represents backward travel of the vehicle and the speed information represents the second speed or higher.
7 . The automated braking control device according to claim 1 , wherein the area determination unit is configured to
determine the automated braking execution area by the speed information obtained when the object is detected, and
maintain the determined automated braking execution area until the vehicle stops.
8 . The automated braking control device according to claim 7 , wherein the automated braking execution area is set such that an outer area of the vehicle width line in a case where the vehicle travels backward is wider than in a case where the vehicle travels forward.
9 . The automated braking control device according to claim 1 , wherein the automated braking execution area is set such that an outer area of the vehicle width line in a case where the vehicle travels backward is wider than in a case where the vehicle travels forward.
10 . The automated braking control device according to claim 1 , wherein the area determination unit is configured to
determine the automated braking execution area by the speed information obtained when the object is detected, and
maintain the determined automated braking execution area until the vehicle stops.
11 . The automated braking control device according to claim 10 , wherein the automated braking execution area is set such that an outer area of the vehicle width line in a case where the vehicle travels backward is wider than in a case where the vehicle travels forward.
12 . The automated braking control device according to claim 1 , wherein the automated braking execution area is set such that an outer area of the vehicle width line in a case where the vehicle travels backward is wider than in a case where the vehicle travels forward.