JP2006301842A - Driving support device of vehicle - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a driving support device of a vehicle for enhancing comfort by suppressing provision of unnecessary information to a driver. <P>SOLUTION: The device comprises a recognition means for recognizing an intersection at which one's own vehicle is subjected to temporary stop in a traveling direction thereof; a distance detection means for acquiring a distance to the temporary stop point recognized by the recognizing means; a deceleration intention detection means for detecting deceleration intention of a driver; a safety drive support means mounted on one's own vehicle; and a control means for operating the support means when the deceleration intention of the driver is not detected by the intention detection means when the distance detected by the distance detecting means becomes not more than a prescribed distance. The device further comprises a vehicle information acquiring means for acquiring traveling information of other vehicles at the intersection on an intersection road intersecting with the road on which one's own vehicle travels, and controls an operation of the support means on the basis of the information acquired by the acquiring means. <P>COPYRIGHT: (C)2007,JPO&INPIT

Description

  The present invention relates to a driving support apparatus for a vehicle.

Conventionally, there has been proposed a driving support system that detects a traffic light, a stop sign, or a stop line for a driver and prompts the driver to stop before the intersection.
For example, a technique for recognizing a stop sign or a stop line with a camera and performing an alarm or automatic braking is known (see Patent Document 1).

Further, a technique is known in which a temporary stop position is recognized from a navigator and forcedly decelerated when it is determined that the driver does not intend to stop (see Patent Document 2).
In addition, a technique is known that considers the detection result of a temporary stop line by image processing when driving approach such as alarm output is performed by detecting approach of a vehicle intersection (see Patent Document 3).
JP 11-339197 A JP 10-76922 A JP 2004-86363 A

However, the above-described conventional technology has the following problems.
In other words, even when the driver confirms that there are no other vehicles on the intersection road and tries to confirm the safety of the intersection road within the intersection, the driving support system Provide information to the driver regardless.
As a result, information unnecessary for the driver is provided, which causes trouble for the driver and impairs comfort.

  Therefore, an object of the present invention is to provide a vehicle driving support device that can suppress unnecessary provision of information to a driver and enhance comfort.

  The invention according to claim 1 is a recognition means for recognizing an intersection to be temporarily stopped in the traveling direction of the own vehicle (for example, a stop required intersection detection unit 17 in the embodiment) and a temporary stop point recognized by the recognition means. Distance detection means (for example, the vehicle forward intersection detection unit 18 in the embodiment) and deceleration intention detection means for detecting the driver's intention to decelerate (for example, the information provision condition determination unit 19 in the embodiment). The safe driving support means (for example, the braking device 20 and the alarm device 21 in the embodiment) provided in the own vehicle and the deceleration intention detecting means when the distance detected by the distance detecting means is equal to or less than a predetermined distance. Control means (for example, the information provision information determination unit 19 in the embodiment) that operates the safe driving support means when the driver's intention to decelerate is not detected. Vehicle information acquisition means (for example, the information transmission / reception unit 11 in the embodiment) that acquires driving information of other vehicles on the intersection road that intersects the road on which the vehicle travels at the intersection. The control means controls the operation of the safe driving support means based on the information acquired by the vehicle information acquisition means.

  According to this invention, since the control means controls the operation of the safe driving support means based on the travel information of the other vehicle acquired by the vehicle information acquisition means, the own vehicle based on the travel information of the other vehicle. It is possible to suppress unnecessary driving assistance for the driver that controls the driving of the vehicle, and to improve comfort.

The invention according to claim 2 is the invention according to claim 1, wherein the safe driving support means is at least one of an automatic braking means for automatically operating an alarm means and a braking means of the vehicle provided in the host vehicle. It is either.
According to this invention, the control means controls the operation of at least one of the warning means and the automatic braking means based on the travel information of the other vehicle acquired by the vehicle information acquisition means. Unnecessary driving assistance by the warning means and the automatic braking means can be suppressed for the driver who controls the driving of the own vehicle based on the traveling information, and comfort can be improved.

The invention according to claim 3 is the one according to claim 1 or 2, wherein when the vehicle information acquisition means does not acquire information on another vehicle traveling toward the intersection on the intersection road, The control means suppresses or stops the operation of the safe driving support means.
According to this invention, when the information on the other vehicle traveling toward the intersection on the intersection road is not acquired by the vehicle information acquisition unit, there is no other vehicle on the intersection road that interferes with the own vehicle. Can be judged. Therefore, by suppressing or stopping the operation of the safe driving support means by the control means, unnecessary driving support is provided to a driver who does not require driving support when there is no other vehicle that interferes with the own vehicle. It can be suppressed and comfort can be increased.

The invention according to claim 4 is the invention according to claim 1 or 2, wherein when the vehicle information acquisition unit acquires information on another vehicle traveling toward the intersection on the intersection road. And determining means for determining whether or not another vehicle becomes an obstacle to the own vehicle at the intersection based on the information, and when the determining means determines that the other vehicle does not become an obstacle, the control means Is characterized by suppressing or stopping the operation of the safe driving support means.
According to this invention, even if the information on the other vehicle is acquired by the vehicle information acquisition unit, the determination unit determines that the other vehicle does not become an obstacle to the own vehicle. When this happens, the operation of the safe driving support means is suppressed or stopped by the control means. Therefore, it is possible to prevent problems caused by operating the safe driving support means uniformly when other vehicles exist on the intersection road, and to improve the comfort for the driver.

The invention according to claim 5 is the invention according to claim 4, comprising: a traveling state detection unit that detects a traveling state including the vehicle speed of the host vehicle; and a positional information acquisition unit that acquires positional information of the intersection. And the vehicle information acquisition means acquires the position and vehicle speed in another vehicle, wherein the determination means includes each of the running state detection means, the position information acquisition means, and the vehicle information acquisition means. Based on the output, it is determined whether or not another vehicle becomes an obstacle to the own vehicle.
According to this invention, the own vehicle when the current running is continued based on the vehicle speed of the own vehicle detected by the running state detecting means and the position information of the intersection acquired by the position information acquiring means. The intersection arrival time of the other vehicle when the current travel is continued can be calculated based on the position and vehicle speed of the other vehicle acquired by the vehicle information acquisition means. Therefore, when determining whether or not another vehicle becomes an obstacle to the own vehicle by the determination means, it is possible to determine whether or not the other vehicle becomes an obstacle to the own vehicle with higher accuracy. Therefore, driving assistance for the driver who drives the vehicle can be performed more effectively.

The invention according to claim 6 is the invention according to claim 5, wherein the own vehicle is based on the vehicle speed detected by the running state detecting means and the distance to the intersection detected by the distance detecting means. The first time until the vehicle reaches the intersection is calculated. Based on the position of the intersection acquired by the position information acquisition unit, the position and vehicle speed of the other vehicle acquired by the vehicle information acquisition unit, the other vehicle The second time until the vehicle reaches the intersection is calculated, and the determination means determines that another vehicle becomes an obstacle to the own vehicle when the difference between the first time and the second time is equal to or less than a predetermined value. It is characterized by that.
According to this invention, when the difference between the first time and the second time is equal to or less than a predetermined value, the determination means determines that another vehicle becomes an obstacle to the own vehicle. Since it is possible to determine the traveling state of the own vehicle and the other vehicle at the intersection taking into account the speed change with the other vehicle, it is further determined whether the other vehicle becomes an obstacle to the own vehicle. Since it can carry out with high precision, the driving assistance with respect to the driver who drives the own vehicle can be performed more effectively.

According to the first aspect of the invention, it is possible to suppress unnecessary driving assistance for a driver that controls driving of the host vehicle based on traveling information of another vehicle, and to improve comfort. Can do.
According to the second aspect of the present invention, it is possible to suppress unnecessary driving assistance by the warning means and the automatic braking means for a driver that controls driving of the own vehicle based on traveling information of other vehicles. Can increase comfort.

According to the third aspect of the present invention, it is possible to suppress unnecessary driving support for a driver that does not require driving support when there is no other vehicle that interferes with the host vehicle, and comfort. Can be increased.
According to the invention according to claim 4, it is possible to prevent problems caused by operating the safe driving support means uniformly when other vehicles exist on the intersection road, and to improve the comfort for the driver. Can do.

According to the invention of claim 5, since it is possible to determine with high accuracy whether or not another vehicle becomes an obstacle to the own vehicle, driving support for the driver driving the own vehicle is more effective. Can be done.
According to the invention of claim 6, since it can be determined with higher accuracy whether another vehicle becomes an obstacle to the own vehicle, driving support for the driver who drives the own vehicle is further effective. Can be done.

Hereinafter, a driving support apparatus for a vehicle according to an embodiment of the present invention will be described with reference to the accompanying drawings. FIG. 1 is a configuration diagram of a vehicle driving support apparatus according to an embodiment of the present invention.
As shown in the figure, the vehicle driving support device includes an information transmission / reception unit 11, an imaging unit 12, a host vehicle detection unit 13, a map database 14, a processing device 10, a braking device 20, and an alarm device 21. And.

  The information transmission / reception unit 11 transmits and receives various types of information by vehicle-to-vehicle communication or road-to-vehicle communication with the information transmission / reception unit 30 mounted on another vehicle or installed on the road. Here, the information transmitted from the information transmission / reception unit 30 includes information related to the vehicle state of the other vehicle, such as speed and position, as well as the yaw angle (rotation angle about the vertical axis of the vehicle center of gravity) and the steering angle (driving The direction and the magnitude of the steering angle input by the user), the on / off state of the direction indicator and the brake, and the like.

The imaging unit 12 includes, for example, a camera such as a CCD camera or a C-MOS camera that can capture an image in the visible light region or the infrared region, an image processing unit, and a radar.
For example, the camera is disposed at a position near the rear-view mirror on the vehicle interior side of the front window, and images the outside of a predetermined detection range in front of the host vehicle through the front window.
The image processing unit performs predetermined image processing such as filtering and binarization processing on the image obtained by photographing with the camera, generates image data including pixels of a two-dimensional array, and supplies the processing device 10 with the image data. Output.

  The radar is disposed, for example, near the nose of the body of the host vehicle or in the vicinity of the front window in the passenger compartment, and is controlled by the radar control unit according to a control command input from the processing device 10 to the radar control unit. This occurs when a transmission signal such as a wave is transmitted in an appropriate detection direction (for example, forward of the traveling direction of the host vehicle) and reflected by an object (detection target) outside the host vehicle. The reflected signal is received, the reflected signal and the transmission signal are mixed, and a beat signal is generated and output to the processing device 10.

The own vehicle detection unit 13 includes various sensors (for example, a vehicle speed sensor, a steering angle sensor, a gyro sensor, and the like) that detect state quantities related to the running state and driving state of the own vehicle. A detection signal output from the sensor is output to the processing device 10 as a vehicle state quantity.
Here, the vehicle speed sensor detects the speed of the vehicle (vehicle speed), the steering angle sensor detects the direction and magnitude of the steering wheel angle (steering angle), which is the rotation angle of the steering wheel, and the gyro sensor detects itself in a horizontal plane. The direction of the vehicle and the inclination angle with respect to the vertical direction (for example, the inclination angle of the vehicle longitudinal axis with respect to the vertical direction and the yaw angle that is the rotation angle of the vehicle center of gravity about the vertical axis) and the amount of change in the inclination angle (for example, the yaw rate) Etc.).

  The map database 14 includes a computer-readable storage medium such as a magnetic disk device such as a hard disk device or an optical disk device such as a CD-ROM, CD-R, MO, or DVD. The map database 14 is road information such as road width data, intersection angles of multiple roads, intersection shapes and positions, for example, as map data for displaying a map on a navigation device (not shown) or a display device. Is stored

  The processing device 10 includes an approaching vehicle detection unit 15, a stop line / stop sign detection unit 16, a stop required intersection detection unit 17, a vehicle forward intersection detection unit 18, and an information provision condition determination unit 19. ing.

The approaching vehicle detection unit 15 detects the approaching vehicle to the intersection on the intersection road based on the speed and position information of the other vehicle from the information transmission / reception unit 30 received by the information transmission / reception unit 11.
The stop sign / stop line detection unit 16 performs image processing on the image output from the imaging unit 12 to detect a stop sign or a stop line on the road surface ahead of the host vehicle.
The vehicle forward intersection detection unit 18 detects an intersection existing ahead of the host vehicle based on the map data stored in the map database 14 and the speed and position of the host vehicle detected by the host vehicle detection unit 13.
When the stop in front of the host vehicle is detected by the vehicle front intersection detection unit 18 and the stop sign / stop line is detected by the stop sign / stop line detection unit 16, the stop required intersection detection unit 17 detects that the host vehicle Detect the intersection to be stopped.

  When the approaching vehicle detection unit 15 detects an approaching vehicle on the intersection road and the stop required intersection detection unit 17 detects an intersection to be stopped, the information provision condition determination unit 19 detects these information. Is provided to the driver via the braking device 20 and the alarm device 21. Details of this determination condition will be described later.

  The braking device 20 is, for example, a brake control device, a throttle control device, or the like, and controls the brake fluid pressure, the throttle opening, etc. according to a control signal input from the processing device 10, and applies braking force to the host vehicle. Make it work.

The alarm device 21 includes, for example, a tactile transmission device, a visual transmission device, and an auditory transmission device.
The tactile transmission device is, for example, a seat belt device, a steering control device, or the like. In response to a control signal input from the processing device 10, for example, a predetermined tension is generated on the seat belt so that the occupant of the own vehicle can feel By applying a perceivable tightening force on the steering wheel or by generating vibration (steering vibration) that can be perceived by the driver of the host vehicle on the steering wheel, for example, the host vehicle is not in an appropriate vehicle state. Let the occupant recognize.
The visual transmission device is, for example, a display device or the like, and according to a control signal input from the processing device 10, for example, by displaying predetermined alarm information on the display device or blinking a predetermined alarm light, Let the occupant of the vehicle recognize that the vehicle is not in the proper vehicle state.
The auditory transmission device is, for example, a speaker or the like, and outputs a predetermined alarm sound or voice according to a control signal input from the processing device 10 to confirm that the host vehicle is not in an appropriate vehicle state. Let the occupant recognize.

  The vehicle driving support apparatus according to the present embodiment has the above-described configuration. Next, the operation of the vehicle driving support apparatus will be described with reference to the accompanying drawings. First, in step S12, the current position and speed Vs of the host vehicle are detected as host vehicle information acquired by the host vehicle detection unit 13. In step S14, based on the current position and speed Vs of the host vehicle detected by the host vehicle detection unit 13 and the map database 14 of the navigation device, the vehicle front intersection detection unit 18 detects an intersection ahead of the host vehicle. Then, a distance Lks to the intersection is calculated from the detected intersection and the current position of the host vehicle.

Next, in step S <b> 16, the stop sign / stop line detection unit 16 detects a stop sign or a stop line existing in front of the host vehicle on the traveling path of the host vehicle.
Next, in step S18, whether or not there is an intersection to be stopped ahead is detected by the stop required intersection detection means 18. If this determination result is YES, the process proceeds to step S20, and if this determination result is NO, the process of this flowchart is once ended.

In step S <b> 20, the information transmission / reception unit 11 receives the position and speed Vo of the other vehicle on the cross road that intersects the traveling road, transmitted from the information transmission / reception unit 30.
In step S22, the position of the intersection is detected in the map database 14 of the navigation device, and a distance Lko to the intersection of another vehicle is calculated.
In step S24, the arrival time Ts of the own vehicle to the intersection and the arrival time To of the other vehicle to the intersection are calculated.

  In step S26, the information provision determination unit 19 determines whether or not the difference between the arrival time Ts of the own vehicle to the intersection and the arrival time To of the other vehicle to the intersection is equal to or less than a margin time (for example, ± 5 seconds). . If this determination is YES, the process proceeds to step S28. If the determination result is NO, it can be determined that the own vehicle and the other vehicle do not interfere with each other at the intersection, so the processing of this flowchart is temporarily ended. In addition, you may change this allowance time suitably according to the present speed of the own vehicle or another vehicle. This process will be described later with reference to FIGS.

In step S28, a distance (target stop distance) Ln from the current position of the host vehicle to the target stop position is measured. Here, the target stop position may be set to the position of a stop line or a stop sign, or a position away from this by a predetermined distance.
In step S30, an alarm required distance Lw and a deceleration required distance Ls are calculated. Here, the alarm required distance Lw is calculated by dividing the current traveling speed Vs of the host vehicle by the deceleration generated by the normal deceleration operation of the occupant. The required deceleration distance Ls is calculated by dividing the current traveling speed Vs of the host vehicle by the deceleration for avoiding danger. As shown in FIG. 6, since the deceleration for avoiding danger corresponds to the deceleration for sudden deceleration and is set to a value larger than the normal deceleration, it is set to a value larger than the normal deceleration. The deceleration required distance Ls is shorter than the alarm required distance Lw.

  In step S32, it is determined whether or not the target stop distance Ln measured in step S28 is less than or equal to the alarm required distance Lw calculated in step S30. If this determination result is YES, the process proceeds to a step S38, and if this determination result is NO, the process proceeds to a step S34. In step S38, the warning device 21 outputs a warning to the driver of the host vehicle, and the processing of this flowchart is temporarily terminated. As described above, the alarm output by the alarm device 21 includes an alarm by a tactile transmission device, an alarm by a visual transmission device, and an alarm by an auditory transmission device. Alternatively, it may be operated in stages. Further, this alarm output may be performed to the driver of another vehicle.

  In step S34, it is determined whether or not the target stop distance Ln measured in step S28 is equal to or less than the required deceleration distance Ls calculated in step S30. If this determination result is YES, the process proceeds to a step S40, and if this determination result is NO, the process proceeds to a step S36. In step S40, the deceleration process by the braking device 20 is performed, and the process of this flowchart is complete | finished.

  In step S36, it is determined whether or not the target stop position has been passed. If this determination result is YES, the process proceeds to step S42, and if this determination result is NO, the process of this flowchart is terminated as it is. In step S42, the operation of the alarm device 21 and the braking device 20 is stopped, and the process of this flowchart ends.

As described above, the driving assistance in the present embodiment controls the presence / absence of operation according to the situation of other vehicles existing on the cross road. This will be described with reference to FIGS.
3 is an explanatory diagram showing the road situation when performing the stop support control by the driving support device shown in FIG. As shown in the figure, when the presence of another vehicle is detected on an intersection road 42 that intersects the traveling road 41 of the host vehicle, an alarm is provided to prevent interference with the other vehicle at the intersection 43. When the alarm device 21 or the braking device 20 is operated based on the required distance Lw or the required deceleration distance Ls, an appropriate driving is performed to prevent the driver of the own vehicle from detecting the presence of another vehicle and to prevent interference with the other vehicle. Can help.

  FIG. 5 is an explanatory diagram showing a road situation when stop assistance control is performed by a conventional driving assistance device. As shown in the figure, when there is no other vehicle on the intersection road 42 intersecting the traveling road 41 of the own vehicle, it can be determined that the other vehicle does not interfere with the intersection 43. In addition, if the alarm device 21 and the braking device 20 are uniformly operated based on the above-described required alarm distance Lw and the required deceleration distance Ls, driving different from the driving intended by the driver of the host vehicle is forced, and unnecessary information is provided. As a result, the driver is bothered and comfort is impaired.

  FIG. 4 is an explanatory diagram showing a road situation when the stop support control by the driving support device shown in FIG. 1 is suppressed. As shown in the figure, when there is no other vehicle on the intersection road 42 that intersects the traveling road 41 of the own vehicle, it can be determined that the other vehicle does not interfere at the intersection 43. Therefore, by stopping the operation of the alarm device 21 and the braking device 20, it is possible to perform the driving intended by the driver of the host vehicle. Further, since unnecessary information provision is suppressed, it is possible to prevent the driver from being bothered and to improve comfort.

As described above, according to the driving support device for a vehicle according to the embodiment of the present invention, unnecessary driving support is provided to a driver who does not require driving support when there is no other vehicle that interferes with the host vehicle. Can be suppressed, and comfort can be enhanced.
Of course, the contents of the present invention are not limited to the embodiments. For example, in the embodiment, when it is determined that interference with another vehicle does not occur as in step S26, the driving support is terminated without performing alarm output or deceleration execution. It may be controlled not only to stop, but also to suppress. In other words, when it is determined that interference with other vehicles does not occur, the number of alarms and the volume of generated sound are reduced or the timing is delayed compared to the case where it is determined that there is a possibility of occurrence. You may control to do. As for the braking process, if the driver hardly decelerates until just before the stop position, the operation timing may be delayed to provide the deceleration support.

1 is a block diagram of a vehicle driving support apparatus according to an embodiment of the present invention. It is a flowchart figure which shows operation | movement of the driving assistance apparatus of the vehicle shown in FIG. It is explanatory drawing which shows the road condition at the time of performing stop assistance control by the driving assistance apparatus shown in FIG. It is explanatory drawing which shows the road condition at the time of suppressing the stop assistance control by the driving assistance device shown in FIG. It is explanatory drawing which shows the road condition at the time of performing the stop assistance control by the conventional driving assistance device. It is a graph which shows the relationship between the deceleration and the range which performs a warning.

Explanation of symbols

DESCRIPTION OF SYMBOLS 10 ... Processing apparatus 11 ... Information transmission / reception part (vehicle information acquisition means)
17 ... Stop required intersection detection unit (recognition means)
18 ... Vehicle front intersection detection unit (distance detection means)
19 ... Information provision judgment part (control device)
20 ... braking device (safe driving support means)
21 ... Alarm device (safe driving support means)

Claims (6)

Recognizing means for recognizing an intersection to be temporarily stopped in the traveling direction of the vehicle;
A distance detection means for obtaining a distance to the temporary stop point recognized by the recognition means;
A deceleration intention detection means for detecting the driver's intention to decelerate,
Safe driving support means provided in the vehicle,
Driving support for a vehicle comprising: control means for operating the safe driving support means when the driver's intention to decelerate is not detected by the deceleration intention detection means when the distance detected by the distance detection means is less than a predetermined distance A device,
Vehicle information acquisition means for acquiring travel information of other vehicles on the intersection road intersecting with the road on which the vehicle travels at the intersection;
The vehicle driving support apparatus, wherein the control means controls the operation of the safe driving support means based on information acquired by the vehicle information acquisition means.   2. The vehicle driving support according to claim 1, wherein the safe driving support means is at least one of an alarm means provided in the own vehicle and an automatic braking means that automatically activates the braking means of the vehicle. apparatus.   The control means suppresses or stops the operation of the safe driving support means when the information on the other vehicle traveling toward the intersection on the intersection road is not acquired by the vehicle information acquisition means. Or the driving assistance device of the vehicle according to claim 2. When information on other vehicles traveling toward the intersection on the intersection road is acquired by the vehicle information acquisition means, whether or not another vehicle becomes an obstacle to the own vehicle at the intersection based on the information A judgment means for judging
The vehicle driving support according to claim 1 or 2, wherein when the determining means determines that another vehicle does not become an obstacle, the control means suppresses or stops the operation of the safe driving support means. apparatus. Traveling state detection means for detecting a traveling state including the vehicle speed of the host vehicle;
Position information acquisition means for acquiring position information of the intersection,
In the vehicle driving support device in which the vehicle information acquisition means acquires the position and vehicle speed in another vehicle,
The determination means determines whether another vehicle becomes an obstacle to the own vehicle based on outputs of the traveling state detection means, the position information acquisition means, and the vehicle information acquisition means. The driving support apparatus for a vehicle according to claim 4. The vehicle speed of the host vehicle detected by the running state detection means;
Calculating a first time until the vehicle reaches the intersection based on the distance to the intersection detected by the distance detection means;
The position of the intersection acquired by the position information acquisition means;
Based on the position and vehicle speed of the other vehicle acquired by the vehicle information acquisition means, a second time until the other vehicle reaches the intersection is calculated, and the determination means includes the first time and the second time. The vehicle driving support device according to claim 5, wherein when the difference between the two is less than a predetermined value, it is determined that another vehicle becomes an obstacle to the own vehicle.

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