Driving assistance device
A memory stores an assistance pattern including a first periphery sensor map indicating a map in a periphery of a vehicle and an assistance content of driving assistance of the vehicle corresponding to the first periphery sensor map. A processor (sensor information acquisition unit 101 ) acquires sensor information indicating information on an object in the periphery of the vehicle sensed by a sensor. A processor (periphery sensor map acquisition unit 102 ) acquires a second periphery sensor map based on the sensor information. A processor (map similarity search unit 103 , and assistance instruction unit 104 ) performs driving assistance of the assistance content corresponding to the first periphery sensor map when the second periphery sensor map is similar to the first periphery sensor map.
1 . A driving assistance device comprising:
a memory that stores an assistance pattern including a first periphery sensor map indicating a map in a periphery of a vehicle and an assistance content of driving assistance of the vehicle corresponding to the first periphery sensor map; and
a processor that
acquires sensor information indicating information on an object in the periphery of the vehicle sensed by a sensor,
acquires a second periphery sensor map based on the sensor information, and
performs driving assistance of the assistance content corresponding to the first periphery sensor map when the second periphery sensor map is similar to the first periphery sensor map, wherein
the memory stores a list including operation information indicating an operation state requiring driving assistance and the assistance content corresponding to the operation information,
the processor registers/updates the assistance pattern with a set of the second periphery sensor map and the assistance content corresponding to the operation information when the operation state indicated by the operation information is detected,
the processor clusters the first periphery sensor map,
the processor performs driving assistance of the assistance content corresponding to the first periphery sensor map in a cluster when the first periphery sensor map in the cluster is equal to or greater than a certain number,
the list includes a determination criterion for determining validity/invalidity of the driving assistance corresponding to the assistance content, and
the processor
determines validity/invalidity of the driving assistance based on a determination criterion corresponding to the assistance content for which the driving assistance has been performed,
performs driving assistance of the assistance content corresponding to the first periphery sensor map, when a number of the first periphery sensor maps corresponding to the assistance content determined to be invalid in the cluster is less than a certain number, and
does not perform driving assistance of the assistance content corresponding to the first periphery sensor map, when the number of the first periphery sensor maps corresponding to the assistance content determined to be invalid in the cluster is equal to or greater than a certain number.
2 . The driving assistance device according to claim 1 , wherein the processor generates the second periphery sensor map based on the sensor information.
3 . The driving assistance device according to claim 2 , wherein
an operation state indicated by the operation information is a state in which a sudden braking operation is performed, and
the assistance content corresponding to the operation information is an alarm or control of deceleration or acceleration suppression.
4 . The driving assistance device according to claim 2 , wherein
an operation state indicated by the operation information is a state in which a traveling speed of the vehicle is slower than a speed limit at a traveling position of the vehicle, and
the assistance content corresponding to the operation information is an alarm or control of deceleration or acceleration suppression.
5 . The driving assistance device according to claim 2 , wherein
an operation state indicated by the operation information is a state in which a frequency of the driving assistance is higher than a predetermined value, and
the assistance content corresponding to the operation information is a change of a parameter for adjusting a function of the driving assistance.
6 . The driving assistance device according to claim 1 , wherein
the memory stores a sensor map obtained by joining a plurality of the second periphery sensor maps, and
the processor
estimates a position of the vehicle on the sensor map based on the sensor information, and
acquires the second periphery sensor map from the sensor map at the estimated position of the vehicle.
7 . The driving assistance device according to claim 6 , wherein
an operation state indicated by the operation information is a state in which a backward operation is performed while the vehicle is turning, and
the assistance content corresponding to the operation information is turning control of the vehicle.
8 . The driving assistance device according to claim 1 , wherein
the processor
acquires environment information indicating an environment in the periphery of the vehicle including at least a time,
includes the environment information in the assistance pattern when the assistance pattern is registered/updated, and
performs driving assistance of the assistance content corresponding to the first periphery sensor map when the second periphery sensor map is similar to the first periphery sensor map and the environment indicated by the environment information is detected.
9 . The driving assistance device according to claim 8 , wherein the environment information includes azimuth information indicating an azimuth of the vehicle.
10 . The driving assistance device according to claim 1 , wherein
the processor
recognizes a target in the periphery of the vehicle based on the sensor information,
includes positional relationship information indicating a positional relationship between the vehicle and the target in the assistance pattern when the assistance pattern is registered/updated, and
performs driving assistance of the assistance content corresponding to the first periphery sensor map when the second periphery sensor map is similar to the first periphery sensor map and the positional relationship indicated by the positional relationship information is detected.
11 . The driving assistance device according to claim 1 , further comprising an input unit that receives a selection of a driver as an input, wherein
the memory stores a preliminary assistance pattern including the first periphery sensor map and an assistance content of driving assistance of the vehicle corresponding to the first periphery sensor map, and
the processor registers/updates the assistance pattern with the preliminary assistance pattern selected by the driver.
12 . The driving assistance device according to claim 1 , further comprising an input unit that receives a selection of a driver as an input, wherein
the processor
presents the set of the second periphery sensor map and the assistance content corresponding to the operation information to the driver, and
registers/updates the assistance pattern with the set selected by the driver.