Driving support device for vehicle and method for the same
A control device in one aspect of the present disclosure includes a vehicle information acquisition unit, an obstacle information acquisition unit, and a sudden braking detection unit, and controls a warning information transmission unit to transmit, to an other vehicle, warning information including obstacle information when a sudden braking is performed by a subject vehicle. When receiving the warning information from the other vehicle, a target vehicle determination unit confirms that the other vehicle is a warning target vehicle, and a risk calculation unit calculates a collision risk of the subject vehicle to collide with an obstacle, and a collision avoidance unit performs a collision avoidance control according to the calculated collision risk.
1 . A driving support device that is mounted in a subject vehicle and configured to avoid a collisional accident, the driving support device comprising:
a processor and a memory configured to:
perform wireless communication with an other vehicle;
acquire vehicle information including a position and a speed of the subject vehicle;
acquire obstacle information including a position and a speed of an obstacle that interferes with traveling of the subject vehicle;
detect a sudden braking by the subject vehicle;
transmit warning information including the vehicle information and the obstacle information to the other vehicle when the sudden braking by the subject vehicle is detected by the sudden braking detection unit;
determine, when warning information transmitted from the other vehicle is received, whether the other vehicle that has transmitted the warning information is a warning target vehicle existing in a warning target area based on (i) vehicle information regarding the other vehicle included in the warning information transmitted from the other vehicle and (ii) the vehicle information regarding the subject vehicle;
when determining that the other vehicle that has transmitted the warning information is the warning target vehicle, calculate a collision risk of the subject vehicle to collide with the other vehicle or the obstacle based on the vehicle information regarding the other vehicle and obstacle information that are included in the warning information transmitted from the other vehicle; and
generate an alarm or to perform an automatic braking of the subject vehicle according to the collision risk, wherein
the processor and the memory are further configured to:
acquire a road condition in front of the subject vehicle,
determine, based on the road condition in front of the subject vehicle, whether the other vehicle that has transmitted the warning information and the subject vehicle are traveling in a same lane;
calculate the collision risk with the other vehicle based on a distance between the other vehicle and the subject vehicle that is acquired from the vehicle information regarding the subject vehicle and the vehicle information regarding the other vehicle and the speed of the subject vehicle acquired from the vehicle information regarding the subject vehicle when the other vehicle and the subject vehicle are determined to be traveling in a same lane;
determine whether the obstacle is traveling toward a lane in which the subject vehicle is traveling based on an identification of a cause of a sudden braking of the other vehicle, and a position and a speed of the obstacle acquired from the obstacle information included in the warning information transmitted from the other vehicle when the other vehicle and the subject vehicle are determined to be traveling in different lanes;
calculate an obstacle risk at which the subject vehicle collides with the obstacle based on the position and the speed of the obstacle and the position and the speed of the subject vehicle when the other vehicle is determined to be traveling toward the lane in which the subject vehicle is traveling,
generate the alarm or to perform the automatic braking of the subject vehicle according to the collision risk or the obstacle risk calculated, and
when the obstacle is stopped in the traveling lane of the suddenly braking vehicle, the driving support device is configured not to transmit the obstacle information.
2 . The driving support device according to claim 1 , wherein
the processor is configured to set the warning target area based on (i) the position and the speed of the subject vehicle and (ii) the road condition in front of the subject vehicle.
3 . The driving support device according to claim 1 , wherein the subject vehicle and the other vehicle are determined to be traveling only in different lanes.
4 . The driving support device according to claim 1 , wherein the processor is configured to acquire vehicle information and obstacle information in different lanes from which the subject vehicle is traveling.
5 . The driving support device according to claim 1 , wherein the processor is configured not to acquire vehicle information and obstacle information from the same lane in which the subject vehicle is traveling.
6 . A driving support device that is mounted in a subject vehicle and configured to avoid a collisional accident, the driving support device comprising:
a communication device configured to perform wireless communication with an other vehicle; and
at least one processor programmed to:
acquire vehicle information including a position and a speed of the subject vehicle;
acquire obstacle information including a position and a speed of an obstacle that interferes with traveling of the subject vehicle;
detect a sudden braking by the subject vehicle;
control the communication device to transmit warning information including the vehicle information and the obstacle information to the other vehicle when the sudden braking by the subject vehicle is detected;
determine, when warning information transmitted from the other vehicle is received, whether the other vehicle that has transmitted the warning information is a warning target vehicle existing in a warning target area based on (i) vehicle information regarding the other vehicle included in the warning information transmitted from the other vehicle and (ii) the vehicle information regarding the subject vehicle;
upon determining that the other vehicle that has transmitted the warning information is the warning target vehicle, calculate a collision risk of the subject vehicle to collide with the other vehicle or the obstacle based on the vehicle information regarding the other vehicle and obstacle information that are included in the warning information transmitted from the other vehicle; and
generate an alarm or to perform an automatic braking of the subject vehicle according to the calculated collision risk, wherein
the at least one processor is further programmed to:
acquire a road condition in front of the subject vehicle,
determine, based on the acquired road condition in front of the subject vehicle, whether the other vehicle that has transmitted the warning information and the subject vehicle are traveling in a same lane;
calculate the collision risk with the other vehicle based on a distance between the other vehicle and the subject vehicle that is acquired from the vehicle information regarding the subject vehicle and the vehicle information regarding the other vehicle and the speed of the subject vehicle acquired from the vehicle information regarding the subject vehicle when the other vehicle and the subject vehicle are determined to be traveling in a same lane;
determine whether the obstacle is traveling toward a lane in which the subject vehicle is traveling based on an identification of a cause of a sudden braking of the other vehicle, and a position and a speed of the obstacle acquired from the obstacle information included in the warning information transmitted from the other vehicle when the other vehicle and the subject vehicle are determined to be traveling in different lanes;
calculate an obstacle risk at which the subject vehicle collides with the obstacle based on the position and the speed of the obstacle and the position and the speed of the subject vehicle when the other vehicle is determined to be traveling toward the lane in which the subject vehicle is traveling;
generate the alarm or to perform an automatic braking of the subject vehicle according to the calculated collision risk or the calculated obstacle risk, and
when the obstacle is stopped in the traveling lane of the suddenly braking vehicle, the driving support device is configured not to transmit the obstacle information.
7 . A method performed by a driving support device that is mounted in a subject vehicle and configured to avoid a collisional accident, the method comprising:
performing wireless communication with an other vehicle;
acquiring vehicle information including a position and a speed of the subject vehicle;
acquiring obstacle information including a position and a speed of an obstacle that interferes with traveling of the subject vehicle;
detecting a sudden braking by the subject vehicle;
controlling the communication device to transmit warning information including the vehicle information and the obstacle information to the other vehicle when the sudden braking by the subject vehicle is detected;
determining, when warning information transmitted from the other vehicle is received, whether the other vehicle that has transmitted the warning information is a warning target vehicle existing in a warning target area based on (i) vehicle information regarding the other vehicle included in the warning information transmitted from the other vehicle and (ii) the vehicle information regarding the subject vehicle;
upon determining that the other vehicle that has transmitted the warning information is the warning target vehicle, calculating a collision risk of the subject vehicle to collide with the other vehicle or the obstacle based on the vehicle information regarding the other vehicle and obstacle information that are included in the warning information transmitted from the other vehicle; and
generating an alarm or to perform an automatic braking of the subject vehicle according to the calculated collision risk, wherein
the method further comprises:
acquiring a road condition in front of the subject vehicle,
determining, based on the acquired road condition in front of the subject vehicle, whether the other vehicle that has transmitted the warning information and the subject vehicle are traveling in a same lane;
calculating the collision risk with the other vehicle based on a distance between the other vehicle and the subject vehicle that is acquired from the vehicle information regarding the subject vehicle and the vehicle information regarding the other vehicle and the speed of the subject vehicle acquired from the vehicle information regarding the subject vehicle when the other vehicle and the subject vehicle are determined to be traveling in a same lane;
determining whether the obstacle is traveling toward a lane in which the subject vehicle is traveling based on an identification of a cause of a sudden braking of the other vehicle, and a position and a speed of the obstacle acquired from the obstacle information included in the warning information transmitted from the other vehicle when the other vehicle and the subject vehicle are determined to be traveling in different lanes;
calculating an obstacle risk at which the subject vehicle collides with the obstacle based on the position and the speed of the obstacle and the position and the speed of the subject vehicle when the other vehicle is determined to be traveling toward the lane in which the subject vehicle is traveling;
generating the alarm or to perform an automatic braking of the subject vehicle according to the calculated collision risk or the calculated obstacle risk, and
when the obstacle is stopped in the traveling lane of the suddenly braking vehicle, the driving support device is configured not to transmit the obstacle information.