Vehicle driving support device

A vehicle driving support device performs extraneous matter notification for notifying an occupant of a vehicle that extraneous matter is adhered to a viewing-angle window part which is a part of a window of the vehicle in a viewing angle range of an onboard camera which is mounted in the vehicle such that an outside view from the vehicle is imaged from the inside of the vehicle or a camera lens which is a lens of the onboard camera, performs a process of detecting the extraneous matter adhering to the viewing-angle window part or the camera lens when the vehicle is stopped, and does not perform the extraneous matter notification even if the extraneous matter adhering to the viewing-angle window part or the camera lens is detected when the vehicle is stopped and is not in a state in which the vehicle is predicted to be about to start traveling.

CROSS-REFERENCE TO RELATED APPLICATION

This application claims priority to Japanese Patent Application No. 2020-158378 filed on Sep. 23, 2020, incorporated herein by reference in its entirety.

BACKGROUND

1. Technical Field

The disclosure relates to a vehicle driving support device.

2. Description of Related Art

A vehicle driving support device that performs driving support control for supporting a vehicle driving operation which is performed by a driver of the vehicle using an image captured by an onboard camera is known. When the onboard camera is mounted in the vehicle such that an outside view from the vehicle is imaged from the inside of the vehicle through a window and extraneous matter such as dirt or water droplets is adhered to the window in a viewing angle range of the onboard camera, an image captured by the onboard camera becomes blurred and thus there is a likelihood that the driver will not be able to be provided with appropriate driving operation support through the driving support control. Accordingly, in order to provide the driver with appropriate driving operation support through the driving support control, it is necessary to detect extraneous matter adhering to the window in the viewing angle range of the onboard camera. For example, a technique of detecting such extraneous matter is described in Japanese Unexamined Patent Application Publication No. 2017-58949 (JP 2017-58949 A).

SUMMARY

In JP 2017-58949 A, detection of extraneous matter when a vehicle is stopped is not particularly mentioned. An outside view from the vehicle which is imaged by an onboard camera when the vehicle is stopped may be greatly different from a view when the vehicle is traveling.

For example, when the vehicle is stopped with a wall positioned in front thereof or the vehicle is stopped to allow a large truck to pass in front of the vehicle, the luminance of an image as a whole from the onboard camera decreases greatly and thus there is a likelihood that extraneous matter will be determined to be adhered to a part of a window in the viewing angle range of the onboard camera or a lens of the onboard camera.

The disclosure was made to cope with the aforementioned problems. That is, the disclosure provides a vehicle driving support device that can accurately determine whether extraneous matter is adhered to a part of a window in a viewing angle range of an onboard camera or a lens of the onboard camera when a vehicle is stopped.

According to the disclosure, there is provided a vehicle driving support device including a control unit configured to perform extraneous matter notification for notifying an occupant of a vehicle that extraneous matter is adhered to a viewing-angle window part which is a part of a window of the vehicle in a viewing angle range of an onboard camera which is mounted in the vehicle such that an outside view from the vehicle is imaged from the inside of the vehicle or a camera lens which is a lens of the onboard camera.

The control unit is configured to perform a process of detecting the extraneous matter adhering to the viewing-angle window part or the camera lens when the vehicle is stopped. The control unit is configured not to perform the extraneous matter notification even if extraneous matter adhering to the viewing-angle window part or the camera lens is detected when the vehicle is stopped and is not in a state in which the vehicle is predicted to be about to start traveling.

With this configuration, when the stopped vehicle is not going to start travel and an advantage of notification of extraneous matter at that time is insufficient, the extraneous matter notification is not performed. As a result, it is possible to accurately determine whether extraneous matter is adhered to the viewing-angle window part or the camera lens when the vehicle is stopped.

In the vehicle driving support device according to the disclosure, for example, the extraneous matter may include first extraneous matter which is assumed to be removed when the vehicle is traveling and second extraneous matter which is assumed not to be removed when the vehicle is traveling. In this case, the control unit may be configured not to perform the extraneous matter notification when the vehicle is stopped and the first extraneous matter is adhered to the viewing-angle window part or the camera lens.

With this configuration, the extraneous matter notification for the first extraneous matter which is assumed to be removed when the vehicle is traveling, that is, the first extraneous matter which is assumed to be removed when the vehicle starts traveling, is not performed when the vehicle is stopped. Accordingly, it is possible to avoid execution of the extraneous matter notification for which a necessity is insufficient.

The control unit may be configured to perform a process of detecting the extraneous matter adhering to the viewing-angle window part or the camera lens when the vehicle is traveling. The control unit may be configured to perform the extraneous matter notification when the vehicle is traveling and predetermined conditions including at least a condition that the extraneous matter has been detected are satisfied.

With this configuration, when extraneous matter is adhered to the viewing-angle window part or the camera lens while the vehicle is traveling, the extraneous matter notification is performed and thus it is possible to notify an occupant of the vehicle that extraneous matter is adhered to the viewing-angle window part or the camera lens.

The control unit may be configured to perform a process of detecting the second extraneous matter adhering to the viewing-angle window part or the camera lens when the vehicle is stopped. The control unit may be configured not to perform the extraneous matter notification even if the second extraneous matter adhering to the viewing-angle window part or the camera lens is detected when the vehicle is stopped and is not in a state in which the vehicle is predicted to be about to start traveling.

With this configuration, when the stopped vehicle is not going to start travel and an advantage of notification of second extraneous matter at that time is insufficient, the extraneous matter notification is not performed. As a result, it is possible to accurately determine whether extraneous matter is adhered to the viewing-angle window part or the camera lens when the vehicle is stopped.

The control unit may be configured not to perform a process of detecting the first extraneous matter adhering to the viewing-angle window part or the camera lens when the vehicle is stopped.

With this configuration, the extraneous matter notification for the first extraneous matter which is assumed to be removed while the vehicle is traveling, that is, the first extraneous matter which is assumed to be removed when the vehicle starts traveling, is not performed when the vehicle is stopped. Accordingly, it is possible to avoid execution of the extraneous matter notification for which a necessity is insufficient.

The control unit may be configured not to perform a process of detecting the first extraneous matter adhering to the viewing-angle window part or the camera lens and to perform a process of detecting the second extraneous matter adhering to the viewing-angle window part or the camera lens when the vehicle is stopped. The control unit may be configured not to determine whether conditions for performing the extraneous matter notification are satisfied even if the second extraneous matter adhering to the viewing-angle window part or the camera lens is detected when the vehicle is stopped and is not in a state in which the vehicle is predicted to be about to start traveling.

With this configuration, when the stopped vehicle is not going to start travel and an advantage of notification of the second extraneous matter at that time is insufficient, the extraneous matter notification is not performed. As a result, it is possible to accurately determine whether extraneous matter is adhered to the viewing-angle window part or the camera lens when the vehicle is stopped.

The control unit may be configured to perform the process of detecting the first extraneous matter adhering to the viewing-angle window part or the camera lens and to perform the process of detecting the second extraneous matter adhering to the viewing-angle window part or the camera lens when the vehicle is traveling. The control unit may be configured to perform the extraneous matter notification when the vehicle is traveling and predetermined conditions including at least a condition that the first extraneous matter or the second extraneous matter has been detected is satisfied.

With this configuration, when the first extraneous matter or the second extraneous matter is adhered to the viewing-angle window part or the camera lens while the vehicle is traveling, the extraneous matter notification is performed and thus it is possible to notify an occupant of the vehicle that the first extraneous matter or the second extraneous matter is adhered to the viewing-angle window part or the camera lens.

The control unit may be configured to perform driving support control for supporting a driver's driving operation of the vehicle based on an image captured by the onboard camera. The control unit may be configured to stop the driving support control at the time of performing the extraneous matter notification when the driving support control is being performed and the extraneous matter notification is performed.

With this configuration, when extraneous matter is adhered to the viewing-angle window part or the camera lens and there is a likelihood that the driving support control based on an image captured by the onboard camera will not be able to be appropriately performed, the driving support control is stopped. Accordingly, it is possible to avoid execution of inappropriate driving support control.

Elements of the disclosure are not limited to an embodiment of the disclosure which will be described later with reference to the accompanying drawings. Other objectives, other features, and accompanying advantages of the disclosure will be easily understood from the following description of the embodiment of the disclosure.

DETAILED DESCRIPTION OF EMBODIMENTS

Hereinafter, a vehicle driving support device according to an embodiment of the disclosure will be described with reference to the accompanying drawings.FIG.1illustrates a vehicle driving support device10according to an embodiment of the disclosure. The vehicle driving support device10is mounted in a host vehicle100.

The vehicle driving support device10includes an ECU90. ECU is an abbreviation of electronic control unit. The ECU90includes a microcomputer as a main component. The microcomputer includes a CPU, a ROM, a RAM, a nonvolatile memory, and an interface. The CPU realizes various functions by executing instructions, programs, or routines which are stored in the ROM.

A drive device21, a brake device22, an image display device23, a notification sound generator24, a speech generator25, a head lamp26, and a heater27are mounted in the host vehicle100.

Drive Device

The drive device21is a device that applies a driving force for allowing the host vehicle100to travel to the host vehicle100and includes, for example, an internal combustion engine and a motor. The drive device21is electrically connected to the ECU90. The ECU90can control the driving force which is applied to the host vehicle100by controlling the operation of the drive device21.

Brake Device

The brake device22is a device that applies a braking force for braking the host vehicle100to the host vehicle100and is, for example, a brake. The brake device22is electrically connected to the ECU90. The ECU90can control the braking force which is applied to the host vehicle100by controlling the operation of the brake device22.

Image Display Device

The image display device23is, for example, a display. The image display device23is electrically connected to the ECU90. The ECU90can cause the image display device23to display various images.

Notification Sound Generator

The notification sound generator24is, for example, a buzzer. The notification sound generator24is electrically connected to the ECU90. The ECU90can generate various types of notification sound from the notification sound generator24.

Speech Generator

The speech generator25is, for example, a speaker. The speech generator25is electrically connected to the ECU90. The ECU90can generate various types of speech from the speech generator25.

Head Lamp

The head lamp26is provided in the host vehicle100such that a view in front of the host vehicle100can be lighted. The head lamp26is electrically connected to the ECU90. The ECU90can turn on or turn off the head lamp26.

Heater

The heater27is provided in the host vehicle100such that the inside of the host vehicle100can be heated. The heater27is electrically connected to the ECU90. The ECU90can activate the heater27to heat the inside of the host vehicle100or stop the heater27.

An accelerator pedal31, an accelerator pedal operation sensor32, a brake pedal33, a brake pedal operation sensor34, an onboard camera40, a shift lever51, a shift position detector52, a driving support requester53, a vehicle speed detector54, a head lamp turn-on/off device55, and a heater controller56are mounted in the host vehicle100.

Accelerator Pedal Operation Sensor

The accelerator pedal operation sensor32is electrically connected to the ECU90. The accelerator pedal operation sensor32detects an amount of operation of the accelerator pedal31and transmits information on the detected amount of operation to the ECU90. The ECU90acquires the amount of operation of the accelerator pedal31as an accelerator pedal operation amount AP based on the information. The ECU90controls the operation of the drive device21based on the accelerator pedal operation amount AP.

Brake Pedal Operation Sensor

The brake pedal operation sensor34is electrically connected to the ECU90. The brake pedal operation sensor34detects an amount of operation of the brake pedal33and transmits information on the detected amount of operation to the ECU90. The ECU90acquires the amount of operation of the brake pedal33as a brake pedal operation amount BP based on the information. The ECU90controls the operation of the brake device22based on the brake pedal operation amount BP. When the brake pedal operation amount BP is greater than zero, the ECU90can recognize that the brake pedal33has been operated.

Onboard Camera

The onboard camera40is a device that images the surroundings of the host vehicle100. The onboard camera40is electrically connected to the ECU90. As illustrated inFIGS.2A and2B, in this example, the onboard camera40is provided in the cabin of the host vehicle100, particularly, between a rear-view mirror102of the host vehicle100and a front windshield101of the host vehicle100, such that a view in front of the host vehicle100can be imaged through the front windshield101of the host vehicle100. The onboard camera40acquires an image of the view in front of the host vehicle100by imaging the front view of the host vehicle100, and transmits information on the acquired image to the ECU90. The ECU90can ascertain a front situation of the host vehicle100based on the information. In the following description, information on an image acquired by the onboard camera40is referred to as “image information Iimg.”

The onboard camera40may image a view to the rear of the host vehicle100through a rear windshield of the host vehicle100, may image a view to the left of the host vehicle100through a left windshield of the host vehicle100, or may image a view to the right of the host vehicle100through a right windshield of the host vehicle100.

Shift Position Detector

The shift position detector52is a device that detects a position of the shift lever51of the host vehicle100and is, for example, a shift position sensor. In this example, a driver of the host vehicle100can operate the shift lever51to one of a D range, an R range, an N range, and a P range.

The D range is a position (a drive range, a forward movement range, or a forward movement position) at which a driving force causing the host vehicle100to move forward is applied to driving wheels of the host vehicle100. Accordingly, when which the shift lever51is moved to the D range and a driving force is applied to the driving wheels in a state in, the host vehicle100moves forward.

The R range is a position (a rear range, a reverse range, or a reverse position) at which a driving force for causing the host vehicle100to move rearward is applied to the driving wheels of the host vehicle100. Accordingly, when the shift lever51is moved to the R range and a driving force is applied to the driving wheels, the host vehicle100moves rearward.

The N range is a position (a neutral range or a neutral position) at which a driving force is not applied to the driving wheels of the host vehicle100. Accordingly, when the shift lever51is operated to the N range, a driving force is not applied to the driving wheels and the host vehicle100does not move forward nor move rearward.

The P range is a position (a park range or a park position) at which the host vehicle100is kept stopped. Accordingly, when the shift lever51is operated to the P range, the host vehicle100is maintained in a stopped state.

The shift position detector52is electrically connected to the ECU90. The shift position detector52transmits information on the range to which the shift lever51is set to the ECU90. The ECU90can ascertain the range to which the shift lever51is set based on the information.

Driving Support Requester

The driving support requester53is a device that is operated by a driver for the purpose of requesting execution of driving support control or requesting stopping of the driving support control and is, for example, a switch type or button type device. The driving support requester53is electrically connected to the ECU90. When a predetermined operation of requesting execution of driving support control is performed on the driving support requester53by a driver, the driving support requester53transmits a predetermined execution request signal to the ECU90. On the other hand, when a predetermined operation of requesting stopping of the driving support control is performed on the driving support requester53by a driver, the driving support requester53transmits a predetermined stop request signal to the ECU90. When the execution request signal is received, the ECU90starts the driving support control. On the other hand, when the stop request signal is received, the ECU90stops the driving support control.

Driving Support Control

In this example, the driving support control is control for supporting a driver's driving operation of the host vehicle100and is, for example, inter-vehicle distance keep control (so-called cruise control). The inter-vehicle distance keep control is control for controlling the operations of the drive device21and the brake device22and controlling the driving force and the braking force applied to the host vehicle100such that a distance (an inter-vehicle distance) between another vehicle (a preceding vehicle) traveling in front of the host vehicle100and the host vehicle100is kept a predetermined distance even when a driver of the host vehicle100is not operating the accelerator pedal31or the brake pedal33.

When execution of inter-vehicle distance keep control is requested, the ECU90acquires a distance (an inter-vehicle distance) between a preceding vehicle and the host vehicle100using the image information Iimg, applies a braking force to the host vehicle100to decelerate the host vehicle100when the inter-vehicle distance is less than a predetermined distance, and applies a driving force to the host vehicle100or increases the driving force to accelerate the host vehicle100when the inter-vehicle distance is greater than a predetermined distance.

Vehicle Speed Detector

The vehicle speed detector54is a device that detects a traveling speed of the host vehicle100and is, for example, a wheel speed sensor. The vehicle speed detector54is electrically connected to the ECU90. The vehicle speed detector54detects a traveling speed of the host vehicle100and transmits information on the traveling speed to the ECU90. The ECU90acquires the traveling speed of the host vehicle100as a vehicle speed SPD based on the information. The ECU90determines that the host vehicle100is traveling when the vehicle speed SPD is greater than zero, and determines that the host vehicle100is stopped when the vehicle speed SPD is zero.

Head Lamp Turn-On/Off Device

The head lamp turn-on/off device55is a device that is operated by a driver for the purpose of turning on or off the head lamp26and is, for example, a dial type device (a head lamp turn-on/off dial) which is provided at a tip of a direction indicator lever of the host vehicle100. The head lamp turn-on/off device55is set to at least one of an on position and an off position. When the head lamp turn-on/off device55is set to the on position, the head lamp turn-on/off device55transmits a predetermined on signal to the ECU90. On the other hand, when the head lamp turn-on/off device55is set to the off position, the head lamp turn-on/off device55transmits a predetermined off signal to the ECU90. When the on signal is received, the ECU90turns on the head lamp26. On the other hand, when the off signal is received, the ECU90turns off the head lamp26.

Heater Controller

The heater controller56is a device that is operated by a driver for the purpose of activating or stopping the heater27and is, for example, a dial type device (a heater control dial). The heater controller56is set to at least one of an on position and an off position. When the heater controller56is set to the on position, the heater controller56transmits a predetermined on signal to the ECU90. On the other hand, when the heater controller56is set to the off position, the heater controller56transmits a predetermined off signal to the ECU90. When the on signal is received, the ECU90activates the heater27. On the other hand, when the off signal is received, the ECU90stops the heater27.

Summary of Operation of Vehicle Driving Support Device

The operation of the vehicle driving support device10will be described below.

When extraneous matter such as fogginess (first extraneous matter) is adhered to a part of a front windshield101in a viewing angle range of the onboard camera40(a viewing-angle window part103) or a lens of the onboard camera40(a camera lens41), a blurred portion appears in an image captured by the onboard camera40. Accordingly, the ECU90cannot accurately recognize a front view of the host vehicle100based on the image information Iimg transmitted from the onboard camera40at that time.

When extraneous matter such as dirt (second extraneous matter) is adhered to the viewing-angle window part103or the camera lens41, the second extraneous matter appears in a part of an image captured by the onboard camera40. Accordingly, the ECU90cannot accurately recognize a front view of the host vehicle100based on the image information Iimg transmitted from the onboard camera40at that time.

In this way, when the ECU90cannot accurately recognize the front view of the host vehicle100(that is, when an imaging failure occurs), there is a likelihood that the ECU90will not be able to appropriately perform driving support control which will be described later based on the image information Iimg. Accordingly, when an imaging failure occurs, it is preferable to stop the driving support control and to notify a driver (or an occupant) of the host vehicle100that the driving support control is stopped due to the imaging failure.

The front view of the host vehicle100changes greatly between while the host vehicle100is traveling and while the host vehicle100is stopped.

For example, the host vehicle100may be stopped with a wall positioned in front thereof or the host vehicle100may be stopped to allow a large truck to pass in front of the host vehicle100. In this case, the onboard camera40images the wall or the large truck and there is a likelihood that the ECU90will determine that the wall or the large truck is dirt (second extraneous matter) adhering to the viewing-angle window part103or the camera lens41based on the image information Iimg. In this case, it is not preferable to stop the driving support control or to notify a driver (or an occupant) of the host vehicle100that the driving support control is stopped.

When it is foggy and the host vehicle100is stopped, there is also a likelihood that the ECU90will determine that the fog is fogginess (first extraneous matter) generated on the viewing-angle window part103or the camera lens41. In this case, it is also not preferable to stop the driving support control or to notify a driver (or an occupant) of the host vehicle100that the driving support control is stopped.

When fogginess is generated on the viewing-angle window part103or the camera lens41while the host vehicle100is stopped, there is a high likelihood that fogginess will be generated in a part of the front windshield101other than the viewing-angle window part103at that time. In this case, since a driver activates the heater27to remove the fogginess at the time of starting travel of the host vehicle100, there is a high likelihood that the fogginess generated on the viewing-angle window part103or the camera lens41will be removed. That is, when travel of the host vehicle100is started, an imaging failure due to the fogginess is likely to be removed. Accordingly, in this case, it is also not preferable to stop the driving support control or to notify a driver (or an occupant) of the host vehicle100that the driving support control is stopped.

When the host vehicle100is stopped to pass a large truck through the front of the host vehicle100and then the host vehicle100starts traveling, the large truck is not present in front of the host vehicle100and thus it is not determined that dirt (second extraneous matter) is adhered to the viewing-angle window part103or the camera lens41. Accordingly, when the host vehicle100is stopped and second extraneous matter is adhered to the viewing-angle window part103or the camera lens41, it is also not preferable to immediately stop the driving support control or to immediately notify a driver (or an occupant) of the host vehicle100that the driving support control is stopped.

In order to avoid non-preferable stopping of the driving support control or non-preferable notification of a driver (or an occupant) of the host vehicle100, the vehicle driving support device10(particularly the ECU90) performs a process of detecting first extraneous matter, a process of determining adherence of first extraneous matter such as fogginess, a process of detecting second extraneous matter such as dirt, and a process of determining adherence of second extraneous matter as follows.

In this example, first extraneous matter is extraneous matter which is adhered to the viewing-angle window part103or the camera lens41and is extraneous matter which is assumed to be removed while the host vehicle100is traveling. The second extraneous matter is extraneous matter which is adhered to the viewing-angle window part103or the camera lens41and extraneous matter which is assumed not to be removed while the host vehicle100is traveling.

Process of Detecting Extraneous Matter and Determination of Adherence while Traveling

When the host vehicle100is traveling, the vehicle driving support device10performs a process of detecting first extraneous matter adhering to the viewing-angle window part103or the camera lens41(a first extraneous matter detecting process) based on the image information Iimg and performs a process of detecting second extraneous matter adhering to the viewing-angle window part103or the camera lens41(a second extraneous matter detecting process) based on the image information Iimg.

When first extraneous matter has been detected through the process of detecting first extraneous matter, the vehicle driving support device10determines whether a condition that first extraneous matter continues to be detected for a predetermined first time T1_th (a first extraneous matter detection condition) has been satisfied (determination of adherence of first extraneous matter).

When it is determined that the first extraneous matter detection condition has been satisfied through the determination of adherence of first extraneous matter, the vehicle driving support device10determines that an imaging failure due to the first extraneous matter occurs, stops the driving support control, and performs first notification of notifying a driver (or an occupant) of the host vehicle100that the driving support control is stopped due to the imaging failure based on the first extraneous matter adhering to the viewing-angle window part103or the camera lens41.

That is, when predetermined conditions including the condition that first extraneous matter has been detected while the host vehicle100is traveling and the first extraneous matter detection condition are satisfied, the vehicle driving support device10performs stopping of driving support control and the first notification. In this case, the vehicle driving support device10may be configured to perform only the first notification without stopping the driving support control.

In this example, the first notification is notification which is realized by performing at least one of display of a notification image on the image display device23, generation of notification sound from the notification sound generator24, and generation of notification speech (announcement) from the speech generator25.

When it is determined in the determination of adherence of first extraneous matter that the first extraneous matter detection condition has not been satisfied, the vehicle driving support device10does not determine that an imaging failure based on first extraneous matter has occurred and thus does not stop the driving support control and does not perform the first notification.

Similarly, when second extraneous matter has been detected through the process of detecting second extraneous matter, the vehicle driving support device10determines whether a condition that second extraneous matter continues to be detected for a second predetermined time T2_th (a second extraneous matter detection condition) has been satisfied (determination of adherence of second extraneous matter). The predetermined second time T2_th may be a time having the same length as the predetermined first time T1_th or may be a time having a length different from that of the predetermined first time T1_th.

When it is determined in the determination of adherence of second extraneous matter that the second extraneous matter detection condition has been satisfied, the vehicle driving support device10determines that an imaging failure based on second extraneous matter has occurred, stops the driving support control, and performs second notification of notifying a driver (or an occupant) of the host vehicle100that the driving support control is stopped due to the imaging failure based on second extraneous matter adhering to the viewing-angle window part103or the camera lens41.

That is, when predetermined conditions including the condition that second extraneous matter has been detected while the host vehicle100is traveling and the second extraneous matter detection condition are satisfied, the vehicle driving support device10performs stopping of driving support control and the second notification. In this case, the vehicle driving support device10may be configured to perform only the second notification without stopping the driving support control.

In this example, the second notification is notification which is realized by performing at least one of display of a notification image on the image display device23, generation of notification sound from the notification sound generator24, and generation of notification speech (announcement) from the speech generator25.

When it is determined in the determination of adherence of second extraneous matter that the second extraneous matter detection condition has not been satisfied, the vehicle driving support device10does not determine that an imaging failure based on second extraneous matter has occurred and thus does not stop the driving support control and does not perform the second notification.

Process of Detecting Extraneous Matter and Determination of Adherence while being Stopped

On the other hand, when the host vehicle100is stopped, the vehicle driving support device10does not perform the process of detecting first extraneous matter but performs only the process of detecting second extraneous matter.

Accordingly, while the host vehicle100is stopped, first extraneous matter is not detected by the vehicle driving support device10, and thus it is not determined that an imaging failure based on first extraneous matter has occurred and stopping of driving support control and first notification are not performed by the vehicle driving support device10.

When second extraneous matter is detected through the process of detecting second extraneous matter, the vehicle driving support device10determines whether an adherence determination execution condition that the host vehicle100is predicted to be about to start traveling is satisfied. The adherence determination execution condition is a condition that determination of adherence of second extraneous matter is performed.

When the shift lever51is not operated to the D range or the R range, the host vehicle100is not likely to immediately start travel. Accordingly, when the shift lever51is operated to the D range or the R range, the vehicle driving support device10determines that the host vehicle100is not predicted to be about to start travel.

When the shift lever51is operated to the D range or the R range and the brake pedal33is depressed, the host vehicle100is not likely to immediately start travel. Accordingly, when the shift lever51is operated to the D range or the R range and the brake pedal33is depressed, the vehicle driving support device10determines that the host vehicle100is not predicted to be about to start travel.

When the head lamp26is in the off state (particularly, when the head lamp26is in the off state in the nighttime), the host vehicle100is not likely to immediately start travel. Accordingly, when the head lamp26is in the off state, the vehicle driving support device10determines that the host vehicle100is not predicted to be about to start travel.

When the driving support control is not being performed, an advantage of determination of adherence of second extraneous matter is insufficient. Therefore, the adherence determination execution condition may include a condition that the driving support control is being performed. In this case, the vehicle driving support device10determines that the adherence determination execution condition has not been satisfied when the driving support control is stopped.

When the adherence determination execution condition has not been satisfied, the vehicle driving support device10does not perform determination of adherence of second extraneous matter. Accordingly, the vehicle driving support device10does not determine that an imaging failure based on second extraneous matter has occurred and does not perform the second notification.

On the other hand, when the adherence determination execution condition has been satisfied, the vehicle driving support device10performs determination of adherence of second extraneous matter.

When it is determined in the determination of adherence of second extraneous matter that the second extraneous matter detection condition has been satisfied, the vehicle driving support device10determines that an imaging failure based on second extraneous matter has occurred and thus performs stopping of the driving support control and the second notification.

When it is determined in the determination of adherence of second extraneous matter that the second extraneous matter detection condition has been satisfied, the vehicle driving support device10determines that an imaging failure based on second extraneous matter has not occurred, and thus does not perform stopping of the driving support control and the second notification.

Advantageous Effects

With this configuration, when second extraneous matter has been detected while the host vehicle100is stopped, the determination of adherence of second extraneous matter is performed only when the host vehicle100is predicted to be about to start travel. In other words, when the host vehicle100is not predicted to be about to start travel, that is, when the host vehicle100is not likely to immediately start travel and an advantage of determination of adherence of second extraneous matter is insufficient at that time, the determination of adherence of second extraneous matter is not performed. Accordingly, it is possible to avoid non-preferable stopping of driving support control or non-preferable execution of second notification. When the host vehicle100is predicted to be about to start travel, that is, when the host vehicle100is likely to immediately start travel and there is a sufficient profit on the determination of adherence of second extraneous matter at that time, the determination of adherence of second extraneous matter is performed and thus it is possible to perform appropriate stopping of driving support control or appropriate execution of second notification.

When the host vehicle100is stopped, a process of detecting first extraneous matter (a first extraneous matter detecting process) which is highly likely to be removed when travel of the host vehicle100is started is not performed. Accordingly, it is possible to avoid unnecessary stopping of driving support control or unnecessary execution of second notification.

Specific Operation

A specific operation of the vehicle driving support device10will be described below. The CPU of the ECU90of the vehicle driving support device10performs a routine illustrated inFIG.3at intervals of a predetermined time.

Accordingly, when a predetermined timing arrives, the CPU starts the routine from Step300inFIG.3, causes the routine to proceed to Step305, and determines whether the host vehicle100is stopped.

When the determination result of Step305is “YES,” the CPU causes the routine to proceed to Step310and performs a second extraneous matter detecting process. Subsequently, the CPU causes the routine to proceed to Step315and determines whether second extraneous matter has been detected in the second extraneous matter detecting process.

When the determination result of Step315is “YES,” the CPU causes the routine to proceed to Step320and determines whether a adherence determination execution condition has been satisfied.

When the determination result of Step320is “YES,” the CPU causes the routine to proceed to Step325and performs determination of adherence of second extraneous matter. That is, the CPU determines whether a second extraneous matter detection condition that a time T2in which second extraneous matter continues to be detected is equal to or greater than the predetermined second time T2_th has been satisfied.

When the determination result of Step325is “YES,” the CPU causes the routine to proceed to Step330and performs second notification. Subsequently, the CPU causes the routine to proceed to Step335and stops the driving support control. Thereafter, the CPU causes the routine to proceed to Step395and temporarily ends this routine.

On the other hand, when the determination result of Step315, Step320, or Step325is “NO,” the CPU causes the routine to proceed directly to Step395and temporarily ends this routine.

When the determination result of Step305is “NO,” the CPU causes the routine to proceed to Step340and performs a subroutine illustrated inFIG.4. Accordingly, when the routine proceeds to Step340, the CPU starts the subroutine from Step400inFIG.4, causes the routine to proceed to Step405, and performs a first extraneous matter detecting process. Subsequently, the CPU causes the routine to proceed to Step410and determines whether first extraneous matter has been detected in the first extraneous matter detecting process.

When the determination result of Step410is “YES,” the CPU causes the routine to proceed to Step415and performs determination of adherence of first extraneous matter. That is, the CPU determines whether a first extraneous matter detection condition that the time T1in which first extraneous matter continues to be detected is equal to or greater than the predetermined first time T1_th has been satisfied.

When the determination result of Step415is “YES,” the CPU causes the routine to proceed to Step420and performs first notification. Subsequently, the CPU causes the routine to proceed to Step425and stops the driving support control. Thereafter, the CPU causes the routine to proceed to Step430.

On the other hand, when the determination result of Step410or Step415is “NO,” the CPU causes the routine to proceed directly to Step430.

When the routine proceeds to Step430, the CPU performs the second extraneous matter detecting process. Subsequently, the CPU causes the routine to proceed to Step435and determines whether second extraneous matter has been detected in the second extraneous matter detecting process.

When the determination result of Step435is “YES,” the CPU causes the routine to proceed to Step440and performs the determination of adherence of second extraneous matter. That is, the CPU determines whether the second extraneous matter detection condition that the time T2in which second extraneous matter continues to be detected is equal to or greater than the predetermined second time T2_th has been satisfied.

When the determination result of Step440is “YES,” the CPU causes the routine to proceed to Step445and performs the second notification. Subsequently, the CPU causes the routine to proceed to Step450and stops the driving support control. Thereafter, the CPU causes the routine to proceed to Step395inFIG.3via Step495and temporarily ends this routine.

On the other hand, when the determination result of Step435or Step440is “NO,” the CPU causes the routine to proceed to Step395inFIG.3via Step495and temporarily ends this routine.

A specific operation of the vehicle driving support device10has been described hitherto.

The disclosure is not limited to the aforementioned embodiment and can employ various modification.