JP4821347B2 - Armpit driving prevention device - Google Patents

Description

  The present invention relates to an armpit driving prevention device that detects a driver's face or line-of-sight direction to determine whether the driver is looking aside, and issues a warning to the driver.

As an armpit driving prevention device that detects the driver's face or line-of-sight direction to determine whether the driver is looking aside and issues an alarm to the driver, there is a conventional one disclosed in Patent Document 1. In this armpit driving prevention device, for example, if the face or line-of-sight direction detected by a detecting means such as a CCD camera is outside a predetermined range, it is determined that the armpit driving is performed, and each driver A predetermined range used for the determination is changed depending on characteristics, a running state such as a vehicle speed and a steering angle.
JP-A-8-207617

  However, in such a sideward driving prevention device, since the same predetermined range is used at the time of backward movement as at the time of forward movement, for example, a back guide monitor (BGM: device that displays a rear image and a trajectory to be taken by the vehicle) And a back monitor (BM: a device that displays a rear image) or an intelligent parking assist (IPA: a device that automatically steers with the display of a rear image) is mounted, retreating while watching these Nevertheless, there is a problem that the driver feels bothered because it is determined that the driver is looking aside and a warning is issued. Also, even if the driver is looking backwards and retreating, if the driver's face or line of sight is within the predetermined range described above, it will not be determined to be a side-view driving and no alarm will be issued. There was also a problem.

  In view of the above problems, an object of the present invention is to provide an armpit driving prevention device that can appropriately determine armpit driving when reversing and perform a warning to the driver.

In order to solve the above problem, the armpit driving prevention device according to the present invention is
When the driver's face or line-of-sight direction is within a predetermined range for the first period, it is determined that the driver is looking aside, and a warning is given to the driver.
A range changing means for making the predetermined range different between when the vehicle is moving forward and when the vehicle is moving backward;
Vehicle speed detecting means for detecting the vehicle speed, and period changing means for changing the first period based on the vehicle speed detected by the vehicle speed detecting means,
Control means for operating the brake of the vehicle, and after the alarm is issued, when the driver further retracts the vehicle for a second period, the control means operates the brake of the vehicle ;
A distance detecting means for detecting a distance between an obstacle located at the rear of the vehicle and the vehicle; and when the distance detected by the distance detecting means falls below a predetermined value, the control means activates a brake of the vehicle. ,
The period changing unit shortens the first period when the distance detected by the distance detecting unit becomes a predetermined value or less.

  According to the present invention, it is possible to make the predetermined range used for the determination of the look-aside driving at the time of reverse operation suitable for the reverse operation. it can.

  The best mode for carrying out the present invention will be described below with reference to the accompanying drawings. FIG. 1 is a block diagram showing an embodiment of a sidewalk driving prevention apparatus according to the present invention.

  The side-view driving prevention apparatus 1 according to the present embodiment includes a face-facing camera 2 that captures image data for detecting the driver's face or line-of-sight direction, and the driver's face based on the image data captured by the face-facing camera 2. Alternatively, the face-facing ECU 3 that functions as direction-detecting means that detects the direction of the line of sight, and that functions as a determination means that determines that the direction is a side-by-side operation if the direction is within a predetermined range for a predetermined period, When it is determined that the vehicle is driving, it is provided with a speaker 4 that issues an alarm, and the face-facing ECU 3 also functions as a range changing means that makes the predetermined range different between when the vehicle is moving forward and when the vehicle is moving backward.

  Further, the vehicle speed detection means includes a wheel speed sensor 5 and a brake ECU 6, and is connected to the face direction ECU 3, which is a determination means, via an inter-vehicle control ECU 7 and CAN. Further, in order to detect the distance to the obstacle behind the vehicle and perform control according to the distance, a clearance sonar 8 is provided as a distance detecting means for detecting the distance between the obstacle located behind the vehicle and the vehicle. The clearance sonar 8 is connected to the inter-vehicle control ECU 7.

  In addition to the above-described configuration, the CAN is connected to a transmission ECU 9, a gateway ECU 10, a yaw rate sensor 11, and a steering sensor 12. The gateway ECU 10 is connected to a navigation ECU 13 and a back guide monitor (BGM) via an AVC-LAN. The ECU 14 and the BGM camera 15 are connected. As will be described later, the transmission ECU 9 detects the shift lever position, and the detected shift lever position is transmitted to the face-facing ECU 3 via the CAN.

  Here, in order to make the above-mentioned predetermined range different between forward and reverse, for example, the predetermined range during reverse is −5 ≦ α ≦ 5 (deg), and the predetermined range during forward is α < −15, +15 <α (deg). Here, as shown in FIG. 2, α represents an angle formed by the driver's face or line of sight direction φ with respect to the vehicle longitudinal direction β when viewed from above, and when α is a value of + (plus), When the face or line-of-sight direction φ is located on the left side with respect to the vehicle longitudinal direction β and α is a negative value, the face or line-of-sight direction φ is located on the right side with respect to the vehicle longitudinal direction β. It shows that.

  For example, as shown in FIG. 3, the face-facing camera 2 is provided on the front panel of the driver's seat, and image data captured by the face-facing camera 2 is a predetermined image such as edge detection or pattern matching in the face-facing ECU 3. Processing is performed and the direction of the driver's face or line of sight is detected. Since these processing methods are well-known, detailed description is omitted.

  If the direction of the driver's face or line of sight detected in this way is within a predetermined range for the first period, the face-facing ECU 3 determines that the driver is looking aside and issues a warning sound from the speaker 4 to watch out for the driver. Arouse. In addition, the speaker 4 is good also as a vibration provision apparatus which gives a driver | operator a vibration and alerts them.

  As described above, by making the predetermined range different between when the vehicle is moving forward and when the vehicle is moving backward, the predetermined range that is used for the determination of the side-viewing operation when moving backward is suitable when the vehicle is moving backward instead of the predetermined range when moving forward Therefore, it is possible to appropriately determine a sideward driving when reversing and to give a warning to the driver.

  For example, as shown in FIG. 1, in a vehicle equipped with a back guide monitor (BGM), when the direction of the driver's face or line of sight with respect to BGM is + 15 ≦ α ≦ + 20 as shown in FIG. When retreating while gazing at this, as described above, the predetermined range used for the determination of the aside operation is −5 ≦ α ≦ 5, so that it is determined as the aside operation and no alarm is issued. It is possible to prevent the driver from feeling annoyed. Further, when the driver is retreating while looking forward, the driver's face or line-of-sight direction falls within a predetermined range −5 ≦ α ≦ + 5, so that it is determined that the driver is looking aside and an alarm is issued. Therefore, it can prevent that safety is inhibited.

  Here, the vehicle speed detection means (wheel speed sensor 5 and brake ECU 6) for detecting the vehicle speed is provided, and the face direction ECU 3 as the period change means changes based on the vehicle speed detected by the vehicle speed detection means in the first period. Thus, the predetermined period used for the determination of the aside operation, that is, the timing at which the alarm is issued depends on the vehicle speed.For example, the higher the vehicle speed, the shorter the first period, the aside operation is determined and the alarm is issued. Since the timing to issue can be made earlier, it is possible to issue a warning earlier in a high vehicle speed region where the risk of a rearward collision is higher and prevent a rearward collision more effectively. .

  The brake ECU 6 is provided with a brake 6 as a control means for operating the brake of the vehicle, and when the driver further retracts the vehicle for a second period after the speaker 4 as an alarm means issues an alarm, the brake ECU 6 The face-facing ECU 3 outputs a command to the brake ECU 6 to operate the brake, so that even if a warning is issued, the driver ignores it or does not notice it and does not operate the brake. Can be prevented.

  Further, the face-facing ECU 3 as the period changing means changes the second period based on the vehicle speed detected by the brake ECU 6 as the vehicle speed detecting means. For example, the higher the vehicle speed, the shorter the second period and the brake is operated. By speeding up the timing, it is possible to more effectively prevent the rearward collision by operating the brake earlier in a high vehicle speed region where the risk of a rearward collision is higher. In other words, the second period used for detecting disregard or non-sensing of the driver's warning, that is, the timing for operating the brake can be made in accordance with the vehicle speed.

  Furthermore, a clearance sonar 8 is provided as a distance detecting means for detecting the distance between the obstacle located at the rear of the vehicle and the vehicle, and the distance detected by the clearance sonar 8 as the distance detecting means is equal to or less than a predetermined value. In this case, the face ECU 3 issues a command to the brake ECU 6 so that the brake ECU 6 as a control means operates the brake of the vehicle, thereby detecting the distance between the obstacle behind the vehicle and the vehicle and reducing the distance. It is possible to automatically operate the brake of the vehicle when it becomes, and to prevent the rearward collision more effectively, and to detect the distance to the obstacle behind the vehicle and perform control accordingly it can.

  As the distance detection means, it is also possible to use a rear monitoring sensor such as a millimeter wave radar, a laser radar, a stereo camera or the like instead of the clearance sonar 8 (gap ultrasonic detector).

  Further, when the distance detected by the clearance sonar 8 as the distance detecting means becomes equal to or less than a predetermined value, the face direction ECU 3 as the period changing means shortens the first period so that the vehicle direction obstacle As a step before detecting the distance and automatically operating the brake of the vehicle, it is possible to advance the timing for issuing a warning to the driver, so that a rearward collision can be more effectively prevented. That is, it is possible to determine the timing of aside driving and issue a warning according to the distance between the obstacle and the vehicle.

  FIG. 5 is a schematic diagram showing the contents of control of the armpit driving prevention apparatus according to an embodiment of the present invention.

  First, in S1, the face-facing camera 2 as the direction detecting means described above detects the direction of the driver's face or line of sight. In S2, the face-facing ECU 3 detects the shift lever position from the transmission ECU 9, and the shift lever If the position is R (reverse), the process proceeds to S3 and a predetermined range at the time of reverse is selected.

  In S4, the face-facing ECU 3 detects the vehicle speed from the wheel speed sensor 5 and the brake ECU, and in S5, determines the first period used for the determination of the side-view driving, and in S6, the first period driver If the face or line-of-sight direction is determined to be within a predetermined range, and if the determination is YES, a warning is issued to the driver by the speaker or vibration applying device, which is a warning means proceeding to S8, NO If so, proceed to S7 and continue the retreat. After issuing an alarm to the driver in S8, if the driver ignores it or continues to reverse without notice, it is detected by detecting the vehicle speed in S9, and S10 Thus, the face direction ECU 3 outputs a command to the brake ECU 6 so that the brake ECU 6 operates the brake of the vehicle.

  When it is detected in S2 that the shift lever position is not R (reverse), the process proceeds to S11, a predetermined range at the time of forward movement is selected, and a sideward driving determination at the time of forward movement is performed at S12. If the driver's face or line-of-sight direction is within a predetermined range during forward travel for the first period, it is determined that the driver is looking aside, and the process proceeds to S14 to issue an alarm to the driver. If the vehicle continues to move forward without being ignored or noticed, it is detected by detecting the vehicle speed, and each forward application is executed at S16. Each forward application is, for example, that the face ECU 3 outputs a command to the brake ECU 6 so as to automatically apply a brake, or the face direction ECU 3 outputs a command to the transmission ECU 9 so as to perform a downshift. Say to control to reduce. In S12, when it is determined that the driver's face or line-of-sight direction is not within the predetermined range for the first period and it is determined that the driver is not looking aside, the vehicle continues to move forward.

  Although the preferred embodiments of the present invention have been described in detail above, the present invention is not limited to the above-described embodiments, and various modifications and substitutions are made to the above-described embodiments without departing from the scope of the present invention. be able to.

It is a block diagram which shows one Example of the armpit driving prevention apparatus by this invention. It is a schematic diagram which shows the predetermined | prescribed range used for determination of the aside driving of the aside driving prevention apparatus by this invention. It is a schematic diagram which shows the direction detection means of the armpit driving prevention apparatus by this invention. It is a schematic diagram which shows the predetermined range used for the aside look determination of the aside look driving prevention apparatus by this invention. It is a flowchart which shows the control content of one Example of the armpit driving prevention apparatus by this invention.

Explanation of symbols

1 Face-to-side driving prevention device 2 Face-facing camera 3 Face-facing ECU
4 Speaker 5 Wheel speed sensor 6 Brake ECU
7 Inter-vehicle control ECU
8 Clearance sonar 9 Transmission ECU
10 Gateway ECU
11 Yaw Rate Sensor 12 Steering Sensor 13 Navigation ECU
14 Back guide monitor ECU
15 BGM camera

Claims (1)

When the driver's face or line-of-sight direction is within a predetermined range for the first period, it is determined that the driver is looking aside, and a warning is given to the driver.
A range changing means for making the predetermined range different between when the vehicle is moving forward and when the vehicle is moving backward;
Vehicle speed detecting means for detecting the vehicle speed, and period changing means for changing the first period based on the vehicle speed detected by the vehicle speed detecting means,
Control means for operating the brake of the vehicle, and after the alarm is issued, when the driver further retracts the vehicle for a second period, the control means operates the brake of the vehicle ;
A distance detecting means for detecting a distance between an obstacle located at the rear of the vehicle and the vehicle; and when the distance detected by the distance detecting means falls below a predetermined value, the control means activates a brake of the vehicle. ,
When the distance detected by the distance detecting means is equal to or less than a predetermined value, the period changing means shortens the first period.

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