JP2016162416A - Driving support device and driving support method - Google Patents

Abstract

PROBLEM TO BE SOLVED: To more effectively give a warning about a risk of an accident.SOLUTION: A driving support device comprises: acquisition means that externally acquires information on a course of other vehicles via radio communication; collision determination means that on the basis of the information acquired by the acquisition means, determines a risk of a collision of a subject vehicle with the other vehicles related to the information; warning start means that starts a warning about the collision in accordance with the risk; operation determination means that determines whether a driver conducts a collision avoiding operation as a driving operation for avoiding the collision related to the warning; and warning suspension means that suspends the warning when, after the warning starts, the operation determination means determines that the collision avoiding operation is conducted.SELECTED DRAWING: Figure 2

Description

  The present invention relates to a driving support device and the like.

  The current location, speed, traveling direction, etc. of the host vehicle are transmitted to other vehicles around the host vehicle through inter-vehicle communication, and similar information is received from the other vehicle, and the risk of collision between the host vehicle and the other vehicle from these information. A driving support system that predicts and warns is known (Patent Document 1).

JP 2006-182207 A

  By decelerating in response to such a warning, it is possible to prevent a collision accident at an intersection at an intersection with poor visibility. However, if the warning is continuously given even after the host vehicle is decelerated to avoid the collision, the driver is bothered and the driver's sense of crisis with respect to the warning is diminished.

  The present invention aims to warn about the danger of an accident more effectively.

  A driving support apparatus according to an aspect of the present invention provides an acquisition unit that acquires information on a course of another vehicle from outside by wireless communication, and the own vehicle is connected to the other vehicle related to the information based on the information acquired by the acquisition unit. Collision determination means for determining the risk of collision, warning start means for starting a warning about the collision according to the danger, and the driver performs a collision avoidance operation which is a driving operation for avoiding the collision related to the warning An operation determining unit that determines whether or not a collision avoidance operation is performed by the operation determining unit after the warning is started, and a warning stopping unit that stops the warning.

  According to such a configuration, after a warning about a collision with another vehicle is started, if a driving operation for avoiding the collision is performed, the warning is stopped, and thus an unnecessary warning is issued. Can be suppressed. As a result, it is possible to prevent the driver from being bothered or to reduce the driver's sense of crisis with respect to the warning, and to more effectively warn about the risk of an accident.

  In addition, the driving support method according to one aspect of the present invention is based on an acquisition procedure for acquiring information on the course of another vehicle from the outside by wireless communication, and based on the information acquired in the acquisition procedure, A collision determination procedure for determining the risk of collision with another vehicle, a warning start procedure for starting a warning about the collision according to the danger, and a collision that is a driving operation for the driver to avoid the collision related to the warning An operation determination procedure for determining whether or not an avoidance operation is performed, and a warning stop procedure for canceling the warning when it is determined that a collision avoidance operation is performed in the operation determination procedure after the warning is started And having.

According to such a configuration, the risk of an accident can be more effectively warned in the same manner as the driving support device described above.
In addition, the code | symbol in the parenthesis described in the claim shows the correspondence with the specific means as described in embodiment mentioned later as one aspect, Comprising: The technical scope of this invention is limited is not.

It is a block diagram of the vehicle-mounted apparatus of 1st Embodiment. It is a flowchart of the driving assistance process of 1st Embodiment. It is a flowchart of the driving assistance process of 2nd Embodiment.

Embodiments to which the present invention is applied will be described below with reference to the drawings.
[First Embodiment]
[Description of configuration]
The in-vehicle device 10 of the first embodiment has a navigation function and a driving support function, and includes a position detector (not shown), a map data input unit, a control unit, a user I / F, an in-vehicle LAN communication unit, an inter-vehicle communication unit. , It consists of in-vehicle camera. The driving support function is realized by the collision prevention driving support unit 11, the communication unit 12, the control / determination unit 13, the display / warning unit 14, the driver intention detection unit 15, the casual driving detection unit 16, and the like (FIG. 1). . These parts correspond to functions realized by the control unit or the like.

The position detector includes a GPS receiver, a gyro sensor, an acceleration sensor, and the like, and is configured to detect the current location of the host vehicle.
The map data input unit is a part for inputting various data such as map data used when performing route guidance by the navigation function and facility search data used when searching for a predetermined facility. As a storage medium for these data, a DVD-ROM, HDD, or the like is generally used.

  The control unit is mainly configured by a known microcomputer including a CPU, a ROM, a RAM, an I / O, a bus line connecting these, and the like. The control unit performs various processes according to a program stored in the ROM or a program loaded in the RAM.

  The user I / F includes an LCD, an organic EL, and the like, and includes a display unit that performs various displays, a speaker that outputs sound based on signals from the control unit, an operation unit that receives various instructions from the user, and the like. The

The in-vehicle LAN communication unit is a part that communicates with other ECUs via an in-vehicle LAN (for example, CAN) to which the in-vehicle device 10 is connected.
A vehicle-to-vehicle communication unit is a part that has an antenna (not shown) and performs wireless communication (vehicle-to-vehicle communication) with a vehicle-mounted device similar to the vehicle's own device mounted on another vehicle around the vehicle. .

The in-vehicle camera is a part for photographing the driver's face.
On the other hand, the collision prevention driving support unit 11 is a part that performs driving support of the host vehicle through inter-vehicle communication. Specifically, the collision prevention driving support unit 11 receives travel information (information including the current location, speed, traveling direction, and the like of the vehicle) transmitted from another vehicle through inter-vehicle communication, and Generate travel information. Then, a collision between the own vehicle and the other vehicle is predicted based on traveling information of the other vehicle and the own vehicle. Further, the collision prevention driving support unit 11 transmits the traveling information of the host vehicle to other vehicles existing around the host vehicle by inter-vehicle communication.

  The communication unit 12 performs wireless communication with an in-vehicle device similar to the own device mounted on another vehicle by the inter-vehicle communication unit. Specifically, the travel information of the other vehicle is received from the in-vehicle device around the host vehicle, and the travel information of the host vehicle is transmitted to the in-vehicle device.

The control / determination unit 13 comprehensively controls driving support by the own device.
The display / warning unit 14 gives a warning or the like to the driver via a display unit, a speaker, or the like during driving support.

  The driver intention detection unit 15 determines whether or not a collision avoidance operation (driving operation for avoiding a collision) has been performed by a driver who has been warned of a collision with another vehicle. Specifically, for example, the determination may be performed based on information acquired via the in-vehicle LAN, or may be performed based on a signal from a steering angle sensor that detects the steering angle of the steering wheel, a vehicle speed sensor, or the like. Also good.

  The random driving detection unit 16 determines whether or not the driver is performing random driving (driving in a state where attention is reduced). Specifically, for example, the determination may be performed based on an image of a driver's face taken by an in-vehicle camera. It should be noted that even when a drowsy driving or a side-by-side driving is performed, it may be considered that the driving is performed casually.

[Description of operation]
Next, the driving support process performed in the vehicle-mounted apparatus 10 of 1st Embodiment is demonstrated using the flowchart of FIG. This process is executed by the control unit or the like during driving of the host vehicle.

  In S100, the collision prevention driving support unit 11 predicts a collision between the host vehicle and another vehicle. Specifically, the anti-collision driving support unit 11 acquires travel information of other vehicles that travel around the host vehicle through inter-vehicle communication, and from information acquired from other ECUs and various sensors via the in-vehicle LAN. Based on this signal, travel information of the host vehicle is generated. Based on the travel information of the host vehicle and other vehicles, the shape of the road around the current location specified based on the map data, etc., multiple future travel positions of the host vehicle and other vehicles are predicted, and based on these positions The risk of collision between the vehicle and another vehicle is determined.

  In addition to this, for example, when there is an intersection or a junction with another road ahead of the road on which the host vehicle is traveling, the intersection is determined based on the traveling direction included in the received travel information. It may be determined that there is a danger of a collision when it is determined whether there is another vehicle heading and the other vehicle is present. Further, when there is another vehicle heading to the intersection or the like at a vehicle speed equal to or higher than a predetermined threshold, the risk of collision may be considered high.

Then, when there is a danger of collision or when the danger is high, the collision prevention driving support unit 11 predicts the occurrence of the collision and proceeds to S105.
In S105, the display / warning unit 14 starts a warning about the danger of a collision with another vehicle via the display unit or the speaker, and then the process proceeds to S110. Here, after the warning is started, the display / warning unit 14 may continue the warning even if the danger of the collision is resolved by the behavior of the other vehicle. This can give the driver a sense of tension. Even in such a case, the display / warning unit 14 stops the warning when the process proceeds to S120 described later.

  In S110, the driver intention detection unit 15 determines whether or not a collision avoidance operation has been performed. Specifically, for example, when the brake pedal is operated, when the vehicle speed is equal to or lower than a predetermined speed, or the traveling direction of the host vehicle is changed by a steering operation, the host vehicle is predicted to collide. If the vehicle heads to a position that is different from a position (an intersection or a merging point in front of the host vehicle), it may be considered that a collision avoidance operation has been performed. When an affirmative determination is made (S110: Yes), the process proceeds to S115, and when a negative determination is made (S110: No), the process proceeds to S105.

  In S115, the random driving detection unit 16 determines whether or not the random driving is being performed. Thereby, it is determined whether or not the driver has intentionally performed a collision avoidance operation. Specifically, the frequency of the driver's blink may be measured based on the driver's face image taken by the in-vehicle camera, and if the frequency is low, it may be regarded as casual driving. In addition, based on the image, it is determined whether or not the driver's line of sight is concentrated at one point.

  In addition to this, it may be determined whether or not a side-view driving is performed based on the image. Further, it is determined whether or not the driver is awakened based on the image. If the driver is not awakened, it may be regarded as a casual driving. Of course, based on the behavior of the driver other than those described above, it may be determined whether or not random driving is being performed.

  When an affirmative determination is made (S115: Yes), the process proceeds to S105, and when a negative determination is made (S115: No), the process proceeds to S120. Note that if it is determined that the driving is random, the communication unit 12 may transmit information indicating that fact to an in-vehicle device mounted on another vehicle. Then, an in-vehicle device of another vehicle that has received the information may issue a warning that the other vehicle that is at risk of collision is being driven indiscriminately.

In S120, the display / warning unit 14 stops the warning about the danger of collision, and then proceeds to S110.
[Second Embodiment]
The in-vehicle device 10 of the second embodiment has the same configuration as that of the first embodiment, but in addition to the navigation function and the driving support function similar to the in-vehicle device 10 of the first embodiment, further, automatic driving It differs in that it has a function.

  Specifically, the in-vehicle device 10 includes an outside camera, a radar, a handle actuator, and a brake actuator (not shown). The camera outside the vehicle captures an image around the host vehicle, and the radar detects an obstacle or the like existing around the host vehicle. The handle actuator steers the handle, the accelerator actuator operates the accelerator pedal, and the brake actuator operates the brake pedal.

  Further, the map data acquired through the map data input includes information indicating whether or not automatic driving is possible in each road section in the road information indicating the shape of each road section. In addition, highways and national highways may be used as road sections where automatic driving is possible (sections where automatic driving is possible).

  When the vehicle is traveling in a section where automatic driving is possible during automatic driving, the in-vehicle device 10 uses a camera outside the vehicle, radar, etc. To get. Based on the route to the destination specified by the navigation function, the steering wheel, the accelerator pedal, the brake pedal, and the like are operated so that the host vehicle travels along the route.

  In addition, when the vehicle-mounted device 10 is following the vehicle ahead by automatic driving, when the vehicle is traveling in a section where automatic driving is possible, the vehicle-to-vehicle device 10 determines the inter-vehicle distance from the vehicle ahead by using an outside camera or radar. To detect. Then, the steering wheel is steered so as to follow the vehicle ahead while operating the xel pedal and the brake pedal so that the inter-vehicle distance is constant.

  In the in-vehicle device 10, driving assistance using inter-vehicle communication is performed in consideration of the state of automatic driving. Below, the driving assistance process performed with the vehicle-mounted apparatus 10 of 2nd Embodiment is demonstrated using the flowchart of FIG. This process is executed by the control unit or the like during driving of the host vehicle.

  In S200, the collision prevention driving support unit 11 predicts a collision between the host vehicle and another vehicle in the same manner as S100 in the driving support process of the first embodiment. When a collision is predicted, the process proceeds to S205.

  In S205, the control / determination unit 13 determines whether or not automatic driving can be performed at a predicted collision position (for example, an intersection or a junction point in front of the host vehicle). Specifically, it is determined based on road information included in the map data whether or not the predicted collision position is located in the section where automatic driving is possible. Note that, for example, it may be determined whether or not the collision predicted position is located in the automatic driving possible section based on information acquired from the outside by VICS (registered trademark) or the like. When an affirmative determination is obtained (S205: Yes), the process proceeds to S210, and when a negative determination is obtained (S205: No), the process proceeds to S225.

In S210, the display / warning unit 14 starts a warning about the danger of a collision of another vehicle via the display unit or the speaker. Then, the process proceeds to S215.
In S215, before the host vehicle reaches the predicted collision position, a collision avoiding operation (for example, an operation for decelerating or changing the traveling direction) that is an operation for avoiding a collision with the host vehicle by automatic driving is performed. . Then, the warning about the danger of the collision is stopped, and the display / warning unit 14 notifies that the collision avoidance operation has been performed and the collision with another vehicle has been avoided (S220). The process ends.

  On the other hand, in S225, where automatic driving cannot be performed at the predicted collision position, the control / determination unit 13 determines whether or not automatic driving is being performed. When an affirmative determination is obtained (S225: Yes), the process proceeds to S230, and when a negative determination is obtained (S225: No), the process proceeds to S245.

  In S230, similar to S105 of the driving support process of the first embodiment, the display / warning unit 14 starts a warning about the danger of a collision of another vehicle. Further, the display / warning unit 14 gives a warning to switch from automatic operation to manual operation. Then, the process proceeds to S235.

  In S235, similar to S115 in the driving support process of the first embodiment, the random driving detection unit 16 determines whether or not the random driving is being performed. And when affirmation determination is made (S235: Yes), it transfers to S230. At this time, the host vehicle may be urgently stopped or moved to the road shoulder to stop. As a result, it is possible to prevent the driver from responding to the end of automatic driving and causing an accident. Further, at this time, the communication unit 12 may transmit a message indicating that the driver's own vehicle is being driven or that the host vehicle is stopped to an in-vehicle device mounted on another vehicle. And the vehicle-mounted apparatus of the other vehicle which received this information may alert | report that to a driver etc. On the other hand, when a negative determination is made (S235: No), the process proceeds to S240.

In S240, the automatic operation is stopped and switched to manual operation. Then, the process proceeds to S250.
On the other hand, in S245 that is shifted to when automatic driving is not being executed, the display / warning unit 14 starts a warning about the danger of a collision of another vehicle in the same manner as S105 of the driving support process of the first embodiment. The Then, the process proceeds to S250.

  In S250, similarly to S110 of the driving support process of the first embodiment, the driver intention detection unit 15 determines whether or not a collision avoidance operation has been performed. When an affirmative determination is made (S250: Yes), the process proceeds to S255, and when a negative determination is made (S250: No), the process proceeds to S245.

  In S255, similar to S235, the random driving detection unit 16 determines whether or not the random driving is being performed. When an affirmative determination is made (S255: Yes), the process proceeds to S245, and when a negative determination is made (S255: No), the process proceeds to S260.

In S260, the display / warning unit 14 stops the warning about the danger of collision, and then proceeds to S250.
[effect]
When driving support is performed using inter-vehicle communication as in the first and second embodiments, it is considered that a warning is issued about the risk of collision in both the host vehicle and the other vehicle in which a collision is predicted. If the risk of collision is determined based on the future travel positions of the host vehicle and other vehicles, the risk of collision will be sufficiently reduced if each vehicle is decelerated to the same extent in response to the warning. Nevertheless, there is a risk that the risk of collision is still determined to be high. As a result, there is a possibility that the warning will continue even though the risk of collision has been sufficiently reduced, which may cause annoyance to the driver and diminish the driver's sense of crisis for the warning. is there.

  On the other hand, according to the in-vehicle device 10 of the first and second embodiments, after a warning about a collision with another vehicle is started, the warning is stopped when a collision avoiding operation such as decelerating the host vehicle is performed. Therefore, it is possible to suppress unnecessary warnings from being issued. As a result, it is possible to prevent the driver from being bothered or to reduce the driver's sense of crisis with respect to the warning, and to more effectively warn about the risk of an accident.

  Furthermore, in the first and second embodiments, after detecting the collision avoidance operation, it is determined whether or not the collision avoidance operation is intentionally performed by further determining whether or not the rough driving is performed. . Thereby, it can suppress that the warning about a collision will be stopped by having performed collision avoidance operation accidentally.

  Further, in the driving support processing of the first and second embodiments, it is determined whether or not a collision avoiding operation or random driving is performed even after the warning about the collision is stopped. Then, when the collision avoidance operation is no longer performed or when the casual driving is performed, the warning is resumed. For this reason, it can warn about the danger of an accident more effectively.

[Other Embodiments]
As mentioned above, although embodiment of this invention was described, this invention can take a various form, without being limited to the said embodiment.

  (1) In the collision prevention driving support unit 11 of the in-vehicle device 10 according to the first and second embodiments, the collision between the host vehicle and the other vehicle is detected based on the travel information received from the same in-vehicle device mounted on the other vehicle. is expected. However, the present invention is not limited to this, and the collision prevention driving support unit 11 may predict a collision based on the traveling information of other vehicles received from the roadside device.

  Specifically, a roadside device installed on the side of a road, such as an intersection with poor visibility, measures the current location, vehicle speed, traveling direction, etc. of a vehicle approaching the intersection, and generates travel information of the vehicle. good. And you may transmit the produced | generated driving | running | working information by radio | wireless communication with respect to the vehicle-mounted apparatus 10 mounted in the vehicle which approaches this intersection from a roadside device. Further, the collision prevention driving support unit 11 of the in-vehicle device 10 that has received the travel information determines whether the travel information corresponds to another vehicle based on the current location or the like included in the travel information, and A collision may be predicted based on the corresponding travel information in the same manner as in the first and second embodiments. Even in such a case, the same effect can be obtained.

  (2) In the driving support process of the first embodiment, after a warning about the danger of a collision with another vehicle is started, the warning is canceled when a collision avoidance operation is performed and the driver is not driving casually. (S110, S115). Also, in the driving support process of the second embodiment, if the collision prediction position is not an automatic driving enabled section, a warning about the danger of the collision is started, and then a collision avoidance operation is performed and a gentle driving is performed. If not, the warning is canceled (S250, S255).

  However, the present invention is not limited to this, and S115 in the driving support process of the first embodiment and S255 in the driving support process of the second embodiment are omitted, and a collision avoidance operation is performed after a warning about the danger of a collision is started. You may stop the warning. In the driving support process of the first embodiment, S115 may be omitted in the process after the warning is stopped in S120. In the driving support process of the second embodiment, S255 may be omitted in the process after the warning is stopped in S260. Even in such a case, the same effect can be obtained.

  (3) The functions of one component in the first and second embodiments may be distributed as a plurality of components, or the functions of a plurality of components may be integrated into one component. Further, at least a part of the configuration of the first and second embodiments may be replaced with a known configuration having a similar function. Further, a part of the configuration of the first and second embodiments may be omitted. Moreover, you may add or substitute at least one part of the structure of 1st, 2nd embodiment with respect to the structure of other 1st, 2nd embodiment. In addition, all the aspects included in the technical idea specified only by the wording described in the claim are embodiment of this invention.

  (4) A system composed of a plurality of ECUs in addition to the above-described in-vehicle device 10 and having the same function as the in-vehicle device 10, a program for causing a computer to function as the in-vehicle device 10, a medium storing this program, The present invention can also be realized in various forms such as a driving support method corresponding to the driving support processing in the first and second embodiments.

[Correspondence with Claims]
The correspondence between the terms used in the description of the above embodiment and the terms used in the description of the claims is shown.

  The in-vehicle device 10 in the first and second embodiments is an example of a driving support device, the anti-collision driving support unit 11 is an example of a collision determination unit, the communication unit 12 is an example of an acquisition unit, and the display / warning unit 14 is a warning. As an example of the start unit and the warning cancellation unit, the driver intention detection unit 15 corresponds to an example of the operation determination unit, and the casual driving detection unit 16 corresponds to an example of the driver determination unit.

  Further, S100 of the driving support process in the first embodiment corresponds to an example of an acquisition procedure and a collision determination procedure, S105 corresponds to an example of a warning start procedure, S110 corresponds to an example of an operation determination procedure, and S120 corresponds to an example of a warning stop procedure. To do.

  In addition, S200 of the driving support process in the second embodiment is an example of an acquisition procedure and a collision determination procedure, S230 and S245 are an example of a warning start procedure, S250 is an example of an operation determination procedure, and S260 is an example of a warning stop procedure. It corresponds to.

  DESCRIPTION OF SYMBOLS 10 ... Vehicle-mounted apparatus, 11 ... Collision prevention driving | operation assistance part, 12 ... Communication part, 13 ... Control / determination part, 14 ... Display / warning part, 15 ... Driver intention detection part, 16 ... Random driving detection part.

Claims (5)

Acquisition means (12) for acquiring information on the course of another vehicle from outside by wireless communication;
Collision determination means (11) for determining a risk that the own vehicle will collide with the other vehicle related to the information based on the information acquired by the acquisition means;
Warning start means (14) for starting a warning about the collision according to the danger;
Operation determination means (15) for determining whether or not the driver is performing a collision avoidance operation which is a driving operation for avoiding the collision related to the warning;
After the warning is started, if it is determined by the operation determination means that the collision avoidance operation is being performed, a warning stopping means (15) for stopping the warning;
A driving support device (10) comprising: The driving support device according to claim 1,
Driver determination means (16) for determining whether or not the driver intentionally performs the collision avoidance operation based on the behavior of the driver;
The warning stopping means determines that the collision avoiding operation is being performed by the operation determining means after the warning is started, and the driver determining means intentionally performs the collision avoiding operation by the driver. Discontinuing the warning if it is determined that the
A driving assistance device characterized by the above. In the driving assistance device according to claim 1 or 2,
The warning start means restarts the warning when the operation determination means determines that the collision avoidance operation is not performed after the warning is stopped,
A driving assistance device characterized by the above. In the driving assistance device according to claim 2,
The warning start means determines that the collision avoidance operation is not performed by the operation determination means after the warning is stopped, or the driver determination means determines that the driver intends the collision avoidance operation. Resuming the warning if it is determined that the
A driving assistance device characterized by the above. An acquisition procedure (S100, S200) for acquiring information on the course of another vehicle from the outside by wireless communication;
A collision determination procedure (S100, S200) for determining a risk that the own vehicle will collide with the other vehicle related to the information based on the information acquired in the acquisition procedure;
A warning start procedure (S105, S230, S245) for starting a warning about the collision according to the danger;
An operation determination procedure (S110, S250) for determining whether or not the driver is performing a collision avoidance operation that is a driving operation for avoiding the collision related to the warning;
After the warning is started, if it is determined in the operation determination procedure that the collision avoidance operation is performed, a warning cancellation procedure (S120, S260) for canceling the warning;
A driving support method characterized by comprising:

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