CN103754226B - Drive assist system and the method for being carried out by drive assist system - Google Patents
Drive assist system and the method for being carried out by drive assist system Download PDFInfo
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- CN103754226B CN103754226B CN201310628075.XA CN201310628075A CN103754226B CN 103754226 B CN103754226 B CN 103754226B CN 201310628075 A CN201310628075 A CN 201310628075A CN 103754226 B CN103754226 B CN 103754226B
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- 238000001514 detection method Methods 0.000 claims abstract description 86
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
- G08G1/167—Driving aids for lane monitoring, lane changing, e.g. blind spot detection
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- Automation & Control Theory (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Human Computer Interaction (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Traffic Control Systems (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
Abstract
Output is adjusted ECU (1) and being comprised: request receiving portion (11), and it accepts the output request of the warning information to driver from driving auxiliary ECU (2); Serviceability detection unit (12), it has been having accepted when request output from request receiving portion (11), judges that whether output is useful to driver as the first warning information of warning information that is accepted output request; Content changing portion (13), it,, being judged to be there is no the used time by serviceability detection unit (12), changes the content of described the first warning information, and generates as the second warning information to the useful warning information of driver; And output enforcement division (15), it exports described the first warning information being judged to be the used time by serviceability detection unit (12), and is being judged to be not have the used time to export described the second warning information by serviceability detection unit (12). So, export suitable warning information.
Description
The application is that application number is the divisional application of 2009801587439 application, the application of asking in formerDay is on April 15th, 2009, and denomination of invention is " alarm output control apparatus ".
Technical field
The present invention relates to for example mounted on a vehicle, and control from least one drive assistance device to drivingThe alarm output control apparatus of the output of the warning information of the person of sailing.
Background technology
In order to improve driver's security, convenience etc., people have proposed the car existing with frontWait relevant information, the speed of a motor vehicle of barrier whether suitable and whether exist may waiting of track occurs to depart fromThe driving supplementary of the information relevant with the transport condition of vehicle etc. reports to by sound, image etc.Driver. Thus, can make driver take to avoid the action of the dangerous states of affairs such as collision. But, byVarious in the driving supplementary that should report to driver, thereby when multiple driving supplementarys are by simultaneouslyWhile reporting to driver, may there is the situation of driver's indistinguishable.
In order to solve the problems of the technologies described above, the whole bag of tricks, device etc. are disclosed (for example,, with reference to patentDocument 1). The supplementary reminding method that travels of recording in patent documentation 1 is by driving supplementaryBy emergency divided rank, the in the situation that of same levels, preferentially will forget oneself apart from there is warning objectThe shortest the forgetting oneself of predicted time be prompted to driver. According to the method, due to can be by emergencyHigh information priority is prompted to driver, even if thereby should point out multiple driving supplementarys simultaneouslyUnder situation, also can be by pointing out most important information to come driver easily to point out expressly driving auxiliarySupplementary information.
Patent documentation 1: Japanese documentation JP 2004-246631 communique
Summary of the invention
The problem that invention will solve
But that records at patent documentation 1 travels in supplementary reminding method, likely can be byThe low information reporting of emergency, to driver, although be the information that emergency is low, but should report toDriver's. In addition, under the not indistinguishable prerequisite of driver, or wish will drive as much as possibleSail supplementary and be prompted to driver.
The present invention In view of the foregoing completes, and it is a kind of exportable suitable that its object is to provideThe alarm output control apparatus of warning information.
To achieve these goals, the present invention has following characteristics. A first aspect of the present invention is a kind ofAlarm output control apparatus, described alarm output control apparatus is mounted on vehicle, and controls from extremelyThe output of the warning information of a few drive assistance device to driver, described alarm output control apparatusComprise: request receiving unit, described request receiving unit is accepted described police from described drive assistance deviceThe notify output request of breath; Serviceability identifying unit, having accepted output when described request receiving unit pleaseWhile asking, described serviceability identifying unit judges that whether output the first warning information is useful to driver, instituteStating the first warning information is the warning information that is accepted output request; Content changing unit, has when describedBe judged to be there is no the used time with sex determination unit, described content changing unit changes described the first warning informationContent and generate the second warning information, described the second warning information is the alarm signal useful to driverBreath; And output performance element, described output performance element is judged to be at described serviceability identifying unitThere is the used time, export described the first warning information, and be judged to be not have at described serviceability identifying unitUsed time, export described the second warning information.
A second aspect of the present invention is in above-mentioned first aspect, and described serviceability identifying unit is based on drivingThe content of the driver behavior of the person of sailing determines whether useful.
A third aspect of the present invention is in above-mentioned second aspect, when being included in described the first warning informationIn first solicit operation of operation and described driver's the driver behavior phase of conduct to driver requestInverse time, described serviceability identifying unit is judged to be not use.
A fourth aspect of the present invention is in the above-mentioned third aspect, when described the first solicit operation is to described carKind and the described driver behavior of the impact that causes of transport condition the transport condition of described vehicle is madeIdentical and described the first solicit operation of the kind of impact that becomes causes the transport condition of described vehicleThe direction of impact and the direction of the impact that described driver behavior causes the transport condition of described vehicle beWhen rightabout, described serviceability identifying unit is judged to be not use.
A fifth aspect of the present invention is in above-mentioned Second Type, and described driver behavior comprises steering operationAt least one in operating with acceleration and deceleration.
A sixth aspect of the present invention is in above-mentioned first aspect, and described serviceability identifying unit is based onThree warning informations determine whether useful, and described the 3rd warning information is other alarm signals in the middle of outputBreath.
A seventh aspect of the present invention be aspect the above-mentioned the 6th in, described serviceability identifying unit is based on bagThe 3rd solicit operation that is contained in conduct in described the 3rd warning information operation to driver's request is sentencedFixed whether useful.
A eighth aspect of the present invention be aspect the above-mentioned the 7th in, when being included in described the first warning informationIn the first solicit operation of the operation of conduct to driver request contrary with described the 3rd solicit operationTime, described serviceability identifying unit is judged to be not use.
A ninth aspect of the present invention is in above-mentioned eight aspect, when described the first solicit operation is to describedThe kind of the impact that the transport condition of vehicle causes and described the 3rd solicit operation travelling to described vehicleIdentical and the travel shape of described the first solicit operation to described vehicle of the kind of the impact that state causesThe shadow that the direction of the impact that state causes and described the 3rd solicit operation cause the transport condition of described vehicleWhen the direction of ringing is rightabout, described serviceability identifying unit is judged to be not use.
A tenth aspect of the present invention be aspect the above-mentioned the 7th in, described the 3rd solicit operation comprises and turning toAt least one in operation and acceleration and deceleration operation.
A eleventh aspect of the present invention is the above-mentioned second aspect of above-mentioned first aspect and above-mentioned the 6th sideIn either side in face, described content changing unit will be by being included in described the first warning informationThe first solicit operation of the operation of conduct to driver request change into the content of not exporting, generateDescribed the second warning information.
A twelveth aspect of the present invention is in above-mentioned the tenth one side, described content changing unit Jiang BaoThe first solicit operation that is contained in conduct in described the first warning information operation to driver's request changesFor inform the information of driving condition to driver, generate described the second warning information.
A thirteenth aspect of the present invention is that described the first solicit operation comprises in above-mentioned the tenth one sideAt least one in steering operation and acceleration and deceleration operation.
A fourteenth aspect of the present invention is in above-mentioned first aspect, above-mentioned second aspect and above-mentionedIn the either side of six aspects, described content changing unit will be by being included in described the first warning informationIn the content changing of the first solicit operation of the operation of conduct to driver request for not comprising described theThe content of the direction of the impact that one solicit operation causes the transport condition of described vehicle, described in generatingThe second warning information.
A fifteenth aspect of the present invention be aspect the above-mentioned the 14 in, described the first solicit operation comprisesAt least one in steering operation and acceleration and deceleration operation.
A sixteenth aspect of the present invention is in above-mentioned first aspect, above-mentioned second aspect and the above-mentioned the 6thIn the either side of aspect, described output performance element is by acoustic information, Word message and imageAt least one in information exported described the first warning information and described the second warning information.
A seventeenth aspect of the present invention is in above-mentioned first aspect, above-mentioned second aspect and the above-mentioned the 6thIn the either side of aspect, the operating unit of described output performance element by driver's operation andAt least one in driver applies vibration and exports described the first warning information and described the second alarm signalBreath.
A eighteenth aspect of the present invention be aspect the above-mentioned the 17 in, the operation of described driver's operationUnit comprises steering wheel.
A nineteenth aspect of the present invention is in above-mentioned first aspect, above-mentioned second aspect and the above-mentioned the 6thIn the either side of aspect, described output performance element applies by the operating unit to driver's operationPower is exported described the first warning information and described the second warning information.
A twentieth aspect of the present invention be aspect the above-mentioned the 19 in, the operation of described driver's operationUnit comprises steering wheel.
The of the present invention the 20 is in above-mentioned first aspect on the one hand, and described drive assistance device comprisesAt least one in following each device: prevent from the drive assistance device of traveling lane disengaging; Guarantee withThe drive assistance device of the following distance of front vehicles; Prevent from exceeding the alarm of the predefined upper limit speed of a motor vehicleOutput-controlling device; Prevent the drive assistance device bumping against with objects in front; In the time changing track, preventDrive assistance device with rear side vehicle approach; Prevent because the variation of road gradient causes the speed of a motor vehicleThe drive assistance device reducing; Reduce by the identification error (Recognize that stops mark being known to ミ ス temporarily) leadThe dangerous drive assistance device causing; Supervise the bending curvature carrying out with road ahead to slow down accordinglyDrive assistance device; And reduce by the dangerous driving that the identification error of red signal is causedServicing unit.
Invention effect
According to above-mentioned first aspect, the output of accepting warning information from least one drive assistance device pleaseAsk. In addition,, in the time having accepted output request, judge that output is as the alarm signal that is accepted output requestWhether the first warning information of breath is useful to driver. In addition, when being judged to be there is no the used time, change instituteState the content of the first warning information, generate as the second alarm signal to the useful warning information of driverBreath. In addition, when being judged to be the used time, export described the first warning information, and when being judged to beThere is no the used time, export described the second warning information. Therefore, can export suitable warning information.
, when being judged to be as being accepted the first warning information of exporting the warning information of asking to drivingMember does not have the used time, changes the content of this first warning information, generates as the alarm useful to driverThe second warning information of information, and export this second warning information, thereby can not export driver is not hadUseful warning information, therefore can export suitable warning information.
Specifically, for example, when driver, passes through during to right-hand having turned in order to surmount front vehiclesPrevent that the drive assistance device departing from from traveling lane from applying use in order to prevent to the right-hand disengaging in trackIn supervising the steering moment left turning to left, this can not say useful alarm to driver.Therefore, in this case, be judged to be the not use to driver, change the content of alarm, generate and doFor example, for the second warning information to the useful warning information of driver (has been forbidden applying and turning to leftThe warning information of moment), and export this second warning information, thereby can export suitable alarm signalBreath.
According to above-mentioned second aspect, determine whether useful according to the content of driver's driver behavior.Therefore, can suitably judge that whether described the first warning information is useful to driver.
, for example, when conduct is accepted the first warning information of exporting the warning information of asking to driverThe driver behavior carrying out has consciously caused obstruction and has not exported this first warning information also notCan cause in the situation of security reduction, being suitably judged to be this first warning information does not have driverWith.
Specifically, for example, when driver, passes through during to right-hand having turned in order to surmount front vehiclesPrevent that the drive assistance device departing from from traveling lane from applying use in order to prevent to the right-hand disengaging in trackIn supervising the steering moment left turning to left, this can not say useful alarm to driver.Therefore, in this case, according to the content of driver's driver behavior (=turn to right-hand),Suitably being judged to be described the first warning information does not use driver.
According to the above-mentioned third aspect, when the conduct of protection in described the first warning information please to driverWhen the first solicit operation of the operation of asking is contrary with described driver's driver behavior, being judged to be does not haveWith. Therefore, can more suitably judge that whether described the first warning information is useful to driver.
The conduct that, for example ought be included in the warning information that is accepted output request is asked driverThe driver behavior that carrying out consciously with driver of the first solicit operation of operation contrary and notThe content of exporting this first solicit operation also can not reduce in the situation of security, suitably judges and comprisesThe first warning information of this first solicit operation is not used driver.
Specifically, for example, when driver, passes through during to right-hand having turned in order to surmount front vehiclesPrevent that the drive assistance device departing from from traveling lane from applying and supervising in order to prevent the right-hand disengaging to trackThe steering moment left that turns to (the=the first solicit operation) to left, this can not say so driverUseful alarm. Therefore, in this case, due to the work being included in described the first warning informationFor first solicit operation (being to turn to left here) and described driving of the operation to driver's requestMember's driver behavior (=turn to right-hand) is contrary, thereby is suitably judged to be described the first alarm signalBreath is not used driver.
According to above-mentioned fourth aspect, when described the first solicit operation causes the transport condition of described vehicleThe kind phase of kind and the described driver behavior of impact impact that the transport condition of described vehicle is causedWith and direction and the institute of described the first solicit operation impact that the transport condition of described vehicle is causedWhile stating the opposite direction of the impact that driver behavior causes the transport condition of described vehicle, being judged to be does not haveWith. Therefore, can more suitably judge that whether described the first warning information is useful to driver.
The kind of the impact, the transport condition of described vehicle being caused when described the first solicit operation withThe kind of the impact that described driver behavior causes the transport condition of described vehicle is identical and describedThe direction of the impact that one solicit operation causes the transport condition of described vehicle and described driver behavior are to instituteWhile stating the opposite direction of the impact that the transport condition of vehicle causes, due to described the first solicit operation and instituteThe driver behavior of stating driver is contrary, thereby can suitably be judged to be described the first warning information to drivingThe person of sailing is not used.
Specifically, for example turn to and be contrary operation to turning to of left to right-hand. Now,The kind of the impact that the transport condition of described vehicle is caused is that the direct of travel of described vehicle is changed.In addition the (=behaviour of slowing down that jams on who jams on (=acceleration operation) and brake pedal of for example gas pedal,Do) be contrary operation. The kind of the impact now, the transport condition of described vehicle being caused is instituteThe speed of stating vehicle is changed.
According to above-mentioned the 5th aspect, because described driver behavior comprises in steering operation and acceleration and deceleration operationAt least one, thereby in the time that described the first warning information is important alarm, can suitably judgeWhether useful to driver.
That is, in the time that described the first warning information is important alarm, in described the first warning information mostlyComprise the information of supervising driver to carry out steering operation or acceleration and deceleration operation. Therefore, when described first is alertWhen the breath of notifying is important alarm, can suitably determine whether driver useful.
According to above-mentioned the 6th aspect, the 3rd alarm signal of other warning informations based on as in the middle of outputBreath determines whether useful. Therefore, can suitably judge that whether described the first warning information is to drivingMember is useful.
, for example, when the first alarm information request of the warning information as being accepted output request is drivenMember carry out the operation contrary with the 3rd warning information of other warning informations as in the middle of output andDo not export this first warning information and can not reduce in the situation of security yet, can suitably be judged to be thisOne warning information is not used driver.
Specifically, for example when by the drive assistance device of avoiding bumping with objects in front toWhen left has turned to, when preventing from changing in track and the drive assistance device of rear side vehicle approachTo apply in order supervising to right-hand and to turn in order to prevent from approaching with the front vehicle of travelling in left-hand laneSteering moment to the right, this can not say useful alarm to driver. Therefore, in this situationUnder, based on as output in the middle of other warning informations the 3rd warning information (=supervise to left to turnTo information), be suitably judged to be described the first warning information (=supervise the letter turning to right-handBreath) driver is not used.
According to above-mentioned the 7th aspect, based on being included in conduct in described the 3rd warning information to driverThe 3rd solicit operation of the operation of request determines whether useful. Therefore, can more suitably judgeWhether described the first warning information is useful to driver.
, for example, when the first alarm information request of the warning information as being accepted output request is drivenMember carries out the operation contrary with the 3rd solicit operation and does not export this first warning information and also can not fallIn the situation of low-security, be suitably judged to be this first warning information to not use of driver, whereinDescribed the 3rd solicit operation is comprised in the 3rd warning information as other warning informations in the middle of outputIn and be the operation to driver request.
Specifically, for example, when by the drive assistance device avoiding bumping with objects in front leftWhen side has turned to (=be equivalent to the 3rd solicit operation), when preventing from changing in track and rear sideThe drive assistance device of vehicle approach to approach and executes with the front vehicle of travelling in left-hand lane in order to preventAdd and supervise the steering moment to the right turning to right-hand, this can not say useful alarm to driver.Therefore, in this case, the 3rd solicit operation of other warning informations based on as in the middle of outputThe information that (=supervise turns to left), be suitably judged to be described the first warning information (=superviseTo the right-hand information turning to) driver is not used.
According to above-mentioned eight aspect, when the conduct being included in described the first warning information please to driverThe first solicit operation of the operation of asking, is judged to be not use when contrary with described the 3rd solicit operation. CauseThis, can more suitably be judged to be described the first warning information whether useful to driver.
, when described the first solicit operation request driver carry out with in the middle of export described theWhen the contrary operation of three solicit operations, being suitably judged to be described the first warning information does not have driverWith.
Specifically, for example, when the drive assistance device by avoiding bumping with objects in front toWhen left has turned to (=be equivalent to the 3rd solicit operation), when preventing from changing in track and rear sideThe drive assistance device of side's vehicle approach is in order to prevent from approaching with the front vehicle of travelling in left-hand laneApply the steering moment to the right of supervising to right-hand turning to (=be equivalent to the first solicit operation), this is rightDriver can not say useful alarm. Therefore, in this case, based on as output in the middle ofThe 3rd solicit operation of other warning informations (=supervise the information turning to left), suitably judgesFor described the first warning information (=supervise the information turning to right-hand) is not used driver.
According to above-mentioned the 9th aspect, when described the first solicit operation causes the transport condition of described vehicleThe kind of impact and the kind of the impact that described the 3rd solicit operation causes the transport condition of described vehicleThe direction of the identical and impact that described the first solicit operation causes the transport condition of described vehicle of classWhen the opposite direction of the impact transport condition of described vehicle being caused with described the 3rd solicit operation, sentenceBe not decided to be and use. Therefore, can more suitably judge that whether described the first warning information is to driverUseful.
The kind of the impact, the transport condition of described vehicle being caused when described the first solicit operation withIdentical and the institute of the kind of the impact that described the 3rd solicit operation causes the transport condition of described vehicleState direction and described the 3rd request of the impact that the first solicit operation causes the transport condition of described vehicleWhile operating the opposite direction of the impact that the transport condition of described vehicle is caused, due to described the first requestOperate on the contrary with described the 3rd solicit operation, thereby can suitably be judged to be described the first warning information pairDriver does not use.
Specifically, for example turn to and be contrary operation to turning to of left to right-hand. Now,The kind of the impact that described vehicle causes transport condition is that the direct of travel of described vehicle is changed. ThisOutward, the (=behaviour of slowing down that jams on who jams on (=acceleration operation) and brake pedal of for example gas pedalDo) be contrary operation. The kind of the impact now, the transport condition of described vehicle being caused is instituteThe speed of stating vehicle is changed.
According to above-mentioned the tenth aspect, because described the 3rd solicit operation comprises steering operation and acceleration and deceleration behaviourAt least one in work, thereby in the time that described the first warning information is important alarm, can be suitablyDetermine whether driver useful.
That is, in the time that described the first warning information is important alarm, in described the first warning information mostlyComprise the information of supervising driver to carry out steering operation or acceleration and deceleration operation. Therefore, when described first is alertWhen the breath of notifying is important alarm, can suitably determine whether driver useful.
According to the above-mentioned the tenth on the one hand, by using be included in described the first warning information as to drivingThe content of not exporting is changed in the first solicit operation of the operation of the person of sailing request, generates described the second policeThe breath of notifying. Therefore, described the first warning information is implemented to suitable change, generate suitable alarm signalBreath is as described the second warning information.
, when being included in first of conduct in described the first warning information operation to driver's requestSolicit operation and driver's driver behavior, the request behaviour that comprises in the alarm in the middle of exportingWhen work etc. are contrary, are judged to be described the first warning information and do not use. Therefore, by the first request is graspedChange into the content of not exporting, described the first warning information is implemented to suitable change, generate suitableWhen warning information as described the second warning information.
According to above-mentioned the 12 aspect, by using be included in described the first warning information as to drivingThe information of informing driving condition to driver is changed in the first solicit operation of the operation of the person of sailing request, comesGenerate described the second warning information. Therefore, described the first warning information is implemented to suitable change, rawBecome suitable warning information as described the second warning information.
, when being included in conduct in described the first warning information to first of the operation of driver's requestSolicit operation and driver's driver behavior, the request behaviour that comprises in the alarm in the middle of exportingWhen work etc. are contrary, are judged to be described the first warning information and do not use. Therefore, by the first request is graspedChange into the information of informing driving condition to driver, come described the first warning information to implement moreSuitable change, generates more suitable warning information as described the second warning information.
, by the first solicit operation being changed into the information of informing driving condition to driver, firstWhat solicit operation can not comprise with driver's driver behavior, in exporting central alarm pleaseAsk operation etc. contrary. And, inform driving condition because the first solicit operation is changed to driverInformation and be output, thereby can export and be comprised in useful to driver in the first solicit operationInformation, therefore can generate more suitable warning information as described the second warning information.
According to above-mentioned the tenth three aspects:, because described the first solicit operation comprises steering operation and acceleration and decelerationAt least one in operation, thereby in the time that described the first warning information is important alarm, to describedOne warning information is implemented suitable change, generates suitable warning information and is used as described the second alarm signalBreath.
That is, in the time that described the first warning information is important alarm, in described the first warning information mostlyComprise the information of supervising driver to carry out steering operation or acceleration and deceleration operation. Therefore, when described first is alertWhen the breath of notifying is important alarm, described the first warning information is implemented to suitable change, generate suitablyWarning information as described the second warning information.
According to above-mentioned the 14 aspect, using be included in described the first warning information as to driverThe content changing of the first solicit operation of the operation of request is not for comprising described the first solicit operation to describedThe content of the direction of the impact that the transport condition of vehicle causes, generates described the second warning information. CauseThis, implement suitable change to described the first warning information, generates suitable warning information as describedThe second warning information.
, when being included in first of conduct in described the first warning information operation to driver's requestSolicit operation and driver's driver behavior, the request behaviour that comprises in the alarm in the middle of exportingWhen work etc. are contrary, are judged to be described the first warning information and do not use. Therefore, by the first request is graspedThe content changing of doing is not comprise the shadow that described the first solicit operation causes the transport condition of described vehicleThe content of the direction of ringing, implements suitable change to described the first warning information, generates suitable policeNotify breath as described the second warning information.
, by by the content changing of the first solicit operation for not comprising described the first solicit operation to instituteState the content of the direction of the impact that the transport condition of vehicle causes, the first solicit operation not can with driverDriver behavior or the solicit operation that the alarm in the middle of export has comprised etc. contrary. In addition,Because being changed to, the content of the first solicit operation do not comprise described the first solicit operation to described vehicleThe content of the direction of the impact that transport condition causes is also output, thereby output is comprised in the first requestIn operation to driver's Useful Information, therefore can generate more suitable warning information as describedThe second warning information.
According to above-mentioned the 15 aspect, because described the first solicit operation comprises steering operation and acceleration and decelerationAt least one in operation, thereby in the time that described the first warning information is important alarm, to describedOne warning information is implemented suitable change, generates suitable warning information as described the second alarm signalBreath.
That is, in the time that described the first warning information is important alarm, in described the first warning information mostlyComprise the information of supervising driver to carry out steering operation or acceleration and deceleration operation. Therefore, when described first is alertWhen the breath of notifying is important alarm, described the first warning information is implemented to suitable change, generate suitablyWarning information as described the second warning information.
According to above-mentioned the 16 aspect, via in acoustic information, Word message and image information extremelyExport described the first warning information and described the second warning information for few one. Therefore, can be effectivelyOutput warning information is as described the first warning information and described the second warning information.
According to above-mentioned the 17 aspect, by the operating unit to driver's operation and driver extremelyFew one applies vibration, exports described the first warning information and described the second warning information. Therefore,Can effectively export warning information as described the first warning information and described the second warning information.
According to above-mentioned the tenth eight aspect, because the operating unit of described driver's operation comprises steering wheel,Thereby can export described the first warning information and described the second alarm signal by applying the vibration of steering wheelBreath. Therefore, can more effectively export warning information as described the first warning information and describedTwo warning informations.
According to above-mentioned the 19 aspect, by being applied to power, the operating unit of driver's operation exports instituteState the first warning information and described the second warning information. Therefore, can effectively export warning information doesFor described the first warning information and described the second warning information.
According to above-mentioned the 20 aspect, because the operating unit of described driver's operation comprises steering wheel,Thereby can export described the first warning information and described the second alarm signal by apply power to steering wheelBreath. Therefore, can more effectively export warning information as described the first warning information and described secondWarning information.
According to the above-mentioned the 20 on the one hand, described drive assistance device comprises in following each device at leastOne: the drive assistance device that prevents from departing from from traveling lane; Guarantee with the following distance of front vehiclesDrive assistance device; Prevent from exceeding the alarm output control apparatus of the predefined upper limit speed of a motor vehicle; PreventDrive assistance device with objects in front collision; Prevent when track with rear side vehicle approach changingDrive assistance device; Prevent the auxiliary dress of the driving that causes the speed of a motor vehicle to reduce due to the variation of road gradientPut; Reduce by the dangerous drive assistance device that the identification error that stops mark being caused temporarily; Superintend and directPromote the drive assistance device that row and the bending curvature of road ahead slow down accordingly; And reduce by rightThe dangerous drive assistance device that the identification error of red signal causes. Therefore, can export suitablyWarning information.
That is, owing to accepting warning information from the drive assistance device of output critical alarms, therefore can be defeatedGo out suitable warning information.
Brief description of the drawings
Fig. 1 is the block diagram that represents an example of the structure of alarm output control apparatus of the present invention;
Fig. 2 is an example that represents the functional structure of the output adjustment ECU in the first embodimentBlock diagram;
Fig. 3 is the stream that represents an example of the action of the output adjustment ECU in the first embodimentCheng Tu;
Fig. 4 represents that the output adjustment ECU in the first embodiment carries out the output tune of warning informationThe key diagram of an example of whole situation;
Fig. 5 is the flow process that an example of the action of ECU is adjusted in the output under situation shown in presentation graphs 4Figure;
Fig. 6 is illustrated in the track detachment alarm showing in the step S215 etc. of flow chart shown in Fig. 5The picture figure of an example of picture;
Fig. 7 is an example that represents the functional structure of the output adjustment ECU in the second embodimentBlock diagram;
Fig. 8 is the stream that represents an example of the action of the output adjustment ECU in the second embodimentCheng Tu;
Fig. 9 represents that the output adjustment ECU in the second embodiment carries out the output tune of warning informationThe key diagram of the first case of whole situation;
Figure 10 is the flow process of exporting an example of the action of adjusting ECU shown in presentation graphs 9 under situationFigure;
Figure 11 represents of the vibration that applies in step S413 of flow chart shown in Figure 10 etc.The chart of example;
Figure 12 represents the dead angle alarm picture that shows in the step S415 etc. of flow chart shown in Figure 10The picture figure of an example;
Figure 13 represents that the output adjustment ECU in the second embodiment carries out the output tune of warning informationThe key diagram of the second case of whole situation;
Figure 14 represents that the output adjustment ECU in the second embodiment carries out the output tune of warning informationThe key diagram of the 3rd example of whole situation;
Figure 15 represents shown in Figure 14 that speed of a motor vehicle alarm picture shown under situation, the speed of a motor vehicle reduce alarmThe picture figure of an example of picture.
Symbol description
1, ECU (alarm output control apparatus) is adjusted in 1A output
11 request receiving portions (request receiving unit)
12,12A serviceability detection unit (part for serviceability identifying unit)
13,13A content changing portion (content changing unit)
14 output enforcement divisions (part for output performance element)
2 input equipments (drive assistance device)
21 avoid track to depart from auxiliary ECU
22 front trucks are followed auxiliary ECU
ECU is assisted in 23 speed of a motor vehicle controls
24 avoid colliding auxiliary ECU
Auxiliary ECU is confirmed at 25 dead angles
ECU is assisted in 26 ramp speed controls
27 stop auxiliary ECU temporarily
28 bends slow down and assist ECU
29 red signals stop auxiliary ECU
3 input pickups (part for serviceability identifying unit)
31 steering operation detecting sensors
32 throttle operation detecting sensors
33 brake operating detecting sensors
4 output equipments (part for output performance element)
41 displays
42 loudspeakers
43 seat vibration devices
44 steering moment control ECU
Detailed description of the invention
Below, with reference to accompanying drawing, the embodiment of alarm output control apparatus of the present invention is described.Alarm output control apparatus in the present invention is mounted on vehicle, and auxiliary to driving from least oneThe output of the warning information of device to driver is controlled. First, utilize Fig. 1 to being mounted in vehicleOn the example of structure of alarm output control apparatus describe.
Fig. 1 is the block diagram that represents an example of the structure of the alarm output control apparatus in the present invention.As shown in Figure 1, ECU (E1ectronicContro1Unit, electronics control are adjusted in the output in the present inventionUnit processed) 1 (being equivalent to alarm output control apparatus) with as the input equipment 2 of peripheral equipment, defeatedEnter sensor 3 and output equipment 4 connections and can communicate by letter with them.
First the input equipment 2 of, with reference to Fig. 1, output being adjusted to ECU1 describes. Input equipment2 (being equivalent to drive assistance device) were the auxiliary ECU of driving of the driver behavior of driver assistance, bagDraw together: avoid the auxiliary ECU21 of track disengaging, front truck to follow and assist ECU22, speed of a motor vehicle control to assistECU23, avoid colliding auxiliary ECU24, dead angle and confirm that auxiliary ECU25, ramp speed control are auxiliaryHelp ECU26, stop assisting ECU27, the auxiliary ECU28 of bend deceleration and red light to believe temporarilyNumber stop auxiliary ECU29.
Avoiding track to depart from auxiliary ECU21 is that output is " for the letter that prevents from departing from from traveling laneBreath " as the ECU of warning information. Specifically, avoid track depart from auxiliary ECU21 utilize byThe positional informations that detect, that be drawn in the white line at two ends, track such as white line detection camera, judge this carDepart from the possibility in described track. In addition, when this car departs from the possibility in described track when high, avoid,Track departs from auxiliary ECU21 and will comprise the request of supervising driver to operate to avoid departing from trackIt (is that request connects here that the alarm of operation (being steering operation here) etc. exports output adjustment ECU1 toBe subject to portion 11: with reference to Fig. 2, Fig. 7). Here, " solicit operation " be included in warning information, the operation of supervising driver to carry out.
Specifically, for example, when this car departs from the possibility in described track when high, avoid track to depart from auxiliaryHelp ECU21 to adjust ECU1 to output and export following information: be intended to via steering moment control ECU44 apply the indication information of steering moment to the direction of avoiding departing from described track; Be intended to via display41 show the indication information of the image (with reference to Fig. 6) that represents the direction departing from; Be intended to shake via seatMoving device 43 applies the indication information of the vibration of the direction of disengaging to driver; And via loudspeaker 42The indication information of the buzzer that driver notes is aroused in output.
Here, apply steering moment, show that expression departs from direction to the direction of avoiding departing from described trackImage and driver is applied and departs from the vibration of direction, be to comprise to be intended to supervise driver to takeAvoid the alarm of the solicit operation (being steering operation) of the operation that departs from track here.
It is that output is " for guaranteeing and the letter of the following distance of front vehicles that front truck is followed auxiliary ECU22Breath " as the ECU of warning information. Specifically, front truck is followed and is assisted ECU22 to use by millimeterThe information such as distance, relative velocity that detect and front vehicles such as ripple radar installations, carry out for makingThe following distance of described and front vehicles and the acceleration and deceleration control that predefined target range is consistent.In addition, in the time that described and following distance front vehicles are less than or equal to predefined beeline, front truckFollowing auxiliary ECU22 grasps comprising the request that is intended to supervise driver to take the operation that maintains following distanceIt (is that request connects here that the alarm of work (being acceleration and deceleration operations here) etc. exports output adjustment ECU1 toBe subject to portion 11: with reference to Fig. 2, Fig. 7).
The auxiliary ECU23 of speed of a motor vehicle control is that output is " for preventing from exceeding the predefined upper limit speed of a motor vehicleInformation " as the ECU of warning information. Specifically, the auxiliary ECU23 of speed of a motor vehicle control carry out forThe speed of a motor vehicle is maintained to acceleration and deceleration control predefined target velocity, based on engine control. ThisOutward, the in the situation that of descending etc., when cannot avoid exceeding described target velocity by engine controlWhen higher limit, the auxiliary ECU23 of speed of a motor vehicle control will comprise and be intended to supervise driver to take to avoid the speed of a motor vehicle to surpassCross the alarm of the solicit operation (being acceleration and deceleration operation) of the operation of the higher limit of described target velocity hereAdjust ECU1 (be request receiving portion 11: with reference to Fig. 2, Fig. 7) here Deng exporting output to.
Specifically, for example, when cannot avoid exceeding the upper limit of described target velocity by engine controlWhen value, the auxiliary ECU23 of speed of a motor vehicle control exports following information to output and adjusts ECU1: be intended toShow via display 41 image (with reference to Figure 15) that represents the higher limit that exceedes described target velocityIndication information and be intended to arouse via loudspeaker 42 output the finger of the buzzer that driver notesShow information.
Here, showing the image that represents the higher limit that exceedes described target velocity, is to comprise to be intended to superviseDriver takes the solicit operation of the operation of avoiding the higher limit that exceedes described target velocity (to subtract hereSpeed operation) alarm.
Avoiding colliding auxiliary ECU24 is that output " for the information that prevents from colliding with objects in front " is doneFor the ECU of warning information. Specifically, avoiding colliding auxiliary ECU24 uses by millimetre-wave radarDevice waits that detect and the information such as distance, the relative velocity object such as front vehicles, judge this car withThe possibility that described object bumps. In addition, when the possibility bumping with described object is highTime, avoid track to depart from auxiliary ECU21 and be intended to supervise driver to take to avoid the behaviour of collision by comprisingThe alarm of the solicit operation (being acceleration and deceleration operation and steering operation here) of doing etc. exports output adjustment toECU1 (being request receiving portion 11 here: with reference to Fig. 2, Fig. 7).
Specifically, for example, when the possibility that bumps when Ben Che and described object is high, avoid collisionAuxiliary ECU24 adjusts ECU1 to output and exports following information: be intended to via steering moment controlECU44 applies the indication information of steering moment to the direction of avoiding collision; Show via display 41Represent the indication information of the image of the direction of avoiding collision; And arouse and drive via loudspeaker 42 outputsThe indication information of the buzzer that the person of sailing is noted.
Here, apply steering moment and show to the direction of avoiding described collision and avoid described collisionThe image of direction, be to comprise to be intended to supervise driver to take the solicit operation of the operation of avoiding collisionThe alarm of (being steering operation here).
Dead angle confirm auxiliary ECU25 be output " when preventing that track from changing and rear side vehicle connectNear information " as the ECU of warning information. Specifically, dead angle confirms that auxiliary ECU25 usesBy distances that detect and vehicle rear side (or side) such as millimetre-wave radar device, camerasEtc. information, judge in the time carrying out track change and the possibility of parallel collision happens. In addition,When high with the possibility of parallel collision happens, dead angle confirms that auxiliary ECU25 adjusts to outputWhole ECU1 (being request receiving portion 11 here: with reference to Fig. 2, Fig. 7) output packet is driven containing being intended to superviseThe person of sailing taking avoided the alarm of the solicit operation (being steering operation) of the operation of collision here.
Specifically, for example, when high with the possibility of parallel collision happens, dead angle is confirmed auxiliaryHelp ECU25 to adjust ECU1 to output and export following information: be intended to via steering moment control ECU44 to avoiding the direction of colliding to apply the indication information of steering moment (with reference to Figure 11); Be intended to viaDisplay 41 shows the indication information of the image (with reference to Figure 12) of the direction of avoiding collision; Be intended to throughApplied the indication information of vibration (with reference to Figure 11) to steering wheel by steering moment control ECU44; WithAnd be intended to arouse via loudspeaker 42 output the indication information of the buzzer that driver notes.
Here, apply and represent the vibration of the direction of avoiding collision and show the side that represents to avoid collisionTo image, be to comprise to be intended to supervise solicit operation that driver takes the operation of avoiding collision (hereSteering operation) alarm.
Speed control auxiliary ECU26 in ramp is that output is " for disobeying of preventing from being caused by road gradient etc.The information of the deceleration of back of the body intention " as the ECU of warning information. Specifically, speed control in ramp is auxiliaryHelping ECU26 to detect driver via engine load sensor etc. has or not deceleration-operation and makesUse the speed of a motor vehicle being detected by vehicle speed sensor etc. to determine whether to have occurred the subtracting of intention of running counter to driverSpeed. Then,, in the time having there is to run counter to the deceleration of driver intention, ECU is assisted in ramp speed control26 grasp comprising the request that is intended to supervise driver to take the operation of avoiding the deceleration of running counter to driver intentionIt (is to ask to accept here that the alarm of work (being to accelerate operation here) etc. exports output adjustment ECU1 toPortion 11: with reference to Fig. 2, Fig. 7).
Specifically, for example, in the time having there is to run counter to the deceleration of driver intention, ramp speed control is auxiliaryHelp ECU26 to adjust ECU1 to output and export following indication information: be intended to show via display 41Supervise the indication information of the image (with reference to Figure 15) of noting Speed Reduction; And be intended to via loudspeakerThe indication information of the sound (for example " please maintenance speed travel " etc.) of the speed of maintaining is supervised in 42 outputs.
Here, to supervise the sound of the speed of maintaining be to comprise to be intended to supervise driver to take to avoid running counter in outputThe alarm of the solicit operation (being that speed maintains operation here) of the operation of the deceleration of its intention.
Stop auxiliary ECU27 is that output is " for stopping of preventing intersection etc. to locate temporarily temporarilyThe information of identification error of mark " as the ECU of warning information. Specifically, stop assisting temporarilyECU27 as cartographic information pre-stored have there is the positional information in place that temporarily stops mark,The speed of a motor vehicle that uses navigation information and detected by vehicle speed sensor etc., approaches and has temporarily when not slowing downStop mark place time be judged to be to have occurred the identification error to stop mark temporarily. In addition, when sentencingWhile being decided to be the identification error having occurred stop mark temporarily, stop auxiliary ECU27 to output temporarilyAdjust ECU1 (being request receiving portion 11: with reference to Fig. 2, Fig. 7) output packet here containing being intended to superviseThe alarm of the solicit operation (being deceleration-operation, shut-down operation here) temporarily stopping etc.
Specifically, for example in the time being judged to be the identification error to stop mark has temporarily occurred, interimStop auxiliary ECU27 and export following indication information to output adjustment ECU1: be intended to via display41 show the indication information that represents the image that temporarily stops mark; Be intended to via seat vibration device 43 toDriver applies the indication information of vibration; And be intended to arouse driver's note via loudspeaker 42 outputsThe indication information of the buzzer of meaning.
Here, show and represent that the image that temporarily stops identifying is to comprise to be intended to supervise driver to stop temporarilyThe alarm of solicit operation (being deceleration-operation, shut-down operation here).
Bend slows down and assists ECU28 to export " for decelerating to suitable row for bend curvatureSail the information of speed " as the ECU of warning information. Specifically, the auxiliary ECU28 of bend decelerationObtain the curvature of curve ahead from navigation information, and judge that the speed of a motor vehicle being detected by vehicle speed sensor etc. isNo suitable. When the bend auxiliary ECU28 that slows down is judged to be the speed of a motor vehicle when improper, adjust ECU to output1 (being request receiving portion 11 here: with reference to Fig. 2, Fig. 7) output packet is containing being intended to enter with suitable speedEnter the alarm of the solicit operation (being deceleration-operation) of bend etc. here.
Specifically, for example, in the time that the speed of a motor vehicle is improper, bend slows down auxiliary ECU28 to output adjustmentECU1 exports following indication information: be intended to supervise with appropriate speed and enter via display 41 demonstrationsThe image of bend (for example comprises that " there is the bend of radius 50m in front, please decelerate to 30km/ hour! "The image of word) the indication information of word; Be intended to execute to driver via seat vibration device 43Add the indication information of vibration; And be intended to arouse via loudspeaker 42 outputs the buzzing that driver notesThe indication information of sound.
Here show that supervising the image that enters bend with suitable speed is to comprise to be intended to supervise driver,The alarm of the solicit operation (being deceleration-operation here) of slowing down.
It is that output is " for the red light that prevents intersection etc. to locate that red signal stops auxiliary ECU29The information of the identification error of signal " as the ECU of warning information. Specifically, red signal stopsAuxiliary ECU29 obtains front signal machine state (the change opportunity of color by road inter-vehicle communication etc.Deng), use the speed of a motor vehicle being detected by vehicle speed sensor etc., when approach signal in the situation that not slowing downMachine be red signal local time, be judged to be to have occurred the identification error to red signal. In addition, redModulating signal stops auxiliary ECU29 in the time of the identification error that is judged to be to have occurred to red signal, to defeatedGo out to adjust ECU1 (being request receiving portion 11: with reference to Fig. 2, Fig. 7) output packet here containing being intended to superintend and directThe alarm of the short solicit operation (being deceleration-operation, shut-down operation here) stopping etc.
Specifically, for example when stopping auxiliary ECU29, red signal is judged to be to have occurred red light is believedNumber identification error time, to output adjust ECU1 export following indication information: be intended to via display41 show the indication information of the image that represents red signal; Be intended to via seat vibration device 43 to drivingMember applies the indication information of vibration; And be intended to arouse via loudspeaker 42 output that driver notesThe indication information of buzzer.
Here, show the image that represents red signal, comprise and be intended to supervise driver's stop vehicleThe alarm of solicit operation (being deceleration-operation, shut-down operation here).
So, owing to assisting ECU21, front truck to follow auxiliary ECU22, car from avoiding track to depart fromSpeed control system is assisted ECU23, is avoided colliding and assist ECU24, dead angle to confirm auxiliary ECU25, slopeRoad speed control is assisted ECU26, is stopped assisting ECU27, bend deceleration to assist ECU temporarily28 and red signal stop auxiliary ECU29 and adjust ECU1 (request receiving portion 11) to outputOutput warning information, therefore, output is adjusted ECU1 (request receiving portion 11) and is accepted suitable alarmInformation.
In the present embodiment, input equipment 2 is comprised and avoids track to depart from auxiliary ECU21, frontCar is followed auxiliary ECU22, the auxiliary ECU23 of speed of a motor vehicle control, is avoided colliding auxiliary ECU24, deadAngle is confirmed auxiliary ECU25, the auxiliary ECU26 of ramp speed control, is stopped auxiliary ECU temporarily27, the auxiliary ECU28 of bend deceleration and red signal stop assisting the situation of ECU29 to sayBright, as long as but input equipment 2 comprises that avoiding track to depart from assists ECU21, front truck to follow auxiliaryECU22, speed of a motor vehicle control are assisted ECU23, are avoided colliding and assist ECU24, dead angle to confirm to assistECU25, ramp speed control are assisted ECU26, are stopped assisting ECU27, bend to slow down auxiliary temporarilyHelp ECU28 and red signal to stop at least one ECU in auxiliary ECU29. ButBe, input equipment 2 comprises that the ECU of output driving supplementary is more, and output is adjusted ECU1'sEffect is just larger.
In addition, in the present embodiment, to from avoid ECU that track departs from auxiliary ECU21 etc. toThe situation that ECU1 input warning information is adjusted in output describes, but also can be from other equipment, beSystems etc. are adjusted ECU1 input warning information to output. For example, also can adjust to output from navigation systemWhole ECU1 input warning information.
The input pickup 3 of output adjustment ECU1 then, is described with reference to Fig. 1. Input pickup 3(being equivalent to a part for serviceability identifying unit) is the sensor that driver's operation is detected(=operation detection sensor), comprises that steering operation detecting sensor 31, throttle operation detect sensingDevice 32 and brake operating detecting sensor 33.
Steering operation detecting sensor 31 is sensings of the detection steering angle that is made up of rotation direction sensor etc.Device, (serviceability shown in Fig. 2 is sentenced to export the steering angle information detecting to output adjustment ECU1Bonding part 12).
Throttle operation detecting sensor 32 be formed by engine load sensor etc. to gas pedalThe sensor that detects of the amount of jamming on, export the amount of the jamming on information detecting to output and adjust ECU1 (the serviceability detection unit 12 shown in Fig. 2).
Brake operating detecting sensor 33 is sensors that the amount of jamming on of brake pedal is detected,Export the amount of the jamming on information detecting to output and adjust ECU1 (the serviceability detection unit shown in Fig. 212)。
Then the output equipment 4 of, with reference to Fig. 1, output being adjusted to ECU1 describes. Output equipment4 (being equivalent to export a part for performance element), comprised display 41, loudspeaker 42, seat vibrationDevice 43 and steering moment control ECU44.
Display 41 is by the LCD (LiquidCrystalDisplay, the liquid that are configured in driver's seat frontCrystal display) etc. formation, its according to from output adjust ECU1 (be here output enforcement division 14:With reference to Fig. 2, Fig. 7) instruction, demonstration can be for image, the word etc. of driver identification.
Loudspeaker 42 is configured in the side of driver's seat, according to adjusting ECU1 (here from outputOutput enforcement division 14: with reference to Fig. 2, Fig. 7) instruction, export the sound of guidance etc. to driverSound.
Seat vibration device 43 is configured in the left and right sides of the seat bottom of driver's seat, according to from defeatedGo out to adjust the instruction of ECU1 (being output enforcement division 14: with reference to Fig. 2, Fig. 7) here, to drivingMember applies the vibration of right side, left side or the left and right sides.
Steering moment control ECU44 is the ECU that controls the steering moment that steering wheel is applied, according toAdjust the instruction of ECU1 (being output enforcement division 14: with reference to Fig. 2, Fig. 7) here from output,Apply steering moment to steering wheel.
The<the first embodiment>
Fig. 2 is an example that represents the functional structure of the output adjustment ECU in the first embodimentBlock diagram. As shown in Figure 2, output adjustment ECU1 comprises from function: request receiving portion 11,Serviceability detection unit 12, content changing portion 13 and output enforcement division 14.
In addition, output is adjusted ECU1 by making to be configured in the suitable place of output adjustment ECU1Microcomputer carry out the ROM (Read in suitable place that is configured in output and adjusts ECU1OnlyMemory, read-only storage) etc. in pre-stored control program, make described miniature calculatingMachine is conduct request receiving portion 11, serviceability detection unit 12, content changing portion 13, output functionEnforcement division 14 functions such as performance such as function part such as grade.
Request receiving portion 11 (being equivalent to ask receiving unit) is that (=driving is auxiliary from input equipmentECU) function part of the output request of the warning information of 2 acceptance to driver. Specifically, from figureThe track of avoiding shown in 1 departs from that auxiliary ECU21, front truck follow auxiliary ECU22, speed of a motor vehicle control is auxiliaryHelp ECU23, avoid colliding and assist ECU24, dead angle to confirm auxiliary ECU25, ramp speed controlSystem is assisted ECU26, is stopped assisting ECU27, bend deceleration to assist ECU28, Yi Jihong temporarilyModulating signal stops alarm that auxiliary ECU29 accepts respectively to prevent to depart from from traveling lane, guarantee withSide vehicle following distance alarm, prevent from exceeding the predefined upper limit speed of a motor vehicle alarm, prevent with frontAlarm that square object body bumps, prevent when track from changing and the alarm of rear side vehicle approach, preventDue to the variation of road gradient make the speed of a motor vehicle reduce alarm, reduce by stop temporarily mark knowledgeThe wrong dangerous alarm causing, supervise the bending curvature carrying out with road ahead to slow down accordinglyAlarm and reduce by the dangerous alarm that the identification error of red signal is caused.
Serviceability detection unit 12 (being equivalent to a part for serviceability identifying unit) is following functionPortion: in the time receiving output request by request receiving portion 11, judge that output is accepted output requestWarning information whether the first warning information useful to driver. Specifically, serviceability detection unit12 behaviour of the driving through 3 couples of drivers of input pickup (=operation detection sensor) as shown in Figure 1Work detects, and the content of driver behavior based on detecting determines whether useful.
More specifically, when being included in operation in the first warning information, that conduct is asked to driverThe driver behavior taked with driver of the first solicit operation when contrary, serviceability detection unit 12 is judgedFor there is no use, wherein said the first warning information is to be accepted output request by request receiving portion 11Warning information. Here, for example, when described the first solicit operation causes the transport condition of described vehicleThe kind phase of kind and the described driver behavior of impact impact that the transport condition of described vehicle is causedWith and direction and the institute of described the first solicit operation impact that the transport condition of described vehicle is causedWhen the direction of stating the impact that driver behavior causes the transport condition of described vehicle is rightabout, usefulSex determination portion 12 is judged to be not use.
Fig. 4 represents that in the first embodiment, output adjustment ECU carries out the output adjustment of warning informationThe key diagram of an example of situation. The figure of Fig. 4 upper portion is the plane for situation is describedFigure, the figure of Fig. 4 lower portion is sequential chart. As shown in the figure of Fig. 4 upper portion, in the present invention, takeThe vehicle VC1 that has carried output adjustment ECU1 is decorated with the Xiang Tuzhong right side, track of white line LA along both sidesTravel. The front of vehicle VC1, in the track identical in the track of travelling with vehicle VC1, frontVehicle VC2 travels to the right side of figure.
For fear of bumping with front vehicles VC2, from the time of vehicle VC1 place of arrival P1T11 starts, and driver turns to left, by serviceability detection unit 12 through turning to as shown in Figure 1Operation detection sensor 31 detects the detection information that expression turns to left. Under this situation, fromThe time T 12 of vehicle VC1 place of arrival P2 starts, and has accepted from keeping away by request receiving portion 11Exempt from track depart from auxiliary ECU21, comprise for fear of departing from track and to be intended to turn to right-handThe warning information of solicit operation.
,, under the state turning to left driver, comprise contrary the asking of operation with this driverAsk the warning information (the=the first warning information) of operation (=turn to right-hand: the first solicit operation)Be accepted, thereby be judged to be not use by serviceability detection unit 12.
The shadow that, the first solicit operation (=turn to right-hand) causes the transport condition of vehicle VC1The kind of ringing is the change to vehicle VC1 travel direction, right with driver behavior (=turn to left)The kind that the transport condition of vehicle VC1 impacts is identical. The first solicit operation in addition, (=to the rightSide turns to) direction of impact that the transport condition of vehicle VC1 is caused is right-hand, with driver behavior(=turn to left) direction (=left to) of impact that the transport condition of vehicle VC1 is causedFor rightabout. Therefore, judge and comprise first of the first solicit operation by serviceability detection unit 12Warning information is not used.
So, the content of the driver behavior of serviceability detection unit 12 based on driver has determined whetherWith. Therefore, can suitably judge that whether described the first warning information is useful to driver.
Be for example, that the first warning information is had a mind to driver at the warning information that is accepted output requestKnowing the driver behavior carrying out on ground has caused obstruction and has not exported this first warning information and also can not causeIn the situation that security reduces, can suitably determine this first warning information driver is not used.
In the first embodiment, driver behavior serviceability detection unit 12 being carried out based on driverContent determine whether that useful situation describes, but serviceability detection unit 12 also can basisThe content of other information or the driver behavior that carries out according to other information and driver, judges to beNo useful. For example, in the driver behavior that, serviceability detection unit 12 also can carry out according to driverAppearance and the 3rd warning information determine whether useful, and the 3rd warning information is other polices in the middle of outputThe breath of notifying. Now can more suitably determine whether useful.
In addition, when being included in first of operation in the first warning information, that conduct is asked to driverSolicit operation (being to turn to right-hand here) (is to turn to left with driver's driver behavior hereTo) when contrary, be judged to be there is no use by serviceability detection unit 12, wherein said the first alarm signalBreath is the warning information of accepting by request receiving portion 11. Therefore described in can more suitably judgingWhether the first warning information is useful to driver.
That is, for example, when in the warning information that is included in the output request of being accepted, as to driverFirst solicit operation (being to turn to right-hand here) of the operation of request is carried out consciously with driverDriver behavior (turning to left here) contrary and do not export in this first solicit operationHold in the situation that also can not cause security reduction, can suitably be judged to be to comprise this first solicit operationThe first warning information driver is not used.
In the first embodiment, contrary with driver's driver behavior to working as described the first solicit operationTime, serviceability detection unit 12 is judged to be otiose situation and describes, but serviceability detection unit 12Determine whether useful according to driver's driver behavior. For example, serviceability detection unit 12 also canReplace described the first solicit operation situation contrary with driver's driver behavior and ask described firstOperation is to be judged to be there is no use in the situation of the operation identical with driver's driver behavior, or upperState in two kinds of situations and be all judged to be not use. , when described the first solicit operation is and the driving of driverSail in the situation of the identical operation of operation, because driver is carrying out and described the first solicit operation phaseSame operation, thereby be judged to be not use.
In addition, as used Fig. 4 illustrated, when described the first solicit operation (is right-hand hereTurning to) kind and the described driver behavior of impact that the transport condition of vehicle VC1 is caused (be hereTurning to left) kind of impact that the transport condition of vehicle VC1 is caused is identical (is to change hereThe travel direction of vehicle VC1) and the transport condition of described the first solicit operation to vehicle VC1The direction (being right-hand here) of the impact causing is and the travel shape of described driver behavior to vehicle VC1When the contrary direction of the direction (being left here) of the impact that state causes, by serviceability detection unit 12Suitably be judged to be described the first solicit operation contrary with described driver's driver behavior. Therefore, energyEnough suitably judge that by serviceability detection unit 12 described the first warning information do not use driver.
Again turn back to Fig. 2, the functional structure of output being adjusted to ECU1 describes. Content changingPortion 13 (being equivalent to content changing unit) is following function part: when passing through serviceability detection unit 12Being judged to be does not have the used time, changes the content of described the first warning information, and generates the second warning information,This second warning information is the warning information useful to driver.
Specifically, content changing portion 13 by by be included in described the first warning information, doFor the content of not exporting is changed in the first solicit operation of the operation to driver's request, described in generatingThe second warning information. For example, as the use as described in Figure 1, from avoiding track to depart from auxiliary ECU21 outputs are intended to the indication information of avoiding the direction that departs from track to apply steering moment as request behaviourDo. Therefore,, at the time point T12 of Fig. 4, be intended to from avoiding track to depart from auxiliary ECU21 outputTo the right-hand indication information that applies steering moment.
In addition, as used, Fig. 4 illustrates, at time point T12, due to driver consciouslyCarry out turning to (=bump with front vehicles VC2 for avoiding) to left, based on from avoidingTrack departs from the instruction of auxiliary ECU21 and to the right-hand steering moment that applies, driver is not used. CauseThis, changed over not defeated to right-hand the first solicit operation that applies steering moment by content changing portion 13Go out.
So, owing to by content changing portion 13, described the first warning information being changed into and do not exported quiltThe first solicit operation being included in described the first warning information (is to the right-hand steering force that applies hereSquare) content, thereby can to described first warning information implement appropriate change, generate suitable alarmInformation is as described the second warning information.
In the first embodiment, to content changing portion 13 by being comprised in described the first alarmIn information, change into as the first solicit operation of the operation to driver request the content of not exportingThe situation that generates described the second warning information describes, but content changing portion 13 also can pass throughAdditive method changes described the first warning information, generates described the second warning information. For example, contentChange portion 13 also can change into the information of informing driving condition to driver by the first solicit operation.Under the situation shown in Fig. 4, for example content changing portion 13 also can replace as the first solicit operation" to the right-hand steering moment that applies ", and change into the driving condition of informing " will depart from track "Acoustic information.
In addition, content changing portion 13 using be included in described the first warning information, as to drivingThe content changing of the first solicit operation of the operation of member's request is not for comprising described the first solicit operation to instituteState the content of the direction that the transport condition of vehicle impacts, produce described the second warning information. ExampleAs, as used Fig. 1 illustrated, from avoid track depart from auxiliary ECU21 export be intended to throughShow and represent the indication information of the image (with reference to Fig. 6) that departs from direction and be intended to by display 41Apply the indication information of the vibration that departs from direction to driver via seat vibration device 43, as requestOperation. Therefore, at the time point T12 of Fig. 4, from avoiding track to depart from auxiliary ECU21 output purportShowing via display 41 image (with reference to the downside figure of Fig. 6) that represents that side departs from track leftIndication information and be intended to via seat vibration device 43 to driver apply depart from direction be leftThe indication information of vibration.
In addition, as used, Fig. 4 illustrates, at time point T12, due to driver consciouslyCarry out turning to (=for fear of bumping with front vehicles VC2) to left, thereby according to comingFrom the instruction of avoiding track to depart from auxiliary ECU21, show to left and depart from track via display 41Image (with reference to the downside figure of Fig. 6) and apply work via seat vibration device 43 to driverFor departing from the vibration of left of direction, driver is not used.
Therefore, will represent that the image that departs from track to left is (with reference to Fig. 6 by content changing portion 13Downside figure) demonstration only change into the image (with reference to the upside figure of Fig. 6) that represents to depart from trackShow, generate the second warning information that comprises this content. In addition, by content changing portion 13, generationFor to applying vibration and change into and apply vibration to both sides and take off only representing as departing from the left of directionFrom track, generate the second warning information that comprises this content.
So, owing to will being included in first in described the first warning information by content changing portion 13The content changing of solicit operation is not comprise described the first solicit operation the transport condition of described vehicle is madeThe content of the direction of the impact becoming, therefore can implement suitable change to described the first warning information, rawBecome suitable warning information as described the second warning information.
In the first embodiment, will be included in described the first warning information content changing portion 13, as the content changing of the first solicit operation of the operation to driver request for not comprising described theThe situation of the content of the direction of the impact that one solicit operation causes the transport condition of described vehicle is saidBright, but content changing portion 13 also can change described the first warning information with additive method, generatesDescribed the second warning information. For example, content changing portion 13 can change into the first solicit operation notThe information of output. Under the situation shown in Fig. 4, for example, content changing portion 13 also can using as" the showing and represent that side departs from the image in track (with reference to the downside of Fig. 6 left of the first solicit operationFigure) " and " applying as the vibration of left that departs from direction " change into the information of not exporting.
Output enforcement division 14 (being equivalent to export a part for performance element) is defeated via output equipment 4Go out the function part of described the first warning information or the second warning information. , when passing through serviceability detection unit12 have been judged to be the used time, and output enforcement division 14 is exported by request receiving portion 11 and accepted output requestThe first warning information. In addition, when being judged to be there is no the used time by serviceability detection unit 12, outputEnforcement division 14 is exported the second warning information being generated by content changing portion 13.
Fig. 3 is the flow process that represents an example of the action of output adjustment ECU1 in the first embodimentFigure. First, determine whether by request receiving portion 11 and accepted first via driving auxiliary ECU2Warning information (S101). In the time being judged to be not accept the first warning information, (in S101, be"No"), make to process in holding state. (S101 in the time being judged to be to have accepted the first warning informationIn be "Yes"), by serviceability detection unit 12 via input pickup (=operation detection sensingDevice) 3 detect drivers' driver behavior (S103).
Then, by serviceability detection unit 12, judge be comprised in accept by step S101 theIn one warning information, as the first solicit operation of the operation to driver request whether with stepThe driver behavior contrary (S105) detecting in S103. When being judged to be when contrary (in S105 to be"No"), export by output enforcement division 14 the first warning information of accepting in step S101(S107), end process. When being judged to be (being "Yes" in S105) when contrary, change by contentChange portion 13 change into be not included in the first warning information of accepting in step S101, comprise first pleaseAsk the content of operation etc., generate as the second warning information to the useful warning information of driver(S109). Then, export by output enforcement division 14 the second alarm generating in step S109Information (S111), end process.
Fig. 5 is the flow process of exporting an example of the action of adjusting ECU1 shown in presentation graphs 4 under situationFigure. In Fig. 4, driver is turned to and assists ECU21 by avoiding track to depart to leftThe high situation of possibility that is judged to be to depart from left white is illustrated, but in Fig. 5, for sideJust, driver carried out to steering operation and be judged to be by avoiding track to depart from auxiliary ECU21The high situation of possibility that departs from white line describes.
First, determine whether by request receiving portion 11 and accept from avoiding track to depart from auxiliary ECU21As the detachment alarm (S201) of alarm that represents to depart from white line. De-when being judged to be not receiveDuring from alarm (being "No" in S201), make to process in holding state. When being judged to be to have accepted to take offDuring from alarm, (in S201, being "Yes"), detects via steering operation by serviceability detection unit 12Sensor 31 detects the steering operation (S203) that driver carries out. Then, judge by serviceabilityPortion 12 judges whether the detachment alarm of accepting in step S205 is the disengaging that represents to depart from left whiteAlarm (S205).
In the time being judged to be not to be to represent to depart from the detachment alarm of left white, (in S205, be"No"), make to process entering step S207. When being judged to be it is the disengaging police who represents to depart from left whiteGive the correct time (in S205, being "Yes"), by serviceability detection unit 12, according in step S203The testing result detecting determines whether in turn to central (S219) to left. When being judged to beWhen central in turning to left, (in S219, being "Yes"), makes to process entering step S221. WhenBe judged to be not, in turn to (being "No" in S219) when central to left, to make to process entering stepS229。
When be "No" in step S205 time, judge at step S205 by serviceability detection unit 12In the detachment alarm that receives whether be the detachment alarm (S207) that represents to depart from right white. When sentencingWhile being decided to be the detachment alarm that is not to represent to depart from right white, (in S207, being "No"), processes knotBundle. When being judged to be to be (being "Yes" in S207) while representing to depart from the detachment alarm of right white, logicalCross serviceability detection unit 12, according to the testing result detecting, determine whether place in step S203In in the middle of right-hand turning to (S209). When being judged to be in to right-hand turning to when central (in S209 being"Yes"), make to process entering step S221. When being judged to be not in turning to when central to right-hand(in S209, being "No"), makes to process entering step S211.
When be "No" in step S209 time, in step S211～step S217, by outputEnforcement division 14 is exported the first warning information of accepting in step S201. First, carry out by outputSound 14 applies the steering moment to left via steering moment control ECU44 to steering wheel(S211). Then, export buzzer by output enforcement division 14 via loudspeaker 42(S213). Then, show and represent that disengaging right side is white via display 41 by output enforcement division 14The image (image of the mid portion of Fig. 6: the image that makes right white flicker) of line (S215).Then, the vibration of right white will be represented to depart from by output enforcement division 14 via seat vibration device 43(vibration of=right side vibrator) imposes on driver (S217), and processing finishes.
When be "No" in step S219 time, in step S229～step S235, by outputEnforcement division 14 is exported the first warning information of accepting in step S201. First, carry out by outputPortion 14 applies to right-hand steering moment to steering wheel via steering moment control ECU44(S229). Then, export buzzer by output enforcement division 14 via loudspeaker 42(S231). Then, show and represent that disengaging left side is white via display 41 by output enforcement division 14The image (image of the lower portion of Fig. 6: the image that makes left white flicker) of line (S233).Then, the vibration of left white will be represented to depart from by output enforcement division 14 via seat vibration device 43(vibration of=left side vibrator) imposes on driver (S235), and processing finishes.
In the time being "Yes" or being "Yes" in step S209 in step S219, by interiorHold change portion 13 and change the first warning information of accepting in step S201, generate conduct to driverSecond warning information (S221) of useful warning information. Then, in step S223～stepIn S227, export by output enforcement division 14 the second warning information generating in step S221. FirstFirst, export buzzer (S223) by output enforcement division 14 via loudspeaker 42. Next, logicalCross and export enforcement division 14 the shows expression disengaging white line image (upper lateral part of Fig. 6 via display 41The image dividing: the image that makes both sides white line flicker) (S225). Then, by output enforcement division 14To represent that the vibration (vibration of=both sides vibrator) that departs from white line applies via seat vibration device 43Give driver (S227), processing finishes.
Fig. 6 is the track of the demonstrations on display 41 such as the step S215 of flow chart shown in presentation graphs 5The picture figure of an example of detachment alarm picture. Three track detachment alarm pictures shown in Fig. 6500,510,520 be output enforcement division 14 respectively the step S225 of flow chart shown in Fig. 5,In S215, S233, show. Track detachment alarm picture 500 comprises by the white line of the both sides of flickering displayImage 501,502 is the images that represent to depart from white line. Track detachment alarm picture 510 comprises by pointThe white line image 511 in the left side of bright demonstration and by the white line image 512 on the right side of flickering display,It is the image that represents to depart from right white. Track detachment alarm picture 520 comprises by a left side for flickering displayThe white line image 521 of side and be lit the white line image 522 on the right side of demonstration is to represent to depart fromThe image of left white. , track detachment alarm picture the 500,510, the 520th, represents to being glimmeredThe picture that the white line side showing departs from.
So, when be comprised in by the first warning information of accepting of request receiving portion 11, conductWhen contrary with driver's driver behavior to first solicit operation of operation of driver request, by havingBeing judged to be described the first warning information with sex determination portion 12 does not use. Then, by content changing portion13 change into the first solicit operation content of display direction not etc., thus to described the first alarm signalBreath is implemented suitable change, generates suitable warning information as described the second warning information, and by itOutput, thereby can export suitable warning information.
The<the second embodiment>
Fig. 7 is an example that represents the functional structure of the output adjustment ECU in the second embodimentBlock diagram. As shown in Figure 7, output adjustment ECU1A comprises from function: request receiving portion 11,Serviceability detection unit 12A, the 13A of content changing portion and output enforcement division 14.
Output is adjusted ECU1A and is made to be configured in the microcomputer of exporting the suitable place of adjusting ECU1ACalculation machine is carried out the ROM (ReadOnly in the suitable place that is configured in output adjustment ECU1AEtc. Memory) pre-stored control program in, makes described microcomputer do from function thusFor request receiving portion 11, serviceability detection unit 12A, the 13A of content changing portion, output enforcement division 14Deng function part performance function.
Due to request receiving portion 11 (being equivalent to ask receiving unit) and output enforcement division 14(being equivalent to export performance element) is the output adjustment in the first embodiment shown in execution and Fig. 2The function part of the same processing of the request receiving portion 11 of ECU1 and output enforcement division 14, therefore at thisThe description thereof will be omitted.
When serviceability detection unit 12A (being equivalent to a part for serviceability identifying unit) is following meritEnergy portion: in the time having accepted output request by request receiving portion 11, judge that output is defeated as being acceptedWhether the first warning information of the warning information that goes out to ask is useful to driver. Specifically, serviceabilityDetection unit 12A is according to other alarms as in the middle of input equipment (driving auxiliary ECU) 2 outputsThe 3rd warning information of information, determines whether useful.
More particularly, when the first solicit operation is with the 3rd solicit operation when contrary, serviceability detection unit12A is judged to be there is no use, and wherein, described the first solicit operation is comprised in described the first warning informationIn and as the operation to driver request, described the 3rd solicit operation is comprised in described the 3rd alarmIn information and as the operation to driver's request. , when described the first solicit operation is to described vehicleKind and the transport condition of described the 3rd solicit operation to described vehicle of the impact that causes of transport conditionIdentical and described the first solicit operation of the kind of the impact causing is made the transport condition of described vehicleThe direction of the impact becoming and the impact that described the 3rd solicit operation causes the transport condition of described vehicleWhen direction is rightabout, serviceability detection unit 12A is judged to be not use.
Fig. 9 represents that the output adjustment ECU1A in the second embodiment carries out the output of warning informationThe key diagram of the first case of the situation of adjusting. The figure of the upper portion of Fig. 9 is for the flat of situation is describedFace figure, the figure of the lower portion of Fig. 9 is sequential chart. As shown in the figure of the upper portion of Fig. 9, carryOutput adjust the vehicle VC1 of ECU1 and be decorated with along both sides Xiang Tuzhong right side, the track row of white line LASail. The front of vehicle VC1, in the track identical in the track of travelling with vehicle VC1, front carVC2 travels to the right side of figure. The left side in the track of travelling at vehicle VC1 in addition, be (figure'sUpside) there is other tracks, in this track, the vehicle parallel with the left back of vehicle VC1VC3 travels on the right side to figure.
For fear of bumping with front vehicles VC2, by avoiding colliding auxiliary ECU24, fromThe time T 21 of vehicle VC1 place of arrival P3 starts output packet containing the request behaviour who is intended to turn to leftThe warning information of doing. In addition,, for fear of bumping with parallel vehicles VC3, dead angle is confirmed auxiliaryECU25 starts output packet containing being intended to turn to right-hand from the time T 22 of vehicle VC1 place of arrival P4The warning information of solicit operation, accepted by request receiving portion 11.
, containing from avoiding colliding auxiliary ECU24 output packet the solicit operation that is intended to turn to leftUnder the state of the warning information (the=the three warning information) of (the=the three solicit operation), comprise with defeatedThe contrary solicit operation of solicit operation (the=the three solicit operation) in the middle of going out (=turn to right-hand:The first solicit operation) warning information (the=the first warning information) be accepted, thereby sentenced by serviceabilityBonding part 12A is judged to be not use.
The shadow that, the first solicit operation (=turn to right-hand) causes the transport condition of vehicle VC1The kind of ringing is the change of the travel direction to vehicle VC1, itself and the 3rd solicit operation (=to leftTurning to) kind of impact that the transport condition of vehicle VC1 is caused is identical. In addition the first request behaviour,It is right-hand making the direction that (=turn to right-hand) impact the transport condition of vehicle VC1, with theDirection that three solicit operations (=turn to left) impact the transport condition of vehicle VC1 (=Left) contrary. Thereby, be judged to be to comprise of the first solicit operation by serviceability detection unit 12AOne warning information is not used.
So, by serviceability detection unit 12A based on as from input equipment (drive auxiliary ECU) 2The 3rd warning information of other warning informations in the middle of output determines whether useful. Therefore, Neng GoushiWhether described the first warning information of local judgement is useful to driver.
, for example, when the first warning information of the warning information as being accepted output request is that request is drivenThe person of sailing is carried out the operation contrary with the 3rd warning information as other central warning informations of output, alsoAnd when not exporting this first warning information and can not making security reduce yet, can suitably be judged to be thisOne warning information is not used driver.
In the second embodiment, other polices to serviceability detection unit 12A based on as in the middle of outputThe 3rd warning information of breath of notifying determines whether that useful situation describes, but serviceability detection unit12A also can replace the 3rd warning information as other warning informations in the middle of output, and based on itHis information determines whether useful, or also can based on above-mentioned both determine whether useful. ExampleAs, content, the Yi Jizuo of the driver behavior that serviceability detection unit 12A also can carry out based on driverFor the 3rd warning information of other warning informations in the middle of exporting, determine whether useful. Now, energyEnough determine whether more definitely useful.
In addition, when the first solicit operation (being to turn to right-hand here) and the 3rd solicit operation (hereTo turn to left) when contrary, be judged to be there is no use by serviceability detection unit 12A, wherein saidThe first solicit operation is comprised in the first alarm as the warning information of being accepted by request receiving portion 11In information and as the operation to driver request, described the 3rd solicit operation is comprised in as inputIn the 3rd warning information of other warning informations in the middle of equipment (driving auxiliary ECU) 2 outputs. CauseThis, can more suitably judge that whether described the first warning information is useful to driver.
That is, for example, when the first solicit operation (being to turn to right-hand here) and the 3rd solicit operation(being to turn to left here) content contrary and that do not export this first solicit operation also can not be fallenWhen low-security, can suitably judge that the first warning information that comprises this first solicit operation is to driverThere is no use, wherein said the first solicit operation be comprised in the warning information of the output request of being accepted andAs the operation to driver request, described the 3rd solicit operation is comprised in as its in the middle of outputIn the 3rd warning information of his warning information.
In the second embodiment, to serviceability detection unit 12A described the first solicit operation with described inThe 3rd solicit operation judges that otiose situation describes when contrary, but serviceability detection unit 12A alsoCan be based on determining whether useful as the 3rd warning information of other central warning informations of output.For example, also can replace in described the first solicit operation and described the 3rd warning information, comprise the 3rd pleaseAsk the contrary situation of operation, and comprise in described the first solicit operation and described the 3rd warning informationIn the situation that the 3rd solicit operation is same operation, be judged to be there is no use by serviceability detection unit 12A,Or be all judged to be in above-mentioned two situations not use. , when described the first solicit operation with described inWhen the 3rd solicit operation comprising in the 3rd warning information is same operation, because driver asksThe operation identical with described the first solicit operation, thereby be judged to be not use.
In addition, as used Fig. 4 illustrated, when described the first solicit operation (is to the right hereSide turns to) kind and described the 3rd solicit operation of impact that the transport condition of vehicle VC1 is causedIdentical (this of kind of the impact that (being to turn to left here) causes the transport condition of vehicle VC1In be the change of the travel direction of vehicle VC1) and described the first solicit operation to vehicle VC1The direction (being right-hand here) of the impact that causes of transport condition with described the 3rd solicit operation to vehicleWhen the direction (being left) of the impact that the transport condition of VC1 causes is contrary, can pass through serviceability hereDetection unit 12A is suitably judged to be described the first solicit operation and described driver's driver behavior phaseInstead. Therefore, can suitably judge that described the first warning information is to driving by serviceability detection unit 12AThe person of sailing is not used.
Again return to Fig. 7, the functional structure of output being adjusted to ECU1A describes. Content changingThe 13A of portion (being equivalent to content changing unit) is following function part: when serviceability detection unit, 12A sentencesBe decided to be and there is no the used time, it changes the content of described the first warning information, generates as useful to driverThe second warning information of warning information.
Specifically, the 13A of content changing portion using be comprised in described the first warning information, asThe content changing of the first solicit operation of the operation of asking to driver is not for comprising described the first request behaviourThe content of the direction of the impact that the transport condition of described vehicle of opposing causes, and generate described the second alarmInformation. For example, as the use as described in Figure 1, confirm that from dead angle auxiliary ECU25 applies expressionAvoid the vibration of the direction of colliding as solicit operation. Therefore, at the time point T22 of Fig. 9, from extremelyAngle is confirmed that auxiliary ECU25 output is intended to apply and is supervised to the right-hand vibration turning to (upper with reference to Figure 11The chart of side part) indication information.
In addition, as used, Fig. 9 illustrates, at time point T22, due to for fear of with frontVehicle VC2 bumps and has asked to left to turn to by avoiding colliding auxiliary ECU24, therefore baseSupervise to the right-hand vibration turning to driver in confirming that from dead angle the instruction of auxiliary ECU25 appliesDo not use. Therefore, supervise to the right-hand vibration turning to by the 13A of content changing portion by applyingThe first solicit operation is changed into the not vibration of display direction (with reference to the figure of the mid portion of Figure 11Table).
In addition, for example, as the use as described in Figure 1, confirm auxiliary ECU25 output from dead angleBe intended to show via display 41 image (the ginseng that represents to avoid the direction bumping with front vehicleAccording to Figure 12) indication information. Therefore,, at the time point T22 of Fig. 9, confirm auxiliary ECU from dead angle25 outputs are intended to show and represent to avoid the direction bumping with front vehicle for right via display 41The indication information of the image (with reference to the upside figure of Figure 12) of side.
In addition, as used, Fig. 9 illustrates, at time point T22, due to for fear of with frontVehicle VC2 bumps and has asked to left to turn to by avoiding colliding auxiliary ECU24, therefore baseShow and represent to avoid and rear car via display 41 in the instruction of confirming auxiliary ECU25 from dead angleThe direction bumping is that right-hand image (with reference to the upside figure of Figure 12) does not have concerning driverUseful.
Therefore, by the 13A of content changing portion, represent to avoid bumping with front vehicle by showingDirection is that right-hand image (with reference to the upside figure of Figure 12) is changed into demonstration and only represented that rear exists carImage (with reference to the figure of the mid portion of Figure 12), and generate the second alarm that comprises this contentInformation.
So, by the 13A of content changing portion by described the first warning information, comprise first requestOperation (is to apply supervise to the right-hand vibration turning to and show that it is right avoiding the direction of collision hereThe image of side) change into the content that does not comprise direction, thereby described the first warning information has been implemented suitableWhen change, generate suitable warning information as described the second warning information.
In the second embodiment, to the 13A of content changing portion by being comprised in described the first alarmIn information, change into and do not comprise described the as the first solicit operation of the operation to driver requestThe content of the direction that one solicit operation impacts the transport condition of described vehicle, described in generating thusThe situation of the second warning information describes, but the 13A of content changing portion also can come with additive methodChange described the first warning information, generate described the second warning information. For example, content changing portion13A also can change into the information of informing driving condition to driver by the first solicit operation. At Fig. 9Under shown situation, for example, also can replace " applying to supervise to right-hand and turning as the first solicit operationTo vibration ", and changed into and informed by the 13A of content changing portion, " rear, left side has and travelsVehicle " the acoustic information of driving condition.
Fig. 8 is the stream that represents an example of the action of output adjustment ECU1A in the second embodimentCheng Tu. First, determine whether by request receiving portion 11 and accepted the via driving auxiliary ECU2One warning information (S301). In the time being judged to be not accept the first warning information, (in S301, be"No"), make to be treated to holding state. In the time being judged to be to have accepted the first warning information (in S301For "Yes"), determine whether as other alarms in the middle of output by serviceability detection unit 12AThe 3rd warning information (S303) of information. In the time being judged to be there is no the 3rd warning information, (in S303, be"No"), process and enter step S311.
In the time being judged to be the 3rd warning information (being "Yes" in S303), by serviceability detection unit12A extract in involved the first warning information of accepting by step S301, as to driverFirst solicit operation (S305) of the operation of request. Then, extract by serviceability detection unit 12ABe comprised in by step S303 be judged to be in the 3rd warning information in the middle of export, conductThe 3rd solicit operation (S307) of the operation of asking to driver. Then, by serviceability detection unit12A judge the first solicit operation of extracting in step S305 whether with in step S307, carryThe 3rd solicit operation contrary (S309) of getting. When being judged to be when contrary (in S309 to be"No") or be "No" in step S303 time, export in step by output enforcement division 14The first warning information (S311) of accepting in rapid S301, processing finishes. When being judged to be when contrary(in S309, being "Yes"), changes into not comprise in step S301 by the 13A of content changing portion and connectsThe contents of the first solicit operation comprising in the first warning information being subject to etc., generate as to driverSecond warning information (S313) of useful warning information. Then, defeated by output enforcement division 14Go out the second warning information (S315) generating in step S313, processing finishes.
Figure 10 is the stream of exporting an example of the action of adjusting ECU1A shown in presentation graphs 9 under situationCheng Tu. In Fig. 9, to by avoid colliding auxiliary ECU24 supervise to left turn to, by deadConfirmation auxiliary ECU25 in angle supervises to right-hand situation about turning to and is illustrated, but in Figure 10, forConvenience, to supervising to the steering operation of right-hand or left, logical by avoiding colliding auxiliary ECU24Crossing dead angle confirms that auxiliary ECU25 supervises to the situation of the steering operation of right-hand or left and describes.
First, determine whether and confirm that from dead angle auxiliary ECU25 has accepted use by request receiving portion 11In the time preventing that track from changing and alarm, the dead angle alarm (S401) of rear side vehicle approach. When sentencingBe decided to be (in S401, being "No") while not receiving dead angle alarm, make to process in holding state.In the time being judged to be to have accepted dead angle alarm (being "Yes" in S401), by serviceability detection unit 12AJudge whether the dead angle alarm of accepting is the dead angle police who supervises to right-hand steering operation in step S401Report (S403).
When be judged to be not to be to supervise to right-hand steering operation dead angle alarm time (in S403, be"No"), process and enter step S405. When being judged to be it is the dead angle police who supervises to right-hand steering operationGive the correct time (in S403 for "Yes"), determine whether and touch in avoiding by serviceability detection unit 12AHitting auxiliary ECU24 output avoids in the process of collision warning (S417). When being judged to be to avoid collisionAlarm, in exporting (S417 is "No") when central, is not processed and is entered step S429. Work as judgementWhen avoiding collision warning central in exporting (in S417 for " time "), by serviceability detection unit12A judgement avoids whether collision warning is to supervise alarm (S419) from steering operation to left that carry out.In the time being judged to be not to be to carry out the alarm of steering operation to left (in S419 for "No"), process intoEnter step S429. When being judged to be it is to supervise in the time that left carries out the alarm of steering operation (to be in S419"Yes"), process and enter step S423.
When be "No" in S403 time, by serviceability detection unit 12A determine whether be supervise toLeft carries out the dead angle alarm (S405) of steering operation. When being judged to be not to be to supervise to left turnsDuring to the dead angle alarm of operation (being "No" in S405), processing finishes. When be judged to be supervise toWhen left carries out the dead angle alarm of steering operation (being "Yes" in S405), by serviceability detection unit12A judges whether avoid colliding auxiliary ECU24 avoids in the process of collision warning in output(S407). When being judged to be to avoid collision warning in exporting when central (in S407 not to be"No"), process and enter step S411. In the time being judged to be to avoid collision warning central in exportingWhether (in S407, being "Yes"), judged and avoided collision warning to be by serviceability detection unit 12ASupervise the alarm (S409) of carrying out steering operation to right-hand. When being judged to be not to be to supervise to right-hand carries outWhen the alarm of steering operation (being "No" in S409), process and enter step S411. When being judged to beBe (being "Yes" in S409) while supervising to the right-hand alarm of carrying out steering operation, process and enter stepS411。
While being "No" in the time being "No" in step S407 or in step S409, in stepIn S411～step S415, export the first police who accepts in step S401 by output enforcement division 14The breath of notifying. First, export buzzer (S411) by output enforcement division 14 via loudspeaker 42.Then, turn to left supervising via steering moment control ECU44 by output enforcement division 14Vibration (with reference to the chart of the lower portion of Figure 11) imposes on steering wheel (S413). Then, logicalCross and export enforcement division 14 and show and supervise the image (downside of Figure 12 turning to left via display 41The image of part) (S415), processing finishes.
While being "No" in the time being "No" in step S417 or in step S419, in stepIn S429～step S433, export the first police who accepts at step S401 by output enforcement division 14The breath of notifying. First, export buzzer (S429) by output enforcement division 14 via loudspeaker 42.Next, will supervise to right-hand and turn to via steering moment control ECU44 by output enforcement division 14Vibration (with reference to the chart of the upper portion of Figure 11) impose on steering wheel (S431). Then,Show and supervise that (Figure 12's is upper to the right-hand image turning to via display 41 by output enforcement division 14The image of side part) (S433), processing finishes.
While being "Yes" in the time being "Yes" in step S409 or in step S419, pass through contentThe 13A of change portion changes the first warning information of accepting in step S401, generates conduct to driverSecond warning information (S421) of useful warning information. Then, in step S421～stepIn S427, export by output enforcement division 14 the second warning information generating in step S421. FirstFirst, export buzzer (S423) by output enforcement division 14 via loudspeaker 42. Next, logicalCross export enforcement division 14 via steering moment control ECU44 by the vibration of the directionality that does not represent to turn to(with reference to the chart of the mid portion of Figure 11) imposes on steering wheel (S425). Then, by defeatedGo out enforcement division 14 and show the image (centre of Figure 12 that does not represent the directionality turning to via display 41The image of part) (S427), processing finishes.
Figure 11 is illustrated in of the vibration that applies in step S413 of flow chart shown in Figure 10 etc.The chart of example. In figure, the longitudinal axis is the steering moment that imposes on steering wheel, and transverse axis is time T. ThisIn, the steering moment that imposes on steering wheel will make steering wheel to right handed steering moment(=supervise is to the right-hand steering moment turning to) as positive direction.
Three charts shown in Figure 11 are respectively at the flow chart shown in Figure 10 by output enforcement division 14Step S431, S425, S413 in be applied on steering wheel via steering moment control ECU44Steering moment. As shown in the chart of upper portion, in step S431, impose on turning to of steering wheelMoment be so that steering wheel to right handed steering moment (=supervise to right-hand turning of turning toTo moment) centered by Δ TR and the moment of vibration. As shown in the chart of mid portion, in stepThe steering moment that is applied to steering wheel in S425 be centered by " 0 " vibration do not represent directionalityMoment. As shown in the chart of lower portion, in step S431, be applied to turning to of steering wheelMoment be so that steering wheel to the steering moment of counterclockwise rotation (=supervise turning of turning to leftTo moment) centered by a Δ TR and the moment of vibration.
Figure 12 is illustrated in the dead angle alarm showing in the step S415 etc. of the flow chart shown in Figure 10The picture figure of an example of picture. Three dead angle alarm pictures 600,610,620 shown in Figure 12By output enforcement division 14 respectively in step S433, the S427 of flow chart shown in Figure 10, S415Shown. In dead angle alarm picture 600, show this vehicle image that represents this vehicle VC1601, be illustrated in front vehicle image 602, the expression steering wheel of the vehicle VC3 travelling at rear, left sideSteering wheel image 603 and represent the arrow 604 of steering direction. Dead angle alarm picture 600 is logicalCross steering wheel image 603 and arrow 604 is supervised the image turning to right-hand.
In dead angle alarm picture 610, shown represent this vehicle image 611 of this vehicle VC1, withAnd the front vehicle image 612 of the vehicle VC3 that on the left of being illustrated in, travel in rear. Dead angle alarm picture610 because discord dead angle alarm picture 600 comprises steering wheel image 603 and arrow 604 like that, therebyThe image that do not represent steering direction (=only represent that rear exists the image of vehicle). In dead angle alarmIn picture 620, show represent this vehicle VC1 this vehicle image 621, be illustrated in rear, right side rowThe front vehicle image 622 of the vehicle of sailing, steering wheel image 623 and the expression of expression steering wheel turnTo the arrow 624 of direction. Dead angle alarm picture 620 is by steering wheel image 623 and arrow 624Supervise the image turning to left.
So, when be comprised in the first warning information of accepting of request receiving portion 11, as toThe first solicit operation of the operation of driver's request and the 3rd of other warning informations as in the middle of outputThe 3rd solicit operation comprising in warning information is when contrary, and by serviceability detection unit, 12A is judged to be instituteStating the first warning information does not use. Then, by the 13A of content changing portion, the first solicit operation is changedFor not representing the content etc. of directionality, thus described the first warning information is implemented to suitable change, rawBecome suitable warning information as described the second warning information, and exported, thereby can export suitableWhen warning information.
Figure 13 represents that the output adjustment ECU1A in the second embodiment carries out the output of warning informationThe key diagram of the second case of the situation of adjusting. The figure of the upper portion of Figure 13 is for illustrating situationPlane, the figure of the lower portion of Figure 13 is sequential chart. As shown in the figure of the upper portion of Figure 13,Carry vehicle VC1 that output the adjusts ECU1 right side to figure in the track of white line LA is decorated with in both sidesSkidding is sailed. The front of vehicle VC1, in the track identical in the track of travelling with vehicle VC1,Front vehicles VC2 travels on the right side to figure.
Then, avoid colliding auxiliary ECU24 for fear of bumping with front vehicles VC2, fromThe time T 31 of vehicle VC1 place of arrival P3 starts output packet containing the request behaviour who is intended to turn to leftThe warning information of doing. In addition, avoid track to depart from auxiliary ECU21 for fear of departing from track, fromThe time T 32 of vehicle VC1 place of arrival P6 starts output packet containing the request behaviour who is intended to turn to right-handThe warning information of doing, is accepted by request receiving portion 11.
, containing from avoiding colliding auxiliary ECU24 output packet the solicit operation that is intended to turn to leftUnder the state of the warning information (the=the three warning information) of (the=the three solicit operation), comprise with defeatedThe contrary solicit operation of solicit operation (the=the three solicit operation) in the middle of going out (=turn to right-hand:The first solicit operation) warning information (the=the first warning information) be accepted, thereby sentenced by serviceabilityBonding part 12A is judged to be not use.
The shadow that, the first solicit operation (=turn to right-hand) causes the transport condition of vehicle VC1Ring kind be the change of the travel direction to vehicle VC1, with the 3rd solicit operation (=turn to leftTo) kind of impact that the transport condition of vehicle VC1 is caused is identical. In addition the first solicit operation,(=turn to right-hand) direction of impact that the transport condition of vehicle VC1 is caused is right-hand, withDirection that three solicit operations (=turn to left) impact the transport condition of vehicle VC1 (=Left) contrary. Therefore, be judged to be to comprise of the first solicit operation by serviceability detection unit 12AOne warning information is not used.
In addition, by the 13A of content changing portion by the first solicit operation change into do not represent directionality inHold etc., thus described the first warning information is implemented to appropriate change, generate suitable warning information conductDescribed the second warning information. Here, from avoiding track to depart from the first request of auxiliary ECU21 outputIn operation, as narrated in the above in use Fig. 1, comprising: to direction (this of avoiding departing from trackIn be right-hand) apply steering moment, show represent depart from direction (being left here) image (thisIn be the figure of the lower portion of Fig. 6) and to driver apply depart from direction (being left here)Vibration.
Therefore, for example,, by the 13A of content changing portion, forbid to the direction of avoiding departing from track (hereRight-hand) apply the output of the first solicit operation of steering moment, will show and represent to depart from direction (thisIn be left) the first solicit operation of image (being the figure of the lower portion of Fig. 6 here) change intoShow the image (being the figure of the upper portion of Fig. 6) that does not represent direction here, will apply disengaging directionThe first solicit operation of the vibration of (being left here) is changed into and is applied the vibration that does not represent direction, comesGenerate the second warning information.
Figure 14 represents that the output adjustment ECU1A in the second embodiment carries out the output of warning informationThe key diagram of the 3rd example of the situation of adjusting. In Figure 14, from upside, be successively represent accelerator open degree,The chart of road gradient, vehicle velocity V, the figure of lower end is sequential chart. In the chart shown in Figure 14,The transverse axis of sequential chart is all time T. Here suppose at the auxiliary ECU of the speed of a motor vehicle control shown in Fig. 1,In 23, preset the higher limit VM of target velocity, in the auxiliary ECU26 of ramp speed controlSet reducing amount threshold value Δ V.
As shown in figure 14, at time point T41, driver accelerates for the object of overtaking other vehicles, and steps onThrottle, thereby vehicle velocity V increase. Then,, at time point T42, speed V has exceeded target velocityHigher limit VM, thereby be used for preventing from exceeding upper limit car by the auxiliary ECU23 output of speed of a motor vehicle controlThe warning information of speed. Specifically, as used Fig. 1 above-described, by speed of a motor vehicle controlAuxiliary ECU23 exports following indication information: be intended to show and represent to have exceeded institute via display 41State the higher limit of target velocity image (with reference to Figure 15) indication information and be intended to via raising one's voiceThe indication information of the buzzer that driver notes is aroused in device 42 output.
Then,, at time point T43, because road gradient is to go up a slope, thereby vehicle velocity V starts to reduce.Then, at time point T44, because the reducing amount of speed V has exceeded reducing amount threshold value Δ V, therebyBy the auxiliary ECU26 of ramp speed control, request output is used for preventing because road gradient etc. causesWith the warning information of the contrary deceleration of intention. Specifically, as use Fig. 1 above-described thatSample, by the auxiliary ECU26 of ramp speed control, will be intended to show and supervise attention via display 41The indication information of the image (with reference to Figure 15) of Speed Reduction and be intended to export via loudspeaker 42Supervise the indication information of the sound (for example " please maintenance speed travel " etc.) of the speed of maintaining to export to defeatedGo out to adjust ECU1.
, containing from the auxiliary ECU23 output packet of the speed of a motor vehicle control solicit operation (=the that is intended to decelerationThree solicit operations) the state of warning information (the=the three warning information) under, comprise with output in the middle ofThe contrary solicit operation of solicit operation (the=the three solicit operation) (=maintain speed: the first requestOperation) warning information (the=the first warning information) be accepted, thereby by serviceability detection unit 12ABe judged to be not use.
The impact that, the first solicit operation (=maintain speed) causes the transport condition of vehicle VC1Kind be the change of the travel speed to vehicle VC1, with the 3rd solicit operation (=slow down) to carThe kind of the impact that the transport condition of VC1 causes is identical. The first solicit operation in addition, (=maintainSpeed) direction of impact that the transport condition of vehicle VC1 is caused is to maintain, with the 3rd solicit operationThe direction (=deceleration) of the impact that (=deceleration) causes the transport condition of vehicle VC1 is contrary. CauseThis, the first warning information that is judged to be to comprise the first solicit operation by serviceability detection unit 12A does not haveWith.
In addition, by the 13A of content changing portion by the first solicit operation change into do not represent directionality inHold etc., thus described the first warning information is implemented to appropriate change, generate suitable warning information conductDescribed the second warning information, and by its output. Here, as used Fig. 1 above-described,From the first solicit operation of the auxiliary ECU26 output of ramp speed control, comprise exporting to supervise maintainingThe sound of speed (for example " please maintenance speed travel " etc.).
Therefore, for example,, by the 13A of content changing portion, the sound that output is supervised to the speed of maintaining (for example" please maintenance speed travel " etc.) the first solicit operation change into the acoustic information that does not represent direction(for example " please note speed " etc.), generate the second warning information.
Figure 15 represents shown in Figure 14 that speed of a motor vehicle alarm picture represented under situation, the speed of a motor vehicle reduce alarmThe picture figure of an example of picture. In speed of a motor vehicle alarm picture 700 shown in the upside of Figure 15, showThere is speed of a motor vehicle alarm display part 701, in this speed of a motor vehicle alarm display part 701, shown to illustrate and exceeded orderThe Word message (being " speed limit 100km/h " here) of the higher limit of mark speed. In addition Figure 15,In speed of a motor vehicle reduction alarm picture 710 shown in lower portion, show Speed Reduction alarm display part711, in this Speed Reduction alarm display part 711, show the literary composition of supervising attention to underspeed has been shownWord information (is that " attention underspeeds here! ").
So, adjust defeated in ECU1, the second embodiment according to output in the first embodimentGo out to adjust ECU1A, when determining the first alarm signal of exporting the warning information of asking as being acceptedBreath does not have the used time to driver, changes the content of this first warning information, generates as driver is hadWith the second warning information of warning information, and export this second warning information, and can not export drivingThe otiose warning information of the person of sailing, therefore can export suitable warning information.
In addition, the alarm output control apparatus in the present invention is not limited to above-mentioned the first embodiment, secondEmbodiment can be also following manner.
(A) in the first embodiment, output is adjusted to ECU1 and comprise request acceptance from functionThe situation of portion 11, serviceability detection unit 12, content changing portion 13, output enforcement division 14 etc. has been carried outIllustrate, but can be also request receiving portion 11, serviceability detection unit 12, content changing portion 13, withAnd output at least one function part in enforcement division 14 is by hard-wired modes such as circuit.
Equally, in the second embodiment, output is adjusted to ECU1A and comprise that from function request connectsBe subject to the situation of portion 11, serviceability detection unit 12A, the 13A of content changing portion, output enforcement division 14 etc.Be illustrated, but can be also request receiving portion 11, serviceability detection unit 12A, content changing portionAt least one function part in 13A and output enforcement division 14 is by hard-wired modes such as circuit.
(B) in the first embodiment, the second embodiment, to exporting enforcement division 14 via soundInformation, Word message and image information are exported described the first warning information and described the second alarmThe situation of information is illustrated, but can be also that output enforcement division 14 is via acoustic information, wordAt least one in information and image information exported described the first warning information and described the second alarmThe mode of information.
(C) in the first embodiment, the second embodiment, to output enforcement division 14 via to turningApply to vibrate to dish and driver and export the feelings of described the first warning information and described the second warning informationCondition is illustrated, but can be also output enforcement division 14 via in steering wheel and driver extremelyFew one applies the mode of exporting described the first warning information and described the second warning information of vibrating.
(D) in the first embodiment, the second embodiment, to output enforcement division 14 via to turningApplying to dish the situation that vibration exports described the first warning information and described the second warning information has carried outIllustrate, but such as can be also, via other operating units to driver's operation (gas pedal etc.)Apply vibration and export the mode of described the first warning information and described the second warning information.
Utilizability in industry
The inventive example is if be applicable to be mounted on vehicle and to driving and assist from least oneThe alarm output control apparatus that device is controlled to the output of driver's warning information.
Claims (21)
1. a drive assist system, described drive assist system is mounted on vehicle, and comprises:
Generating apparatus, described generating apparatus generates the first warning information, and described the first warning information is supervisedDriver carries out the steering operation that the transport condition of vehicle is impacted; And
Output device, described output device is exported described the first warning information generating to driver;
Described drive assist system is characterised in that,
Comprise operation detection device, described operation detection device detects described driver's steering direction,
When not contrary to the described steering operation of driver request and driver's steering direction, from instituteState output device and export described the first warning information,
When contrary to the described steering operation of driver request and driver's steering direction, from describedOutput device is exported the second warning information, and described the second warning information does not cause the transport condition of vehicleAffect and inform driving condition to driver.
2. drive assist system as claimed in claim 1, is characterized in that,
Described drive assist system comprises control device, and described control device control is to described in driverThe output of output device,
Described control device is not at the described steering operation to driver request and driver's steering directionWhen contrary, export described the first warning information from described output device, described in driver is askedWhen steering operation and driver's steering direction is contrary, described the first warning information is changed into not to carTransport condition impact and inform to driver the second warning information of driving condition, and fromDescribed output device is exported described the second warning information.
3. drive assist system as claimed in claim 1, is characterized in that, described transport condition isTravel direction.
4. drive assist system as claimed in claim 1, is characterized in that, described the first alarm signalBreath is at least one in following: to avoiding the direction that departs from track to apply steering moment; On imageShow the direction departing from from track; And apply from the vibration of the direction of track disengaging to driver.
5. drive assist system as claimed in claim 4, is characterized in that, described the second alarm signalBreath is at least one in following: show the image that represents to depart from track; And apply table to driverShow the vibration that departs from track.
6. drive assist system as claimed in claim 1, is characterized in that, described the first alarm signalBreath comprises other alarms that transport condition to vehicle does not impact.
7. drive assist system as claimed in claim 6, is characterized in that, described other alarm signalsBreath is to arouse with buzzer the warning information that driver notes in order to inform disengaging track.
8. a drive assist system, described drive assist system is mounted on vehicle, and comprises:
Generating apparatus, described generating apparatus generates the first warning information, and described the first warning information is supervisedDriver carries out the first solicit operation, and described the first solicit operation comprises the transport condition of vehicle is causedAcceleration operation, deceleration-operation, the speed of impact maintain at least one in operation, shut-down operation; WithAnd
Output device, described output device is exported described the first warning information generating to driver;
Described drive assist system is characterised in that,
Comprise operation detection device, described operation detection device detect described driver throttle operation orBrake operating,
Throttle operation or the braking carried out as described the first solicit operation to driver request and driverWhen operation is not contrary, export described the first warning information from described output device, when described the first requestWhen the throttle operation that operation is carried out with driver or brake operating are contrary, export not from described output deviceThe transport condition of vehicle is impacted and is informed to driver the second warning information of driving condition.
9. drive assist system as claimed in claim 8, is characterized in that,
Described drive assist system comprises control device, and described control device control is to described in driverThe output of output device,
The oil that described control device carries out described the first solicit operation to driver request and driverWhen door operation or brake operating are not contrary, export described the first warning information from described output device, whenWhen the throttle operation that described the first solicit operation is carried out with driver or brake operating are contrary, by describedOne warning information is changed into the not transport condition to vehicle and is impacted and inform driving shape to driverThe second warning information of state, and export described the second warning information from described output device.
10. a drive assist system, described drive assist system is mounted on vehicle, and bagDraw together:
Generating apparatus, described generating apparatus generates the first warning information, and described the first warning information comprisesSupervise driver carry out the steering operation that the transport condition of vehicle is impacted warning information andOther warning informations that transport condition of vehicle do not impacted; And
Output device, described output device is exported described the first warning information generating to driver;
Described drive assist system is characterised in that,
Comprise operation detection device, described operation detection device detects described driver's steering direction,
When the direction of the impact that the described steering operation of driver's request is caused the transport condition of vehicleThe direction of the impact transport condition of vehicle being caused with driver's steering operation is right, leftTo in equidirectional time, export described the first warning information from described output device,
When the direction of the impact that the described steering operation of driver's request is caused the transport condition of vehicleThe direction of the impact transport condition of vehicle being caused with driver's steering operation is not right, a left sideWhen equidirectional in direction, do not comprise and supervise driver to carry out driving from described output device outputDescribed other warning informations of the described warning information of the described steering operation of member's request.
11. drive assist systems as claimed in claim 10, is characterized in that,
Described drive assist system comprises control device, and described control device control is to described in driverThe output of output device,
Described control device
When the direction of the impact that the described steering operation of driver's request is caused the transport condition of vehicleThe direction of the impact transport condition of vehicle being caused with driver's steering operation is right, leftTo in equidirectional time, export described the first warning information from described output device,
When the direction of the impact that the described steering operation of driver's request is caused the transport condition of vehicleThe direction of the impact transport condition of vehicle being caused with driver's steering operation is not right, a left sideWhen equidirectional in direction, from described other warning informations of described output device output, described otherWarning information does not comprise supervises driver to carry out the described alarm of the described steering operation to driver's requestInformation.
12. 1 kinds of drive assist systems, described drive assist system is mounted on vehicle, and bagDraw together:
Generating apparatus, described generating apparatus generates the first warning information, and described the first warning information comprisesSupervise driver carry out the warning information of the first solicit operation and the transport condition of vehicle do not causedOther warning informations of impact, described the first solicit operation comprises the transport condition of vehicle is impactedAcceleration operation, deceleration-operation, speed maintain at least one in operation, shut-down operation; And
Output device, described output device is exported described the first warning information generating to driver;
Described drive assist system is characterised in that,
Comprise operation detection device, described operation detection device detect described driver throttle operation orBrake operating,
When the impact that described first solicit operation of driver request is caused the transport condition of vehicle withThe impact that driver's throttle operation or brake operating cause the transport condition of vehicle is to accelerate, subtractWhen same in maintaining, stopping of speed, speed, export described the first alarm signal from described output deviceBreath,
When the impact that described first solicit operation of driver request is caused the transport condition of vehicle withThe impact that driver's throttle operation or brake operating cause the transport condition of vehicle is not to accelerate, subtractWhen same in maintaining, stopping of speed, speed, from described other alarm signals of described output device outputBreath, described other warning informations do not comprise the described police who supervises driver to carry out described the first solicit operationThe breath of notifying.
13. drive assist systems as claimed in claim 12, is characterized in that,
Described drive assist system comprises control device, and described control device control is to described in driverThe output of output device,
Described control device
When the impact that described first solicit operation of driver request is caused the transport condition of vehicle withThe impact that driver's throttle operation or brake operating cause the transport condition of vehicle is to accelerate, subtractWhen same in maintaining, stopping of speed, speed, export described the first alarm signal from described output deviceBreath,
When the impact that described first solicit operation of driver request is caused the transport condition of vehicle withThe impact that driver's throttle operation or brake operating cause the transport condition of vehicle is not to accelerate, subtractWhen same in maintaining, stopping of speed, speed, from described other alarm signals of described output device outputBreath, described other warning informations do not comprise the described police who supervises driver to carry out described the first solicit operationThe breath of notifying.
14. 1 kinds of drive assist systems, described drive assist system is mounted on vehicle, and bagDraw together:
Control device, described control device is exported the first warning information to driver, described the first alarmThe steering operation that information supervises driver to impact the transport condition of vehicle; And
Operation detection device, described operation detection device detects described driver's steering direction;
In the time that the steering direction that the described steering operation of driver's request is carried out with driver is not contrary,Described control device is exported described the first warning information,
When contrary to the described steering operation of driver request and driver's steering direction, described controlDevice processed is exported the second warning information, and described the second warning information does not cause shadow to the transport condition of vehicleRing and inform driving condition to driver.
15. drive assist systems as claimed in claim 14, is characterized in that,
Described control device
When not contrary to the described steering operation of driver request and driver's steering direction, exportDescribed the first warning information,
When contrary to the described steering operation of driver request and driver's steering direction, described in generalThe first warning information is changed into the not transport condition to vehicle and is impacted and inform driving to driverThe second warning information of state, and export this second warning information.
16. drive assist systems as claimed in claim 14, is characterized in that,
Described transport condition is travel direction.
17. drive assist systems as claimed in claim 14, is characterized in that,
Described the first warning information is at least one in following information: to the direction of avoiding departing from trackApply steering moment; On image, show the direction departing from from track; And apply from car to driverThe vibration of the direction that road departs from.
18. drive assist systems as claimed in claim 17, is characterized in that,
Described the second warning information is at least one in following information: show the figure that represents to depart from trackPicture; And apply to driver the vibration that expression departs from track.
19. drive assist systems as claimed in claim 14, is characterized in that,
Described the first warning information comprises other alarm signals that transport condition to vehicle does not impactBreath.
20. drive assist systems as claimed in claim 19, is characterized in that,
Described other warning informations arouse driver with buzzer and note in order to inform disengaging trackWarning information.
21. 1 kinds of methods of being carried out by the drive assist system being mounted on vehicle, its feature existsIn, comprise the following steps:
Export the first warning information by control device to driver, described the first warning information is supervised and is drivenThe person of sailing is carried out the steering operation that the transport condition of vehicle is impacted; And
Detect described driver's steering direction by operation detection device;
Wherein, when not contrary with driver's steering direction to the described steering operation of driver's requestTime, export described the first warning information by described control device,
When contrary to the described steering operation of driver request and driver's steering direction, by instituteState control device and export the second warning information, described the second warning information is not made the transport condition of vehicleBecome impact and inform driving condition to driver.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310628075.XA CN103754226B (en) | 2009-04-15 | 2009-04-15 | Drive assist system and the method for being carried out by drive assist system |
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310628075.XA CN103754226B (en) | 2009-04-15 | 2009-04-15 | Drive assist system and the method for being carried out by drive assist system |
| CN200980158743.9A CN102396008B (en) | 2009-04-15 | 2009-04-15 | Alarm output control apparatus |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN200980158743.9A Division CN102396008B (en) | 2009-04-15 | 2009-04-15 | Alarm output control apparatus |
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| CN103754226A CN103754226A (en) | 2014-04-30 |
| CN103754226B true CN103754226B (en) | 2016-05-25 |
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| CN201310628075.XA Expired - Fee Related CN103754226B (en) | 2009-04-15 | 2009-04-15 | Drive assist system and the method for being carried out by drive assist system |
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Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
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| WO2017168541A1 (en) * | 2016-03-29 | 2017-10-05 | 本田技研工業株式会社 | Automatic driving control device |
| JP6402756B2 (en) * | 2016-09-21 | 2018-10-10 | トヨタ自動車株式会社 | Driving assistance device |
| JP6915476B2 (en) * | 2017-09-25 | 2021-08-04 | トヨタ自動車株式会社 | Information provision system, in-vehicle device, information provision method, and program |
| JP7415909B2 (en) * | 2020-12-15 | 2024-01-17 | トヨタ自動車株式会社 | Walking support system |
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