JP4296940B2 - Vehicle driving support device and vehicle driving support method - Google Patents

Description

  The present invention relates to a vehicle driving support device and a vehicle driving support method, and in particular, a vehicle driving support device suitable for comprehensively providing optimal vehicle driving support based on the driving environment around the vehicle and the state of the vehicle itself, and The present invention relates to a vehicle driving support method.

Conventionally, a driving support system that performs driving support for a vehicle driver is known (see, for example, Patent Document 1). In this system, the vehicle's current position, speed, temperature, and conditions such as the scenery around the vehicle are detected using a GPS device, various sensors, an external camera, etc. It is shown using a display or a speaker. Therefore, in the above-described system, when the driver drives the vehicle, assistance is provided by presenting various information.
Japanese Patent Laid-Open No. 7-215092

  However, the system described above merely presents each detected information to the vehicle driver independently and does not consider the relationship between each information, so the vehicle is placed. It is difficult to say that appropriate driving support corresponding to both the driving environment and the state of the vehicle is provided throughout the driving.

  The present invention has been made in view of the above points, and is a vehicle capable of optimally assisting a vehicle driver by comprehensively judging the traveling environment around the vehicle and the state of the vehicle itself. It is an object to provide a driving support device and a vehicle driving support method.

The above object is to detect a traveling environment detecting means for detecting that the vehicle travels on a road having a plurality of traffic zones, whether or not the vehicle travels across two traffic zones, and a unit time or unit of the vehicle. Whether or not the vehicle travels across two traffic zones when the vehicle state detection means for detecting the number of lane changes per distance and the travel environment detection means detect that the vehicle travels on the road wherein the threshold value of the lane change frequency, the running and driving the ideal model calculating means that to calculate a driving ideal model according to the stored value stored in the storage unit, the vehicle is said on the road by the traveling environment detection means in accordance with the If it is detected that the vehicle state is detected, the driving state specifying means for specifying the number of lane changes according to whether or not the vehicle travels across two lanes based on the detection result of the vehicle state detecting means. When the lane change frequency in accordance with whether the vehicle is traveling over two walking area by the operating state specifying means, if it exceeds the threshold by the operation ideal model calculation means of the vehicle A driving support means for performing driving support; and after the driving support is performed by the driving support means, a storage value stored in the storage unit as the driving ideal model is determined based on a predetermined vehicle traffic rule or driving morals. Driving characteristic model changing means for changing to a value corresponding to the number of lane changes according to whether or not the vehicle by the driving state specifying means travels across two lanes within a range Achieved by support device.

Further, the above object is achieved, the computer, the vehicle and the running environment detecting step Ru is detected that the vehicle is traveling on a road with having a plurality of passage zones, the computer, whether the vehicle is traveling over two-way zone When the vehicle state detecting step for detecting the number of lane changes per unit time or unit distance of the vehicle and the computer detecting that the vehicle travels on the road in the traveling environment detecting step, the threshold of the lane change frequency in response to whether or not to travel over two-way zone, the operating ideal model calculation step of Ru was calculated as the operating ideal model in accordance with the stored values stored in the storage unit, the computer In addition, when it is detected that the vehicle travels on the road in the traveling environment detection step, the detection in the vehicle state detection step is performed. Based on the results, the vehicle is a driving state estimation step of Ru is identifying the lane change frequency in response to whether or not to travel over two-way zone, the computer, the vehicle that put on the operating condition specifying step 2 one of the lane change frequency in response to whether or not to travel across the passage zone, if it exceeds the threshold value in the operation ideal model calculation step, and the driving support step to I line driving support of the vehicle, After driving support is performed in the driving support step in the computer, the stored value stored in the storage unit as the driving ideal model is within the range of predetermined vehicle traffic rules or driving morals, and the driving vehicle two whether the lane change frequency driving characteristics model change scan which Ru is changed to one corresponding to corresponding to the traveling across the walking area in the state specifying step Tsu and up, are achieved by a vehicle driving support method comprising.

In these aspects of the invention, the driving state of the vehicle is estimated based on the traveling environment in which the vehicle is placed and the state of the vehicle. Then, the relationship between the estimated driving state and the ideal driving model of the vehicle according to the traveling environment is grasped, and driving support of the vehicle is performed based on the relationship. When the estimated driving state matches the driving ideal model, no driving support for assisting the vehicle driver is performed. On the other hand, when the estimated driving state deviates from the driving ideal model, appropriate driving support is performed. In such a configuration, since driving assistance corresponding to both the driving environment and the vehicle state is performed, the driving assistance to the vehicle driver is optimally determined comprehensively based on the driving environment and the vehicle state.

Further, in the vehicle driving support device described above , the driving ideal model calculation means may determine the driving ideal model according to a predetermined vehicle traffic rule or driving moral, and the vehicle driving support method described above. In the driving ideal model calculation step, the driving ideal model may be obtained in accordance with a predetermined vehicle traffic rule or driving morality. According to such a configuration, it is possible to realize driving assistance adapted to the driving characteristics of the vehicle driver.

Further, the above object is to provide a travel environment detection means for detecting that the vehicle travels on a road having a plurality of traffic zones, whether or not the vehicle travels across two traffic zones, and the unit time of the vehicle. Alternatively, when the vehicle state detection means for detecting the number of lane changes per unit distance and the traveling environment detection means detect that the vehicle travels on the road, whether the vehicle travels across two traffic zones the threshold of the lane change frequency in accordance with whether the operating ideal model calculating means that to calculate a driving ideal model in accordance with the stored values stored in the storage unit, the vehicle is on the road by the traveling environment detection means Driving condition that specifies the number of lane changes according to whether or not the vehicle travels across two traffic zones based on the detection result of the vehicle state detection means A constant section, when the vehicle is the lane change frequency in response to whether or not to travel over two-way zone, which exceeds the threshold by the operation ideal model calculating means according to the operating state specifying means, Driving support means for supporting driving of the vehicle, and the storage unit as the driving ideal model when the driving safety of the vehicle based on the driving environment or driving state in which the vehicle is placed is low, compared to when it is high This is achieved by a vehicle driving assistance device comprising: a driving environment / vehicle state model changing means for changing the stored value stored in the driving assistance means so that driving assistance by the driving assistance means is easily performed.
Further, the above object is achieved, the computer, the vehicle and the running environment detecting step Ru is detected that the vehicle is traveling on a road with having a plurality of passage zones, the computer, whether the vehicle is traveling over two-way zone When the vehicle state detecting step for detecting the number of lane changes per unit time or unit distance of the vehicle and the computer detecting that the vehicle travels on the road in the traveling environment detecting step, the threshold of the lane change frequency in response to whether or not to travel over two-way zone, the operating ideal model calculation step of Ru was calculated as the operating ideal model in accordance with the stored values stored in the storage unit, the computer In addition, when it is detected that the vehicle travels on the road in the traveling environment detection step, the detection in the vehicle state detection step is performed. Based on the results, the vehicle is a driving state estimation step of Ru is identifying the lane change frequency in response to whether or not to travel over two-way zone, the computer, the vehicle that put on the operating condition specifying step 2 one of the lane change frequency in response to whether or not to travel across the passage zone, if it exceeds the threshold value in the operation ideal model calculation step, and the driving support step to I line driving support of the vehicle, The computer stores the stored value stored in the storage unit as the driving ideal model when the safety of driving of the vehicle based on the driving environment or driving state in which the vehicle is placed is low, as compared with a high case. the driving support and running environment / vehicle state model changing step of driving support is Ru is changed so easily done in step is achieved by a vehicle driving support method comprising.
In these aspects of the invention, the driving state of the vehicle is estimated based on the traveling environment in which the vehicle is placed and the state of the vehicle. Then, the relationship between the estimated driving state and the ideal driving model of the vehicle according to the traveling environment is grasped, and driving support of the vehicle is performed based on the relationship. When the estimated driving state matches the driving ideal model, no driving support for assisting the vehicle driver is performed. On the other hand, when the estimated driving state deviates from the driving ideal model, appropriate driving support is performed. In such a configuration, since driving assistance corresponding to both the driving environment and the vehicle state is performed, the driving assistance to the vehicle driver is optimally determined comprehensively based on the driving environment and the vehicle state.
Further, in the present invention, the stored value stored in the storage unit as the driving ideal model provides driving assistance as compared to the case where the traveling environment and the vehicle state to be detected are low when the vehicle safety is low. It is changed to make it easier to do. Therefore, driving assistance corresponding to the driving environment and the vehicle state is realized.
In this case, before SL travel environment / vehicle state model change means, weather, time of day, or if subject to modifications storage values stored in the storage unit as the operation ideal model based on the vehicle speed, the front SL running environment / model changing step vehicle state, the computer, weather, time of day, or the changes stored as stored value that causes I row in the storage unit as the operation ideal model based on the vehicle speed And it is sufficient.
In the vehicle driving support device described above, the driving support means calculates the driving ideal model by calculating the number of lane changes according to whether or not the vehicle by the driving state specifying means travels across two traffic zones. If the threshold value by the means is exceeded, in order to ensure safe and smooth driving of the vehicle, information is provided or alerted to the vehicle driver and steering assist is performed. In the vehicle driving support method, in the driving support step , the driving ideal model calculating step is configured such that the number of lane changes according to whether or not the vehicle in the driving state specifying step travels across two traffic zones is calculated in the computer. If it exceeds the threshold value in, in order to ensure safe and smooth running of the vehicle, the information provided or attention喚to the vehicle driver The causes I line, may be the possible cause I line steering assist.

Furthermore, in the vehicle driving support apparatus described above, if the driving support means includes driving characteristic support policy changing means for changing the driving support policy in accordance with the driving characteristics of the vehicle driver, the vehicle described above is also provided. the driving assist method, the driving support step, the computer, if it has operating characteristics for support measures changing step of Ru is changed driving support measures in accordance with the operating characteristics of the vehicle driver, the driving characteristics of the vehicle driver It is possible to realize driving support adapted to the vehicle.

Further, in the vehicle driving support device described above, prior Symbol driving support means have a travel environment / vehicle state for supporting measures changing means for changing the driving support measures based on the running environment or the traveling state the vehicle is placed if, also, the vehicle driving support method described above, before Symbol driving support step, the computer, running environment / vehicle state Ru is changed driving support measures based on the running environment or the traveling state the vehicle is placed If the vehicle support policy change step is included, driving support corresponding to at least two vehicle states can be realized.

According to the present invention, it is possible to comprehensively determine the traveling environment in which the vehicle is placed and the state of the vehicle, and perform optimal driving assistance to the vehicle driver.

ADVANTAGE OF THE INVENTION According to this invention, the driving assistance which adapts to the driving characteristic of a vehicle driver is realizable.

Further, according to the present invention, driving support corresponding to at least two vehicle states can be realized.

  FIG. 1 shows a system configuration diagram of a vehicle driving support apparatus 10 according to an embodiment of the present invention. The system of the present embodiment includes a vehicle driving support device 10 that is mounted on a vehicle and supports driver recognition, judgment, and operation during vehicle driving. The vehicle driving support device 10 is constituted by a microcomputer or the like, and performs driving support when the vehicle driver drives the vehicle using the computer.

  In the present embodiment, the vehicle driving support device 10 includes a traveling environment recognition unit 12. The traveling environment recognition unit 12 includes a road environment database that stores information such as road structures, buildings, signboards, signs, road signals, and regulatory information, a peripheral monitoring unit that monitors the vehicle periphery using a camera, a radar, and the like, A communication unit that communicates with an infrastructure facility installed on a road, an information center, other vehicles, portable devices carried by pedestrians, and the like. The road environment database may be provided in an external infrastructure or the like, and the traveling environment recognition unit 12 may access the environment database by communication to acquire information stored in the environment database. The traveling environment recognition unit 12 detects a traveling environment such as a surrounding situation where the vehicle is currently placed or is expected to be placed in the near future based on information obtained by each unit.

  FIG. 2 shows a diagram structurally showing a part of specific events of the driving environment recognized by the driving environment recognition unit 12 of this embodiment. The driving environment recognized by the driving environment recognition unit 12 includes a dynamic driving environment in which the state easily changes, that is, a dynamic driving environment in which the state changes in a relatively short time, and a static driving environment in which the state does not easily change, that is, the state does not change in a short time. And. The static driving environment includes the traveling direction of the road on which the vehicle travels, the regulation speed, the number of lanes, the gradient, etc., and is mainly stored in the environmental database. In addition, the dynamic driving environment includes road surface conditions (for example, wet conditions such as rain), vehicle speed and vehicle density around the host vehicle, distance between the host vehicle and the preceding vehicle, weather and other conditions. There are temperature, presence / absence of pedestrians, etc., which are mainly detected by the peripheral monitoring unit using a camera or radar and the communication unit communicating with the outside.

  Here, as shown in FIG. 2, the recognized driving environment is a part of a static driving environment that is an object, and the individual dynamic state of these objects (for example, road surface conditions when driving on a road) A static state (for example, an approach clothoid when driving a curve) becomes a property, and the object is inherited and structured.

  The vehicle driving support device 10 also includes a vehicle state recognition unit 14. The vehicle state recognition unit 14 includes a positioning unit that detects the current position of the vehicle using GPS and the like, a limit detection unit that detects vehicle limit capabilities such as a stop distance of the vehicle, a lateral acceleration upper limit value, and a tire friction coefficient, Acceleration detector, vehicle speed sensor, wheel speed sensor to detect front / rear, left / right, top / bottom acceleration, vehicle speed, tire rotation angular velocity, etc., blinker, hazard, brake pedal, accelerator pedal, steering, wiper, A driving operation state detection unit that detects an operation state of a part operated by a vehicle driver such as a headlight, audio, and air conditioning. The vehicle state recognition unit 14 detects the current state of the vehicle based on information obtained by each unit.

  The vehicle state recognized by the vehicle state recognition unit 14 is also a dynamic vehicle that easily changes its state, i.e., a dynamic vehicle that changes its state in a relatively short time, and a static vehicle that hardly changes its state, i.e., does not change its state in a short time. It is composed of things. The dynamic vehicle state includes the above-described parameters, and the static vehicle state includes a vehicle width, a vehicle length, a vehicle height, and the like.

  The vehicle driving support device 10 also includes a driving state estimation unit 16 and a driving ideal model calculation unit 18. The driving state estimation unit 16 is connected to the traveling environment recognition unit 12 and the vehicle state recognition unit 14 described above. The driving state estimation unit 16 determines the driving state of the vehicle at the present time or in the near future based on the vehicle driving environment recognized by the driving environment recognition unit 12 and the vehicle state recognized by the vehicle state recognition unit 14. presume.

  FIG. 3 is a diagram showing an example of the driving state of the vehicle recognized by the driving state estimation unit 16 of the present embodiment. For example, when the vehicle travels on a road and travels on a road with the number of lanes “2”, and the travel lane is a roadside lane with a lane number “1” with a lane width of 4 meters, the travel environment recognition unit 12 Using a GPS, environmental database, camera, etc., recognize that the vehicle is traveling on the shoulder lane of lane number “1” with a lane width of 4 meters among roads with a lane number of “2” as the road progresses . At this time, the vehicle state recognition unit 14 recognizes the current position of the vehicle, the state of the blinker, and the vehicle width. Then, the driving state estimation unit 16 estimates the driving state of the vehicle by combining these pieces of information.

  According to the estimation by the driving state estimation unit 16, it is possible to recognize in what environment the vehicle is traveling at what speed and situation, and how the vehicle travels on the road (for example, It is possible to recognize whether or not the vehicle is traveling and how the vehicle is expected to travel from now on.

  Further, the driving ideal model calculation unit 18 is connected to the traveling environment recognition unit 12 described above. The driving ideal model calculation unit 18 calculates an ideal driving ideal model as a vehicle state corresponding to the driving environment based on the driving environment recognized by the driving environment recognition unit 12. This ideal driving model is to realize safe and smooth vehicle driving, vehicle traffic rules shown in the Road Traffic Act and those issued by the Traffic Safety Association, and generally known driving manners and driving morals. (For example, the lane change must not be overlooked) Or, based on the results obtained by investigating the actual situation of vehicle accidents, numerical values are added to the object and property parameters as shown in FIG. Therefore, the range is limited as an ideal one. Therefore, the calculation of the driving ideal model by the driving ideal model calculation unit 18 described above is performed according to the vehicle traffic rules, driving morals, and the like.

  FIG. 4 is a diagram showing an example of the driving ideal model calculated by the driving ideal model calculation unit 18 of the present embodiment. For example, on a road where there is a vehicle lane, it is forbidden for the vehicle to protrude beyond the vehicle lane or straddle two vehicle lanes unless it is unavoidable, such as overtaking. Changing the lanes of multiple vehicles to the limit is annoying to the following vehicles and may cause an accident. Accordingly, when the vehicle travels on such a road, the ideal driving model calculation unit 18 avoids overrunning and straddling travel as much as possible when the winker is not operating when the host vehicle is traveling on a road having a plurality of lanes along the road. That is, a two-dimensional driving ideal model (Figure 1) indicates that the number of lane numbers in which the vehicle exists is “1” as much as possible, and that the number of lane number changes per unit time or constant distance is less than a predetermined number when the blinker is activated. 4 is a region indicated by diagonal lines). Specifically, when the number of lane numbers is “1”, the driving ideal model is that the number of lane number changes is, for example, 8 times or less, and when the number of lane numbers is “2”, the lane number changes For example, it is set as an ideal model that the number of times is 5 times or less.

  In addition, in a pedestrian crossing, a bicycle crossing zone, and an area within 30 meters in front of the pedestrian crossing, a vehicle is prohibited from overtaking or overtaking other vehicles. Therefore, when the vehicle travels in such a region, the driving ideal model calculation unit 18 determines that the vehicle adjacent to the vehicle lane where the vehicle travels when the vehicle is located in the vicinity of a pedestrian crossing, a bicycle crossing and 30 meters in front of it. It is calculated as an ideal driving model that no overtaking or overtaking driving to enter a traffic zone is performed.

  Furthermore, when driving on a highway such as a vehicle-only road when the driver operates the steering wheel to change lanes, operating the steering wheel as if driving on a general road is Dangerous due to differences. Therefore, when the vehicle travels on such a road, the driving ideal model calculation unit 18 calculates, as the driving ideal model, that the steering wheel rotational angular velocity is equal to or less than a predetermined value when the lane is changed when the vehicle travels on the main road of the expressway. To do.

  The vehicle driving support device 10 also includes a deviation calculation unit 20. The deviation calculation unit 20 is connected to the driving state estimation unit 16 and the driving ideal model calculation unit 18 described above. The deviation calculation unit 20 determines whether or not the vehicle driving state estimated by the driving state estimation unit 16 does not match the driving ideal model calculated by the driving ideal model calculation unit 18 and deviates from the driving ideal model. Calculate.

  The vehicle driving support device 10 also includes an actuator 22 connected to the deviation calculation unit 20. The actuator 22 is a device for supporting the driving of the vehicle driver. The actuator 22 includes a motor that performs steering assist, a brake motor that brakes the vehicle, a throttle actuator that adjusts engine output, a vibrator that generates seat vibrations to alert the driver, and a visual and auditory sense for the driver. A display, a speaker, and the like that provide information according to are included. The deviation calculation unit 20 issues a drive command to an appropriate actuator 22 in accordance with whether or not there is a deviation from the ideal driving model of the current driving state of the vehicle. The actuator 22 operates according to the drive command supplied from the deviation calculation unit 20 and performs driving support for the driver.

  For example, in a situation where the host vehicle is traveling on a road having a plurality of lanes along a road, the number of lane numbers in which the host vehicle is present when the winker is not operating is “1” and the unit time when the winker is operating Alternatively, the number of lane number changes per fixed distance is less than “8”, and the number of lane numbers when the winker is not operating is “2”, but the number of lane number changes when the winker is operating is less than “5”. Sometimes, the vehicle driving state does not deviate from the driving ideal model, and it is not necessary to drive the actuator 22 to provide driving assistance. Therefore, in such a case, the divergence calculation unit 20 does not issue a drive command to any actuator 22 to prohibit driving support.

  On the other hand, in such a situation, the number of lane numbers when the winker is not operating is “1”, but the number of lane number changes when the winker is operating is “8” or more, or the number of lane numbers when the winker is not operating. Is “2” and the number of lane number changes when the blinker is activated is “5” or more, the vehicle driving state deviates from the driving ideal model, and driving assistance is required by driving the actuator 22. It is. Therefore, in such a case, the divergence calculation unit 20 issues a drive command to an appropriate actuator 22 in order to perform driving support. For example, a vehicle using a display, a speaker, or the like that the own vehicle protrudes from the vehicle traffic zone or passes through two vehicle traffic zones or is changed to a plurality of vehicle traffic zones. Information is provided or alerted to the driver, or the motor is driven to assist steering so that traveling across the vehicle lane is corrected.

  In the situation where the vehicle has reached a pedestrian crossing, a bicycle crossing zone, and an area within 30 meters in front of the vehicle, when the vehicle continues to travel in the current vehicle lane, the vehicle driving state is determined from the ideal driving model. There is no divergence, and driving assistance by driving the actuator 22 is unnecessary. Therefore, in such a case, the divergence calculation unit 20 does not issue a drive command to any actuator 22 to prohibit driving support. On the other hand, in such a situation, when performing overtaking or overtaking driving in which the host vehicle enters the vehicle lane adjacent to the vehicle lane where the vehicle is traveling at the present time, the vehicle driving state deviates from the ideal driving model, and the actuator It is necessary to drive 22 to provide driving assistance. Therefore, in such a case, the divergence calculation unit 20 issues a drive command to an appropriate actuator 22 in order to perform driving support. For example, information is provided or alerted to the vehicle driver using a display, a speaker, or the like that the overtaking driving or the overtaking driving should not be performed.

  Further, in a situation where the host vehicle changes lanes when traveling on an expressway, when the steering wheel rotational angular velocity is relatively small, the vehicle driving state is not deviated from the driving ideal model, and driving is performed by driving the actuator 22. It is not necessary. Therefore, in such a case, the divergence calculation unit 20 does not issue a drive command to any actuator 22 to prohibit driving support. On the other hand, when the steering wheel rotational angular velocity is relatively large under such circumstances, the vehicle driving state deviates from the driving ideal model, and driving assistance is required by driving the actuator 22. Therefore, in such a case, the divergence calculation unit 20 issues a drive command to an appropriate actuator 22 in order to perform driving support. For example, providing information or alerting the vehicle driver using a display or speaker, etc. that the steering wheel must not be manipulated greatly, or increasing the reaction force as the steering wheel angular velocity increases. Thus, the steering torque is applied by driving the motor so that the handle is not greatly operated.

  FIG. 5 shows a flowchart of an example of a control routine executed in the vehicle driving support apparatus 10 of this embodiment in order to realize the above function. The routine shown in FIG. 5 is a routine that is repeatedly activated every predetermined time. When the routine shown in FIG. 5 is started, first, the process of step 100 is executed.

  In step 100, a process for recognizing the traveling environment of the vehicle in the traveling environment recognition unit 12 is executed. In step 102, the vehicle state recognition unit 14 executes processing for recognizing various vehicle states. In step 104, processing for estimating the driving state of the vehicle based on the driving environment recognized in step 100 and the vehicle state recognized in step 102 is executed in the driving state estimation unit 16.

  In step 106, the ideal driving ideal model is calculated as the vehicle state corresponding to the traveling environment of the vehicle recognized in step 100 as described above in accordance with the vehicle traffic rules, driving morals and the like in the driving ideal model calculation unit 18. Processing is executed. In step 108, the divergence calculation unit 20 executes a process of calculating the divergence of the estimated driving state estimated in step 104 from the driving ideal model calculated in step 106.

  In step 110, it is determined whether or not there is a deviation as a result of the calculation in step 108, that is, whether or not the estimated driving state is different from the driving ideal model. As a result, if the estimated driving state matches the driving ideal model and a negative determination is made, the current routine is terminated without any further processing. On the other hand, if the estimated driving state is different from the driving ideal model and an affirmative determination is made, the process of step 112 is then executed.

  In step 112, a process of issuing an operation command from the deviation calculation unit 20 to the actuator 22 is performed to assist the driver in driving. After the processing of this step 112 is executed, for example, information is provided by voice or display notifying the driver that the driving state is deviating from the driving ideal model, alerting by seat vibration is performed, Or steering steering, a brake, a throttle, etc. are forcedly operated irrespective of a driver's driving operation, or assisting driving operation. When the processing of step 112 is finished, the current routine is finished.

  According to the routine shown in FIG. 5 above, the traveling environment in which the vehicle is placed, such as the number of lanes on the road on which the vehicle is traveling, the current position, and the vehicle state such as the number of lane numbers in which the vehicle exists and the steering wheel rotational angular velocity Based on the relationship between the driving state of the vehicle specified from both sides and the driving ideal model corresponding to the traveling environment of the vehicle, driving support corresponding to the relationship can be performed. Specifically, when the estimated driving state of the vehicle matches the driving ideal model, no driving support for assisting the vehicle driver is performed. On the other hand, when the estimated driving state deviates from the driving ideal model, the actuator 22 Driving assistance such as providing information, alerting, and assist driving is performed. Therefore, according to the vehicle driving support device 10 of the present embodiment, driving support corresponding to both the driving environment and the state of the vehicle can be performed, and thus driving support to the optimal driver who comprehensively judges both of them. Can be realized.

  It is necessary to observe the vehicle traffic rules when the vehicle travels on the road. On the other hand, although the driving characteristics of individual vehicle drivers are different, different driving characteristics are allowed as long as they are within the range of the vehicle traffic rules. Therefore, the driving ideal model calculation unit 18 may change the driving ideal model according to the driving characteristics of each driver. Specifically, the parameters of the ideal driving model derived from vehicle traffic rules, driving morals, etc. are stratified into those that can be changed according to the driving characteristics of each driver and those that cannot be changed. Is corrected and corrected according to individual characteristics within a range where the vehicle travels safely and smoothly.

  For example, in the situation where the host vehicle is traveling on a road with a plurality of lanes due to the progress of the road, the threshold of the number of lane numbers in which the host vehicle is set as an ideal driving model ensures safe driving. On the other hand, the threshold value of the number of lane number changes per unit time or fixed distance that is set as an ideal driving model is the upper limit range that ensures the safety of vehicle travel. If it is within, it is a changeable value. Accordingly, the driving ideal model calculation unit 18 first sets the initial value of the threshold value for the number of lane number changes to a predetermined number (for example, 8 times), and the actual number of lane number changes exceeds the threshold value. If it becomes (for example, 9 times), then the threshold value is updated to the number of changes (9 times).

  Here, in order to ensure the safety of vehicle travel, it is appropriate to provide an upper limit value (for example, 10 times) of the threshold value. That is, even when the actual number of lane number changes exceeds the upper limit value, it is appropriate to maintain the threshold value at the upper limit value. In addition, after the threshold value for the number of lane number changes has been set or increased, if the state where the number of lane number changes does not reach the threshold value continues for a certain period of time or continues for a predetermined travel time, May be updated to a smaller value.

  According to such processing of the driving ideal model calculation unit 18, since the driving ideal model can be changed according to the driving characteristics of each driver, driving support based on the relationship between the driving state of the vehicle and the driving ideal model is provided. Can be made to correspond to the driving characteristics of the vehicle driver, and driving assistance adapted to the driving characteristics of the vehicle driver can be realized.

  FIG. 6 shows a flowchart of an example of a control routine executed by the driving ideal model calculation unit 18 in the vehicle driving support device 10 of the present embodiment in order to realize the above function. The routine shown in FIG. 6 is a routine that is repeatedly activated every predetermined time. When the routine shown in FIG. 6 is started, first, the process of step 150 is executed.

  In step 150, a process of reading a stored value (for example, the threshold value for the number of lane number changes described above) stored in the storage unit as an ideal driving model corresponding to the traveling environment of the vehicle recognized by the traveling environment recognition unit 12 is performed. Executed. In step 152, a process for calculating an ideal driving model according to the stored value read in step 150 is executed.

  In step 154, it is determined whether or not an operation command for the actuator 22 has been issued in the divergence calculation unit 20 using the ideal driving model calculated in step 152. As a result, when a negative determination is made and the actuator 22 is not operated, the current routine is terminated without any further processing. On the other hand, if an affirmative determination is made and the actuator 22 is actuated, the process of step 156 is then executed.

  In step 156, the operation ideal model calculated in step 152 is changed in accordance with the driving state of the vehicle when the operation command for the actuator 22 is issued, that is, the stored value stored in the storage unit is updated. Is executed. For example, in the above-described example, the process of updating the threshold value for the number of lane number changes from the initial value of 8 times to 9 times or 10 times within the upper limit of 10 times is executed. When the processing of step 156 is completed, the current routine is terminated.

  According to the routine shown in FIG. 6, the driving ideal model corresponding to the driving environment can be changed in accordance with the tendency of the driving state of the vehicle. The driving state of the vehicle mainly depends on the driving characteristics of each driver. Therefore, according to the present embodiment, since the driving ideal model corresponding to the driving environment is changed according to the driving characteristics of each driving, it is possible to realize driving assistance adapted to the driving characteristics of the vehicle driver. It is possible.

  In addition, the risk generated in the traveling vehicle varies depending on the vehicle environment such as the vehicle speed, the presence or absence of water droplets on the road surface, the presence or absence of freezing, and the traveling environment such as the time zone. For example, the higher the vehicle speed, the higher the danger of running, and the higher the danger of running when the road surface is wet compared to when it is not wet. Therefore, in the driving ideal model calculation unit 18, the vehicle ideal state is completely unrelated to the parameters used for the vehicle driving state to be compared with the driving ideal model necessary for performing the driving support processing (for example, The driving speed may be changed according to a driving environment (for example, weather, time, etc.) that has nothing to do with parameters used in the driving ideal model.

  Specifically, the parameters of the ideal driving model derived from the vehicle traffic rules and driving morals are divided into those that can be changed according to the vehicle state and driving environment, and those that can be changed. Changes and corrects according to the vehicle state and the traveling environment within a range where the vehicle travels safely and smoothly. Alternatively, the upper limit value of the parameter of the ideal driving model is changed and corrected according to the vehicle state and the traveling environment. For example, in the situation where the above-mentioned own vehicle is traveling on a road with multiple lanes along the road, the threshold for the number of lane number changes can be changed as long as it is within the upper limit range in which vehicle traveling safety is secured. Therefore, the ideal driving model calculation unit 18 first sets the initial value of the threshold value of the number of lane number changes to a predetermined number (for example, 8 times) corresponding to the standard vehicle state and driving environment. After that, the threshold value is updated to a small value (for example, 6 times) when the vehicle speed is relatively high or the road surface is wet. Thereafter, the threshold value is increased and updated to the initial value (for example, 8 times) when the vehicle speed or the road surface condition returns to the standard value.

  According to such processing of the driving ideal model calculation unit 18, since the driving ideal model can be changed according to the vehicle state and the driving environment, driving support based on the relationship between the driving state of the vehicle and the driving ideal model is provided. It is possible to correspond to at least two vehicle states, and it is possible to realize driving support in consideration of safe and smooth vehicle travel.

  FIG. 7 shows a flowchart of an example of a control routine executed by the driving ideal model calculation unit 18 in the vehicle driving support device 10 of this embodiment in order to realize the above function. The routine shown in FIG. 6 is a routine that is repeatedly activated every predetermined time. When the routine shown in FIG. 6 is started, the process of step 200 is first executed.

  In step 200, a process of reading a stored value (for example, the threshold value for the number of lane number changes described above) stored in the storage unit as an ideal driving model corresponding to the driving environment of the vehicle recognized by the driving environment recognition unit 12 is performed. Executed. In step 202, processing for detecting a vehicle state (for example, vehicle speed) recognized by the vehicle state recognition unit 14 and a traveling environment (for example, road surface condition) recognized by the traveling environment recognition unit 12 is executed.

  In step 204, the driving ideal model calculated according to the stored value read in step 200 or the upper limit value of the parameter threshold value of the driving ideal model is selected from the vehicle state and the driving environment detected in step 202. A process of changing according to a value that is completely different from the stored value and has no relationship is executed. For example, in the above-described example, the threshold value for the number of lane number changes is updated from the initial value of 8 times to 6 times within the upper limit value of 10 times, or the upper limit value of 10 is set. A process of updating the number of times to 8 times or 9 times is executed. When the processing of step 204 is finished, the current routine is finished.

  According to the routine shown in FIG. 7, the standard driving ideal model can be changed in accordance with the actual state of the vehicle and the driving environment. Therefore, according to this embodiment, driving support based on the relationship between the driving state of the vehicle and the driving ideal model can be made to correspond to at least two vehicle states, which is optimal for ensuring safe and smooth driving of the vehicle. It is possible to realize a driving assistance.

  In the above-described embodiment, the traveling environment recognition unit 12 corresponds to the “traveling environment detection unit” described in the claims, and the vehicle state recognition unit 14 corresponds to the “vehicle state detection unit” described in the claims. The driving state estimating unit 16 is the “driving state estimating unit” described in the claims, the driving ideal model calculating unit 18 is the “driving ideal model calculating unit” described in the claims, and the deviation calculating unit 20 is Executing the processing of steps 108, 110, and 112 in the routine shown in FIG. 5 corresponds to “driving support means” described in the claims.

  In addition, the travel environment recognition unit 12 executes the process of step 100, and the vehicle state recognition unit 14 executes the process of step 102 in the “running environment detection step” described in the claims. In the “vehicle state detection step” described in the range, the driving state estimation unit 16 executes the process of step 104, so that the driving ideal model calculation unit 18 performs the step in the “driving state estimation step” described in the claims. By executing the processing of 106, the divergence calculation unit 20 executes the processing of steps 108, 110, and 112 in the routine shown in FIG. 5 in the “driving ideal model calculation step” described in the claims. The “driving support step” described in the claims is realized.

  Further, for example, in the situation where the host vehicle is traveling on a road having a plurality of lanes along the road, the number of lane number changes is “first state” described in the claims, and the vehicle speed is claimed. The driving ideal model calculation unit 18 corresponds to the “second state” described in the range, and the processing of step 156 in the routine shown in FIG. The “characteristic model changing means” and the “driving characteristic model changing step” execute the processing of step 204 in the routine shown in FIG. The “model change step” is realized.

  By the way, in the above embodiment, the ideal driving model is one-dimensional or two-dimensional as shown in FIG. 4, but the present invention is not limited to this. It may be original or more.

  In the above embodiment, the driving ideal model has been described with respect to three patterns when traveling on a road with a vehicle lane, traveling on a road with a pedestrian crossing, etc., and steering on an expressway. In addition, a large number of patterns can be set as the driving ideal model.

  Further, in the above embodiment, in order to absorb the driving characteristics of each vehicle driver when performing the driving support process, the driving ideal model corresponding to the traveling environment of the vehicle is changed according to the driving characteristics. However, instead of changing the driving ideal model according to the driving characteristics, the driving assistance policy itself may be changed according to the driving characteristics. For example, when it is determined that the vehicle driving state deviates from the driving ideal model in a situation where the host vehicle is traveling on a road with a plurality of lanes along a road, the host vehicle is typically Steering assistance to provide information and alert to the vehicle driver that the vehicle is running out of the vehicle traffic zone or straddling the two vehicle traffic zones, and to correct the travel across the vehicle traffic zone However, if the driving characteristics of the vehicle driver are not standard, only information provision and alerting are performed, and steering assist is not performed. Even in such a configuration, driving assistance adapted to the driving characteristics of the vehicle driver is realized. In this case, the divergence calculation unit 20 changes the driving support policy according to the driving characteristics of the vehicle driver, so that the “driving characteristic support policy changing means” and the “driving characteristic support” described in the claims are described. The “policy change step” is realized.

  In the above embodiment, the ideal driving model is changed in accordance with the vehicle state and the driving environment in order to realize optimal driving support in ensuring safe and smooth driving of the vehicle. Instead of making such a change, the driving assistance policy itself may be changed according to the vehicle state and the driving environment. For example, when it is determined that the vehicle driving state deviates from the driving ideal model in a situation where the host vehicle is traveling on a road with a plurality of lanes along a road, the host vehicle is typically If the vehicle state or driving environment is not standard, only providing information or alerting the vehicle driver that the vehicle is running out of the vehicle traffic zone or straddling the two vehicle traffic zones, Furthermore, the steering assist is performed so that the travel across the vehicle traffic band is corrected. Even in such a configuration, optimal driving support is realized in order to ensure safe and smooth travel of the vehicle. In this case, the divergence calculation unit 20 changes the driving support policy according to the vehicle state, so that “vehicle state support policy changing means” and “vehicle state support policy changing step” described in the claims are included. Is realized.

1 is a system configuration diagram of a vehicle driving support apparatus according to an embodiment of the present invention. It is the figure which represented a part of specific event of the driving environment recognized in the driving environment recognition part of a present Example structurally. It is a figure showing an example of the driving | running state of the vehicle recognized in the driving | running state estimation part of a present Example. It is a figure showing an example of the driving ideal model calculated in the driving ideal model calculation part of a present Example. It is a flowchart of the main routine performed in the vehicle driving assistance device of a present Example. It is a flowchart of the subroutine performed in the vehicle driving assistance apparatus of a present Example. It is a flowchart of the subroutine performed in the vehicle driving assistance apparatus of a present Example.

Explanation of symbols

DESCRIPTION OF SYMBOLS 10 Vehicle driving assistance device 12 Driving environment recognition part 14 Vehicle state recognition part 16 Driving state estimation part 18 Driving ideal model calculation part 20 Deviation calculation part 22 Actuator

Claims (12)

Traveling environment detection means for detecting that the vehicle travels on a road having a plurality of traffic zones ;
Vehicle state detection means for detecting whether or not the vehicle travels across two traffic zones and the number of lane changes per unit time or unit distance of the vehicle;
When the travel environment detection means detects that the vehicle travels on the road, a threshold value for the number of lane changes according to whether the vehicle travels across two traffic zones is stored in the storage unit and driving the ideal model calculating means that to calculate a driving ideal model according to the stored value stored in,
When it is detected that the vehicle travels on the road by the travel environment detection means, based on the detection result of the vehicle state detection means, depending on whether or not the vehicle travels across two traffic zones Driving state specifying means for specifying the number of lane changes;
Driving support of the vehicle when the number of lane changes according to whether or not the vehicle by the driving state specifying means travels across two traffic zones exceeds the threshold value by the driving ideal model calculating means Driving support means for
After the driving assistance is performed by the driving assistance means, the stored value stored in the storage unit as the driving ideal model is within the predetermined range of vehicle traffic rules or driving morals, and the driving state specifying means Driving characteristic model changing means for changing the vehicle according to whether or not the vehicle according to whether or not the vehicle travels across two lanes according to the number of lane changes ,
A vehicle driving support device comprising: Traveling environment detection means for detecting that the vehicle travels on a road having a plurality of traffic zones ;
Vehicle state detection means for detecting whether or not the vehicle travels across two traffic zones and the number of lane changes per unit time or unit distance of the vehicle;
When the travel environment detection means detects that the vehicle travels on the road, a threshold value for the number of lane changes according to whether the vehicle travels across two traffic zones is stored in the storage unit and driving the ideal model calculating means that to calculate a driving ideal model according to the stored value stored in,
When it is detected that the vehicle travels on the road by the travel environment detection means, based on the detection result of the vehicle state detection means, depending on whether or not the vehicle travels across two traffic zones Driving state specifying means for specifying the number of lane changes;
Driving support of the vehicle when the number of lane changes according to whether or not the vehicle by the driving state specifying means travels across two traffic zones exceeds the threshold value by the driving ideal model calculating means Driving support means for
When the driving safety of the vehicle based on the driving environment or driving state in which the vehicle is placed is low, the stored value stored in the storage unit as the driving ideal model is used as the driving support as compared with the case where the vehicle is high. A driving environment / vehicle state model changing means for changing so as to facilitate driving support by the means;
A vehicle driving support device comprising: Before SL running environment / vehicle state model change means, claim and performs weather, time of day, or the changes of stored value stored in the storage unit as the operation ideal model based on the vehicle speed 2 The vehicle driving support device described. The driving support means, when the number of lane changes according to whether or not the vehicle by the driving state specifying means travels across two traffic zones exceeds the threshold value by the driving ideal model calculating means The vehicle driving according to any one of claims 1 to 3, characterized in that in order to ensure safe and smooth driving of the vehicle, information is provided to or alerted to a vehicle driver and steering assist is performed. Support device.   The vehicle driving support according to any one of claims 1 to 4, wherein the driving support means includes driving characteristic support policy changing means for changing a driving support policy in accordance with a driving characteristic of the vehicle driver. apparatus. Before SL driving support means according to claim 1 to 5, characterized in that it has a running environment / vehicle state for supporting measures changing means for changing the driving support measures based on the running environment or the traveling state the vehicle is placed The vehicle driving support device according to any one of claims. A computer, a running environment detecting step Ru is detected that the vehicle is traveling on a road with a vehicle having a plurality of passage zones,
A vehicle state detection step for causing a computer to detect whether or not the vehicle travels across two traffic zones and the number of lane changes per unit time or unit distance of the vehicle;
When the computer detects that the vehicle travels on the road in the travel environment detection step, the threshold value for the number of lane changes according to whether the vehicle travels across two traffic zones is determined. a driving ideal model calculation step according to the stored value stored in the storage unit Ru is calculated as the operating ideal model,
If the computer detects that the vehicle travels on the road in the travel environment detection step, whether or not the vehicle travels across two traffic zones based on the detection result in the vehicle state detection step a driving state estimation step of Ru is identifying the lane change frequency in accordance with either
The computer, when the lane change frequency in response to whether or not to travel across put that vehicle has two walking area on the operating conditions specified step, which exceeds the threshold value in the operation ideal model calculation step , and the driving support step to I row the driving support of the vehicle,
After driving support is performed in the driving support step in the computer, the stored value stored in the storage unit as the driving ideal model is within the range of predetermined vehicle traffic rules or driving morals, and the driving and driving characteristic model changing step of Ru is changed to one corresponding to the lane change frequency in accordance with whether the vehicle is traveling over two walking area in the state specifying step,
A vehicle driving support method comprising: A computer, a running environment detecting step Ru is detected that the vehicle is traveling on a road with a vehicle having a plurality of passage zones,
A vehicle state detection step for causing a computer to detect whether or not the vehicle travels across two traffic zones and the number of lane changes per unit time or unit distance of the vehicle;
When the computer detects that the vehicle travels on the road in the travel environment detection step, the threshold value for the number of lane changes according to whether the vehicle travels across two traffic zones is determined. a driving ideal model calculation step according to the stored value stored in the storage unit Ru is calculated as the operating ideal model,
If the computer detects that the vehicle travels on the road in the travel environment detection step, whether or not the vehicle travels across two traffic zones based on the detection result in the vehicle state detection step a driving state estimation step of Ru is identifying the lane change frequency in accordance with either
The computer, when the lane change frequency in response to whether or not to travel across put that vehicle has two walking area on the operating conditions specified step, which exceeds the threshold value in the operation ideal model calculation step , and the driving support step to I row the driving support of the vehicle,
The computer stores the stored value stored in the storage unit as the driving ideal model when the safety of driving of the vehicle based on the driving environment or driving state in which the vehicle is placed is low, as compared with a high case. a running environment / vehicle state model changing step of driving support is Ru is changed so easily done in the driving support step,
A vehicle driving support method comprising: Before SL running environment / model changing step vehicle condition, characterized in the computer, weather, time of day, or the changes of stored value stored in the storage unit as the operation ideal model based on the vehicle speed that causes I line The vehicle driving support method according to claim 8. In the driving support step, the number of lane changes according to whether or not the vehicle in the driving state specifying step travels across two lanes is determined by the computer using the threshold value in the driving ideal model calculation step. If it exceeds, in order to ensure safe and smooth running of the vehicle, causes I line information provided or caution to the vehicle driver, any claim 7 to 9, characterized in that to I line steering assist The vehicle driving support method according to claim 1. The driving support step, the computer, any one of claims 7 to 10, characterized by having operating characteristics for support measures changing step of Ru is changed driving support measures in accordance with the operating characteristics of the vehicle driver Vehicle driving support method. Before SL driving support step, claims, characterized in that it has a computer, a running environment / vehicle state for supporting measures changing step of Ru is changed driving support measures based on the running environment or the traveling state the vehicle is placed The vehicle driving support method according to any one of 7 to 11.

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