JP6221776B2 - Driving evaluation device - Google Patents

Description

  The present invention relates to a driving evaluation device that evaluates a driving operation performed by a driver of a vehicle and notifies an evaluation result to the driver.

  2. Description of the Related Art Conventionally, a technique for causing a driver to safely drive a vehicle is known. Patent Document 1 informs the driver that the vehicle is in a state suitable for lane change before the lane change is performed in order to allow the driver to safely change the lane as a driving operation. The structure to perform is disclosed.

JP 2004-210109 A

  However, in the configuration described in Patent Document 1, since the lane change actually performed by the driver is not evaluated, the driver can safely (appropriately) perform the driving operation actually performed by the driver himself. There was a problem that it was not possible to recognize whether it was done or not.

  The present invention has been made in view of these problems, and an object of the present invention is to provide a technique for allowing a driver to recognize whether or not a driving operation performed by the driver himself / herself is appropriate.

One aspect of the present invention is a driving evaluation apparatus, comprising: an operation detection unit, an information acquisition unit, a first evaluation unit, an evaluation result storage unit, a second evaluation unit, and an evaluation notification processing unit. Prepare.
The operation detection means detects that the target driving operation, which is the driving operation to be evaluated, has been performed by the driver of the vehicle. The information acquisition means acquires driving information, which is information used as a judgment material for evaluating the target driving operation. The first evaluation unit evaluates the target driving operation based on a comparison between driving information when the target driving operation is detected by the operation detecting unit and a predetermined evaluation criterion. The evaluation result storage means causes the evaluation result storage device to store the first evaluation result that is the evaluation result by the first evaluation means. The second evaluation means evaluates the target driving operation based on a comparison between the latest first evaluation result and a past first evaluation result stored in the evaluation result storage device. The evaluation notification processing means performs processing for notifying the driver in a different notification mode according to the first evaluation result and the second evaluation result that is the evaluation result by the second evaluation means.

  According to such a configuration, since the driving operation performed by the driver is evaluated and notification is performed in different notification modes depending on the evaluation, whether the driving operation performed by the driver himself was appropriate for the driver. It can be recognized whether or not.

  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 which shows the structure of a driving | operation evaluation system. It is a flowchart of a lane change evaluation process. It is a flowchart of the notification process before passage. It is a flowchart of an individual comparison process. It is a figure which shows an example of the data structure of the historical information in a historical database. It is a flowchart of the lane change evaluation process in other embodiment.

Embodiments to which the present invention is applied will be described below with reference to the drawings.
[1. Constitution]
A driving evaluation system 1 shown in FIG. 1 is a system mounted on a vehicle and is a system for evaluating a driving operation performed by a driver of the vehicle. In the present embodiment, as an example, a driving evaluation system 1 in a case where a driving operation to be evaluated (referred to as a target driving operation) is a lane change will be described. The driving evaluation system 1 includes a driving evaluation device 10, a communication device 11, an inter-vehicle distance measuring device 12, a front camera 13, a vehicle interior camera 14, a GPS receiver 15, a map database 16, a history database 17, a caution position database 18, and driving information. A database 19, a vehicle speed sensor 21, a G sensor 22, a steering device 23, a direction indicator 24, a display device 25, and a sound output device 26 are provided.

  The communication device 11 performs wireless communication with the center 3 outside the host vehicle. The center 3 performs various processes based on information transmitted from a plurality of vehicles including the own vehicle. In the present embodiment, as an example, the driving evaluation system 1 similar to the own vehicle is mounted on a plurality of vehicles other than the own vehicle. In each vehicle, if the driving evaluation system 1 evaluates that the lane change performed by the driver is not properly performed, the position of the vehicle (referred to as a caution position) when the lane change is performed is sent to the center 3. Sent. For example, when the information transmitted from the vehicle represents the caution position, the center 3 performs processing for storing the caution position in the external storage device 31 provided in the center 3. For example, when the information transmitted from the vehicle represents the position of the transmission source vehicle, the center 3 is a predetermined centered on the position of the transmission source vehicle among the attention positions stored in the external storage device 31. A process of transmitting the attention position existing within the range to the transmission source vehicle is performed.

  The inter-vehicle distance measuring device 12 is disposed at predetermined positions in the front and rear parts of the host vehicle, for example, at the center of the front bumper and at the center of the rear bumper. The inter-vehicle distance measuring devices 12 arranged at the front and rear of the host vehicle transmit radio waves (for example, millimeter waves) to the front and rear of the host vehicle, and are reflected from targets located at the front and rear of the host vehicle. And the distance and direction from the target are measured based on the reception result.

  In the present embodiment, as an example, the inter-vehicle distance measuring device 12 disposed in the front portion of the host vehicle is adjacent to the distance from the preceding vehicle in the travel lane of the host vehicle (the travel forward vehicle distance) and the travel lane of the host vehicle. The distance (adjacent forward vehicle distance) with the preceding vehicle in the travel lane is measured, and these are output to the driving evaluation device 10. Here, when the direction in the measurement result is within a predetermined angle range with respect to the traveling direction of the host vehicle, it is determined that the measurement result is due to the preceding vehicle in the traveling lane of the host vehicle, and the direction in the measurement result is When it is a range outside the predetermined angle range, it is determined that the measurement result is from a preceding vehicle traveling in a traveling lane adjacent to the host vehicle.

  The inter-vehicle distance measuring device 12 disposed at the rear of the host vehicle measures the distance (rear lane distance) with a rear vehicle traveling behind the same travel lane as the travel lane of the host vehicle, and drives the measurement result. Output to the evaluation device 10.

  The front camera 13 is installed at a predetermined position in the room of the host vehicle, for example, on the back side of the room mirror. The front camera 13 images the front of the host vehicle and outputs front image information representing the captured image to the driving evaluation device 10.

  The vehicle interior camera 14 is installed at a predetermined position in the room of the host vehicle, for example, a meter panel. The vehicle interior camera 14 images the driver's face at a predetermined period, and outputs face image information representing the captured image to the driving evaluation device 10.

  The GPS receiver 15 receives a transmission signal from an artificial satellite for GPS (Global Positioning System), detects a position coordinate (own vehicle position) of the own vehicle, and outputs the own vehicle position to the driving evaluation device 10.

The map database 16, history database 17, attention position database 18, and driving information database 19 are rewritable storage devices such as a flash ROM.
The map database 16 stores map data representing a map showing roads on which the host vehicle can travel.

  The history database 17 stores an evaluation as to whether or not the lane change has been appropriately performed by the driver. Evaluation about the lane change that is the target driving operation is obtained as a processing result (first evaluation result described later) of the lane change evaluation process executed by the driving evaluation device 10.

The attention position database (attention position DB) 18 stores attention positions acquired from the center 3 by wireless communication using the communication device 11.
The driving information database (driving information DB) 19 stores information (driving information) that serves as a judgment material for evaluating whether or not the lane change performed by the driver is appropriate.

  The vehicle speed sensor 21 detects the rotational speed of the axle based on the number of pulses per unit time output from a pulse generator attached to the axle of the host vehicle, and determines the speed of the host vehicle based on the detected rotational speed. The calculation result is output to the driving evaluation device 10.

The G sensor 22 detects the acceleration in the front-rear direction of the host vehicle, and outputs the detection result to the driving evaluation device 10.
The steering device 23 outputs information representing the operation state (steering angle) of the steering device 23 (steering) operated by the driver to the driving evaluation device 10.

The direction indicator 24 outputs information indicating the operation state (left turn signal, right turn signal, off) of the direction indicator 24 operated by the driver to the driving evaluation device 10.
The display device 25 displays an image on the passenger of the host vehicle. For example, on the display screen of the display device 25, a map image based on the map data input from the map database 16 and a mark indicating the own vehicle position displayed superimposed on the map image are displayed.

The voice output device 26 outputs various guidance (notification) voices input from the driving evaluation device 10.
The driving evaluation apparatus 10 is configured around a known microcomputer centered on a CPU 101, a ROM 102, and a RAM 103. The driving evaluation device 10 (specifically, the CPU 101) executes various processes based on a program stored in the ROM 102.

  For example, the driving evaluation apparatus 10 executes a process of acquiring driving information as a judgment material for evaluating whether or not the lane change is appropriate and storing the driving information in the driving information database 19. Specifically, the driving evaluation device 10 outputs the vehicle speed output from the vehicle speed sensor 21, the traveling front vehicle distance output from the inter-vehicle distance measuring device 12, the adjacent front vehicle distance, the rear vehicle distance, and the direction indicator 24. Information indicating the operation state of the turn indicator 24, information indicating the operation state of the steering device 23 output from the steering device 23, face image information output from the vehicle interior camera 14, and output from the GPS receiver 15. Various information such as the vehicle position is acquired at a predetermined cycle, and stored in the driving information database 19 as driving information.

  In the driving information described above, the vehicle speed, the traveling front vehicle distance, the adjacent forward vehicle distance, the rear vehicle distance, and the own vehicle position are information relating to the traveling state of the vehicle, and information indicating the operation state of the direction indicator 24. The information indicating the operation state of the steering device 23 and the face image information are information related to the driving operation by the driver.

  Here, as an example in the present embodiment, when the driving evaluation apparatus 10 stores the newly acquired driving information in the driving information database 19, at the same time, among the past driving information stored in the driving information database 19, A process of deleting the old one from the operation information database 19 is performed. That is, driving information from the current cycle to a past predetermined period (driving information storage period) is accumulated in the driving information database 19.

Further, the CPU 101 detects that the lane change has been performed by the driver of the host vehicle, and performs a lane change evaluation process for evaluating whether or not the detected lane change is appropriate.
[2. processing]
The lane change evaluation process executed by the CPU 101 will be described with reference to the flowchart of FIG. Note that the processing shown in FIG. 2 is repeatedly executed while the ACC switch is on.

First, in S (step) 100, a pre-passage notification process is executed. Here, the pre-passage notification process will be described with reference to the flowchart of FIG.
In S210, the vehicle position is acquired from the GPS receiver 15.

Next, in S220, the vehicle position acquired in S210 is transmitted to the center 3 by the communication device 11.
In subsequent S230, the attention position within a predetermined range centered on the own vehicle position is received from the center 3 by the communication device 11.

Next, in S240, the attention position received from the center 3 is stored in the attention position database 18.
In subsequent S250, it is determined based on the map image represented by the map data in the map database 16 whether or not the vehicle position has become a position less than a predetermined distance from the caution position stored in the caution position database 18. . For example, when it is assumed that the host vehicle travels along the road from the host vehicle position, it is determined whether or not the distance to pass the attention position is less than a predetermined distance.

  Here, when the distance to the attention position is equal to or greater than the predetermined distance, the pre-passage notification process is terminated. On the other hand, when the distance to the caution position is less than the predetermined distance, the process proceeds to S260, and the display device 25 and the audio output device 26 are used to notify the user about the lane change. In the present embodiment, as an example, notification is performed using a display character or a voice message “Please pay attention to the lane change”. Then, the pre-passage notification process is terminated.

Returning to FIG. 2, in S105, it is determined (detected) whether or not the lane change has been performed by the driver of the host vehicle. In this embodiment, as an example, the time-dependent movement of the white line on the road is detected from a plurality of images represented by the forward image information acquired from the front camera 13, and the own vehicle straddles the white line based on the detected movement of the white line. It is determined that the lane change has been made. Here, when it is determined that the lane change has not been performed, the process proceeds to S100. On the other hand, when it is determined that the lane change has been performed, the process proceeds to S110.

  In S110, it is determined whether there is an obstacle in the traveling lane of the host vehicle. In the present embodiment, as an example, in a plurality of images represented by the forward image information used in S105, an obstacle that has not been captured a predetermined period before the timing at which the start of the movement of the white line is detected is the movement of the white line. When an image is captured at the timing when the start is detected, it is determined that an obstacle is present in the traveling lane of the host vehicle.

  If it is determined that there is an obstacle, the process proceeds to S100. That is, when it is determined that an obstacle exists, it is determined that the lane change performed by the driver is an unavoidable driving operation for avoiding the obstacle, and the lane change is not evaluated. Like that. On the other hand, if it is determined that no obstacle exists, the process proceeds to S115. Obstacles are obstacles to traveling of the host vehicle. For example, other vehicles parked in the traveling lane of the host vehicle, pedestrians jumping into the traveling lane of the host vehicle, Examples include fallen objects from a vehicle traveling in front of the traveling lane of the vehicle.

In S115, the vehicle position when the lane change is detected in S105 is acquired (stored in the RAM 103).
Next, in S120, driving information is acquired from the driving information database 19 for a predetermined period (determination required period) with the timing when the lane change is detected in S110, and the process proceeds to S125 (determination required period ≦ driving information storage period). ). In the present embodiment, as an example, driving information for 6 seconds (3 seconds before and after) centering on the timing (S105) when the lane change is detected is acquired from the driving information database 19. In this step, if 3 seconds have not elapsed since the lane change was detected, after waiting for 3 seconds to elapse, driving information is obtained from the driving information database 19 and the process proceeds to S125.

In subsequent S125, an individual comparison process is performed. Here, the individual comparison process will be described with reference to the flowchart of FIG.
In S300, the values of the five evaluation flags of the first evaluation flag F1 to the fifth evaluation flag F5 used for the individual comparison process are reset to 0 as an initial state.

  In S305, based on the driving information acquired in S120, it is determined whether or not the vehicle speed before the lane change was appropriate. In the present embodiment, as an example, when the difference between the vehicle speed when the lane change is detected in S105 and the predetermined recommended vehicle speed is less than the predetermined value, it is determined that the vehicle speed before the lane change is appropriate. . The recommended vehicle speed is a value set as a desirable vehicle speed for safely changing the lane. In the present embodiment, as an example, the distance from the preceding vehicle in the traveling lane of the host vehicle, and the lane change (described later) are performed. It is determined based on the distance from the preceding vehicle in the previous lane (referred to as the “changed ahead forward vehicle distance”), the speed limit of the traveling road, and the like.

  If it is determined that the vehicle speed before the lane change is appropriate, the process proceeds to S315 while the first evaluation flag F1 is kept in the reset state. On the other hand, if it is determined that the vehicle speed before the lane change is not appropriate, the process proceeds to S310, the value of the first evaluation flag F1 is set to 1, and the process proceeds to S315.

  In S315, based on the driving information acquired in S120, it is determined whether or not the inter-vehicle distance before the lane change is appropriate. In the present embodiment, as an example, the distance from the preceding vehicle in the travel lane of the host vehicle (the travel forward vehicle distance) is a predetermined time (for example, 2 to 3 seconds) before the timing (S105) when the lane change is detected. If the distance from the preceding vehicle in the lane to which the lane change is to be performed (the change destination forward lane distance) is equal to or greater than the predetermined second distance, the inter-vehicle distance before the lane change is greater than or equal to the first distance. Judge that it was appropriate. The first distance and the second distance are set to desirable values for safely changing lanes.

  If it is determined that the inter-vehicle distance before the lane change is appropriate, the process proceeds to S325 while the second evaluation flag F2 is kept in the reset state. On the other hand, when it is determined that the inter-vehicle distance before the lane change is not appropriate, the process proceeds to S320, the value of the second evaluation flag F2 is set to 1, and the process proceeds to S325.

  Here, when the host vehicle is traveling in the rightmost travel lane of the road, the distance from the preceding vehicle in the left travel lane is measured by the inter-vehicle distance measuring device 12 as the adjacent forward vehicle distance. Therefore, the determination in this step is performed with the adjacent forward vehicle distance as the change destination forward vehicle distance. On the other hand, when the host vehicle is traveling in the leftmost lane of the road, the distance from the preceding vehicle in the right lane is measured by the inter-vehicle distance measuring device 12 as the adjacent forward vehicle distance. Therefore, the determination in this step is performed with the adjacent forward vehicle distance as the change destination forward vehicle distance. In addition, when the host vehicle is traveling on a road having three or more lanes and there are traveling lanes on both sides of the traveling lane of the own vehicle, the distance to the preceding vehicle in the right traveling lane and the left side as the adjacent forward lane distance The distance to the preceding vehicle in the travel lane is measured by the inter-vehicle distance measuring device 12. In such a case, of the two adjacent forward vehicle distances, the adjacent forward inter-vehicle distance in the direction indicated by the direction indicator 24 is set as the change destination forward vehicle distance, and the determination in this step is performed.

  In S325, based on the driving information acquired in S120, it is determined whether or not the operation of the direction indicator 24 before the lane change is appropriate. In the present embodiment, as an example, the time required from the start of operation of the direction indicator 24 by the driver until the steering operation in the direction indicated by the direction indicator 24 is detected, and a predetermined direction indicator When the difference from the recommended time is less than the predetermined value, it is determined that the operation of the direction indicator 24 before the lane change is appropriate.

  Specifically, when the information indicating the operation state of the direction indicator 24 acquired from the direction indicator 24 indicates the start of the right winker or the start of the left winker, the operation start of the direction indicator 24 by the driver is detected. To do. Further, since the start of the operation of the direction indicator 24 is detected, the information indicating the operation state of the steering device 23 indicates a steering angle equal to or greater than a predetermined value, so that the steering operation in the direction indicated by the direction indicator 24 is performed. Detect what happened. The recommended direction indicator time is a value set as a desired time for safely changing the lane, and is set to 3 seconds as an example in the present embodiment.

  If it is determined that the operation of the direction indicator 24 before the lane change is appropriate, the process proceeds to S335 while the third evaluation flag F3 is kept in the reset state. On the other hand, if it is determined that the operation of the direction indicator 24 before the lane change is not appropriate, the process proceeds to S330, the value of the third evaluation flag F3 is set to 1, and the process proceeds to S335.

  In S335, based on the driving information acquired in S120, it is determined whether or not the backward confirmation (visual observation) before the lane change has been appropriately performed. In the present embodiment, as an example, it is detected by the vehicle interior camera 14 after the start of operation of the direction indicator 24 by the driver is detected until the steering operation in the direction indicated by the direction indicator 24 is detected. When the direction of the driver's face has changed so as to be directed to the side indicated by the direction indicator 24, it is determined that the backward confirmation has been appropriately performed.

  Here, when it is determined that the rearward confirmation before the lane change has been appropriately performed, the process proceeds to S345 while the fourth evaluation flag F4 remains in the reset state. On the other hand, if it is determined that the rearward confirmation before the lane change is not properly performed, the process proceeds to S340, the value of the fourth evaluation flag F4 is set to 1, and the process proceeds to S345.

  In S345, based on the driving information acquired in S120, it is determined whether or not the inter-vehicle distance after the lane change is appropriate. In the present embodiment, as an example, after a predetermined period (2 to 3 seconds) from the timing (S105) at which the lane change is detected, the vehicle with the preceding vehicle in the traveling lane (the lane where the lane change has been performed) When the inter-vehicle distance (traveling forward vehicle distance) is equal to or greater than a predetermined third distance, and the distance from the rear vehicle (rear vehicle distance) in the traveling lane of the host vehicle is equal to or greater than the predetermined fourth distance, It is determined that the inter-vehicle distance after the lane change was appropriate. The third distance and the fourth distance are set to desirable values for safely changing lanes.

  Here, when it is determined that the inter-vehicle distance after the lane change is appropriate, the individual comparison process is ended while the fifth evaluation flag F5 is kept in the reset state. On the other hand, if it is determined that the inter-vehicle distance after the lane change is not appropriate, the process proceeds to S350, the value of the fifth evaluation flag F5 is set to 1, and the individual comparison process is terminated.

  Returning to FIG. 2, in S130, the date and time, the vehicle position, the traveling direction of the vehicle, and the evaluation flags set in S125 (first evaluation flag F1 to F1) when lane change is detected in S105. The comprehensive evaluation based on the value of the evaluation flag F5) of 5 and the value of each evaluation flag set in S120 is stored in the history database 17 as history information. In the present embodiment, as an example, when the value of the evaluation flag is 0 for all evaluation items among the evaluation items set in S120, “appropriate” lane change is performed as a comprehensive evaluation. evaluate. In addition, when the value of the evaluation flag is 1 for at least one evaluation item, it is evaluated that the “inappropriate (inappropriate)” lane change has been made as a comprehensive evaluation.

  As shown as an example in FIG. 5, in the history database 17, the evaluation flag values (0 or 1) for the five evaluation items set in S <b> 125, the overall evaluation result (appropriate or inappropriate), and The position information (absolute position) when the lane change is detected and the traveling direction of the host vehicle at this time are stored for each date and time when the lane change is detected. The traveling direction of the host vehicle is detected based on the movement locus of the host vehicle position.

  Next, in S135, it is determined whether or not the lane change detected in S105 has been appropriately performed. Here, as an example in the present embodiment, when the comprehensive evaluation (latest comprehensive evaluation) stored in the history database 17 in S130 is “inappropriate” (that is, the five evaluation flags set in S120). When the value of at least one of the evaluation flags is 1), it is determined that the lane change has not been appropriately performed, and the process proceeds to S165. On the other hand, when the comprehensive evaluation stored in the history database 17 in S130 is “appropriate” (that is, when the values of all (five) evaluation flags set in S120 are 0), the lane It is determined that the change has been made appropriately, and the process proceeds to S140. In addition, the determination result about the lane change determined in this step is referred to as a first evaluation result according to the description.

  In S140, it is determined whether or not the history tendency is “good” for the comprehensive evaluation (past comprehensive evaluation) other than the current cycle stored in the history database 17. In the present embodiment, as an example, among the past comprehensive evaluations stored in the history database 17, in the comprehensive evaluation for a predetermined period (referred to as a trend determination period) that goes back in the past, “appropriate” is 80% or more of the total In addition, it is determined that the history tendency is “good”. As an example, the trend determination period is one week. Here, when it is determined that the history tendency is “good”, the process proceeds to S145, and the display device 25 and the audio output device 26 are used to perform notification in the first notification mode. Then, the process proceeds to S100. On the other hand, when it is determined that the history tendency is not “good”, the process proceeds to S150.

  In S150, for the past comprehensive evaluation stored in the history database 17, it is determined whether or not the history trend is “attention required”. As an example in the present embodiment, among the past comprehensive evaluations stored in the history database 17, “appropriate” is less than 50% of the total in the comprehensive evaluation in the trend determination period (here, one week) that goes back to the past. In this case, it is determined that the history tendency is “attention required”.

  Here, when it is determined that the history tendency is “Needs Attention”, the process proceeds to S155, and the display device 25 and the audio output device 26 are used to perform notification in the second notification mode. Then, the process proceeds to S100. On the other hand, when it is determined that the historical trend is not “Needs Attention”, that is, in the comprehensive evaluation of the trend determination period (here 1 week) that goes back to the past, “appropriate” is 50% or more and less than 80% In some cases, the process proceeds to S160, and the display device 25 and the audio output device 26 are used to perform notification in the third notification mode. Then, the process proceeds to S100.

  In the notification in the first notification mode, the evaluation result (referred to as the second evaluation result) for the history of the past (the most recent week) is “good”, and the evaluation result in S135 (first evaluation result) This is a notification for informing the driver that the lane change is evaluated to be “appropriate”, for example, a notification mainly intended to praise the driving operation of the driver. On the other hand, in the notification in the second notification mode, the evaluation result (second evaluation result) for the history of the past (the most recent one week) was “attention required”, but the evaluation result in S135 (the first evaluation result) 1) is a notification for notifying the driver that the lane change has been evaluated as “appropriate”, for example, notifying the driver that the driving operation has been improved. This is an intended notification. Further, in the notification in the third notification mode, the evaluation result (second evaluation result) with respect to the past (last one week) history is neither “good” nor “attention required” (that is, “random”). In the evaluation result (first evaluation result) in S135, it is a notification for informing the driver that the lane change has been evaluated as “appropriate”, for example, the first This notification is mainly intended to notify that the evaluation result is “appropriate”. The first notification mode to the third notification mode are distinguished by, for example, display characters (or graphics) or the contents of voice messages.

  In S165, in which it is determined that the lane change has not been appropriately performed in S135, and the process proceeds to S165, the historical tendency is “good” for the comprehensive evaluation (past comprehensive evaluation) other than the current cycle stored in the history database 17, as in S140. Is determined. Here, when it is determined that the history tendency is “good”, the process proceeds to S <b> 170, and notification is performed in the fourth notification mode using the display device 25 and the audio output device 26. Then, the process proceeds to S190. On the other hand, when it is determined that the history tendency is not “good”, the process proceeds to S175.

  In S175, as in S150, it is determined whether or not the history tendency is “attention required” for the past comprehensive evaluation stored in the history database 17. Here, when it is determined that the history tendency is “Needs Attention”, the process proceeds to S <b> 180, and notification is performed in the fifth notification mode using the display device 25 and the audio output device 26. Then, the process proceeds to S190. On the other hand, when it is determined that the history tendency is not “attention required”, the process proceeds to S185, and the display device 25 and the audio output device 26 are used to perform notification in the sixth notification mode. Then, the process proceeds to S190.

  In the notification in the fourth notification mode, the evaluation result (referred to as the second evaluation result) for the past (last one week) history was “good”, but the evaluation result in S135 (first evaluation result) ) Is a notification for informing the driver that the lane change has been evaluated to be “inappropriate”, for example, a notification mainly intended to notify the deterioration of the driving operation. On the other hand, in the notification in the fifth notification mode, the evaluation result (second evaluation result) for the history of the past (the most recent one week) is “Needs attention”, and the evaluation result in S135 (the first evaluation result) In the evaluation result), it is a notification for informing the driver that the lane change has been evaluated as “inappropriate”, for example, a notification mainly intended to give strict attention to the lane change. is there. In the notification in the sixth notification mode, the evaluation result (second evaluation result) with respect to the past (last one week) history is neither “good” nor “attention required” (that is, “random”). In the evaluation result in S135 (first evaluation result), this is a notification for informing the driver that the lane change has been evaluated to be “inappropriate”. This is a notification whose main purpose is to notify that the evaluation result is “inappropriate”. Note that the fourth notification mode to the sixth notification mode are distinguished by, for example, display characters (or graphics) and contents of voice messages.

  In the subsequent S190, the vehicle position acquired in S115 (stored in the RAM 103) is set as the caution position, and the caution position is transmitted to the center 3 by the communication device 11 and stored in the external storage device 31, and the process proceeds to S100. .

[3. effect]
According to the embodiment detailed above, the following effects can be obtained.
[3A] Each time the driver makes a lane change (target driving operation), an evaluation (first evaluation result) on the lane change itself made by the driver at that time, and a lane that the driver has made in the past Depending on the evaluation of the change history (second evaluation result), the driver is notified in a different manner (S145, S155, S160, S170, S180, S185). According to this, since the lane change made by the driver is evaluated and notification is performed in different notification modes depending on the evaluation, the driver recognizes whether or not the lane change made by the driver himself was appropriate. Can be made.

  [3B] Depending on the first evaluation result (two types of “appropriate” and “inappropriate”) and the second evaluation result (three types of “good”, “caution”, and “random”), The notification to the driver is performed in a 6-pattern notification mode (first notification mode to sixth notification mode). That is, each time a lane change (target driving operation) is performed by the driver, not only the evaluation (latest first evaluation result) for the lane change made at that time is notified, but also the past. The evaluation of the lane change based on the comparison with the evaluation result (second evaluation result) expected from the plurality of first evaluation results is notified.

  For example, for a lane change made by a driver, if the previous lane change made so far is evaluated as “appropriate” and the next lane change is expected to be “appropriate”, When it is evaluated that the next (latest) lane change has been made “inappropriate”, it is not the case that the evaluation is “inappropriate” based on the latest evaluation result. Since the “appropriate” lane change has been made, but this time it was “inappropriate” (deteriorated), it is possible to make a notification that calls attention only to the current lane change. In particular, it is possible to make a notification that calls attention to a place where the lane change has been made this time.

  Also, for example, if the previous lane change you ’ve made is rated “inappropriate” and you expect (predicted) that the next (latest) lane change will also be “inappropriate” When it is evaluated that the latest lane change has been made “inappropriate”, it is not “not appropriate” based on the latest evaluation result, but rather “not appropriate”. Since a lane change has been made and this time was also “inappropriate”, it is possible to make a notice that warns the driver with strict attention.

  Thus, when evaluating the lane change made by the driver, not only the evaluation for the latest lane change, that is, the evaluation for the temporary lane change made this time, but also the evaluation for the past history is considered. Therefore, more appropriate evaluation can be performed.

  [3C] When the lane change (target driving operation) performed by the driver is an unavoidable driving operation for avoiding an obstacle (S110: YES), the lane change is not evaluated. This makes it possible to evaluate an appropriate lane change in consideration of the situation around the vehicle.

  [3D] When the vehicle position is detected when a lane change (target driving operation) is detected (S115) and a specific evaluation is made for the lane change, specifically, the first evaluation result for the lane change If the vehicle position is evaluated as “inappropriate”, the acquired own vehicle position is stored in the external storage device 31 of the center 3 as a caution position that requires attention regarding lane change (S190). Then, when it is predicted that the vehicle will pass the caution position stored in the external storage device 31, a process for notifying the driver of the caution position is performed (S260).

  As a result, not only when the host vehicle is predicted to pass the caution position regarding the lane change by the driver of the host vehicle, but also the host vehicle passes the caution position regarding the lane change by the driver of the other vehicle. Even in the case where is predicted, it is possible to notify the attention position.

  Originally, with regard to lane change, as shown in the determination of the evaluation items described above (S305, S315, S325, S335, S345), there is an “appropriate” driving operation that the driving operation should be performed in this way. Can be mentioned. However, depending on road conditions, it may be difficult to change lanes with “appropriate” driving operations. For example, in a lane restriction section or the like under construction, there is a possibility that the vehicle may be congested, and there may be a situation where the lane cannot be changed by “appropriate” driving operation such as an appropriate inter-vehicle distance and an appropriate speed.

  In the driving evaluation system 1 (driving evaluation apparatus 10), such a position is stored as a caution position if it is a road on which another vehicle has traveled, not a road on which the host vehicle has traveled. And when the own vehicle position turns into a position less than a predetermined distance with respect to such a position, the alerting | reporting which calls attention is performed.

  That is, since the information on the caution position about the lane change of the driver of the other vehicle can be used in the own vehicle, for example, even on the road on which the own vehicle travels for the first time, the caution position is notified. Compared to the case where no notification is made, it is possible to change the lane more carefully with the driving vehicle.

[3E] The driving information includes at least information related to the traveling state of the vehicle. Thereby, lane change (target driving operation) can be evaluated based on the running state of the vehicle.
[3F] The driving information includes at least information related to the driving operation by the driver. Thereby, lane change (target driving operation) can be evaluated based on the driving operation by the driver.

In the present embodiment, S105 corresponds to an example of processing as an operation detection unit, S120 corresponds to an example of processing as an information acquisition unit, and S125 corresponds to an example of processing as a first evaluation unit. S130 corresponds to an example of processing as an evaluation result storage unit. S135 to S140, S150, S165, and S175 correspond to an example of processing as the second evaluation unit, and S145, S155, S160, S170, S180, and S185 correspond to an example of processing as the evaluation notification processing unit. . The history database 17 corresponds to an example of an evaluation result storage device, and the external storage device 31 corresponds to an example of a caution position storage device. Furthermore,
S110 corresponds to an example of processing as an obstacle determination unit, S115 corresponds to an example of processing as a position acquisition unit, S190 corresponds to an example of processing as a caution location storage unit, and S260 corresponds to a warning notification processing unit. Corresponds to an example of the process.

[4. Other Embodiments]
As mentioned above, although embodiment of this invention was described, it cannot be overemphasized that this invention can take a various form, without being limited to the said embodiment.

  [4A] In the above embodiment, in S140 (and S150, S165, S175), a history of comprehensive evaluations (past comprehensive evaluations) other than the current cycle stored in the history database 17 with a trend determination period of one week. Although the trend has been determined, the trend determination period is not limited to this, and may be set as necessary, for example, several hours, days, weeks, months, or the like.

  Further, for example, comprehensive evaluation in the cycle immediately before the current cycle (immediately before) may be used as the determination result of the history tendency. An example of a flowchart of the lane change evaluation process in this case is shown in FIG. In FIG. 6, S135 to S141, S151, S166, and S135, S150, S165, and S175 in the flowchart shown in FIG. 2, respectively, are determined based on the comprehensive evaluation in the cycle immediately before the current cycle. Replaced by S176.

  According to this, the lane change (target driving operation) is evaluated based on a comparison between the latest first evaluation result and the previous (most recent) first evaluation result. Thus, when evaluating the lane change made by the driver, not only the evaluation for the latest lane change, that is, the evaluation for the temporary lane change made this time, but the past history made immediately before Therefore, more appropriate evaluation can be performed.

In this case, S136 to S141, S151, S166, and S176 correspond to an example of processing as the second evaluation unit.
[4B] In the above embodiment, the information on the caution position based on the lane change (target driving operation) of the driver of the other vehicle is used in the own vehicle through communication with the center 3, but the present invention is not limited to this. A vehicle that fulfills the above function may be provided in the host vehicle. For example, the driving evaluation device 10 performs wireless communication to acquire a caution position based on a lane change target of a driver of another vehicle and store it in the caution position database 18, and the caution position stored in the caution position database 18 is stored. When it is predicted that the host vehicle will pass, notification about the attention position may be performed. In this case, the attention position database 18 corresponds to an example of “attention position storage device”.

  [4C] In the above embodiment, the information on the caution position based on the lane change (target driving operation) of the driver of the other vehicle is used in the own vehicle by communication with the center 3, but the present invention is not limited to this. None, the information on the attention position acquired by each vehicle for each vehicle may be used only by that vehicle. For example, only when the driving evaluation device 10 stores the attention position acquired by the own vehicle in the attention position database 18 and the own vehicle is predicted to pass the attention position stored in the attention position database 18. You may alert | report about an attention position. According to this, since the center 3 becomes unnecessary, the driving evaluation system 1 can be easily constructed. In this case, the attention position database 18 corresponds to an example of “attention position storage device”.

  [4D] The driving evaluation system 1 (driving evaluation device 10) of the above embodiment uses the driving operation (lane change) for changing the traveling lane of the vehicle as the target driving operation, but the target driving operation is limited to this. is not. For example, the driving evaluation device 10 may set the target driving operation as an acceleration operation. In this case, the driving evaluation device 10 determines whether or not rapid acceleration by the driver has been performed based on the acceleration detected by the G sensor 22, and evaluates whether or not the acceleration operation is appropriate based on this determination. And the evaluation result may be notified. For example, the driving evaluation apparatus 10 may set the target driving operation as a steering operation. In this case, the driving evaluation device 10 determines whether or not the driver has performed a sudden handle operation based on a change in the operation state (steering angle) output from the steering device 23, and based on this determination, the steering operation is performed. It may be evaluated whether or not is appropriate, and the evaluation result may be notified.

  [4E] In the above embodiment, the first evaluation result and the second evaluation result are determined based on the comprehensive evaluation of the lane change (target driving operation), and the first evaluation result and the second evaluation result Although the notification in the notification mode based is performed, the present invention is not limited to this.

  The first evaluation result and the second evaluation result may be results of individually evaluating five evaluation items (see FIG. 5) regarding the lane change. For example, the evaluation (first evaluation result) for the “indicator timing” in the latest (current cycle) lane change performed by the driver and the “indicator timing” history in the lane change performed by the driver in the past Depending on the evaluation (second evaluation result), the driver may be notified in a different manner. In other words, even if the “indicator timing” is too early compared to the past history or the “indicator timing” is improved to an appropriate timing compared to the past history, etc. Good. In addition, these evaluations and notifications may be performed for one evaluation item or a plurality of evaluation items among the five evaluation items for lane change.

  Further, the first evaluation result and the second evaluation result may be a result of individually evaluating specific evaluation items extracted from the five evaluation items for the lane change. For example, in the past determination results stored in the history database 17, an evaluation item having the most “inappropriate” during the trend determination period may be extracted as a specific evaluation item, and evaluation and notification may be performed on this. . That is, as an example, in the history database 17 shown in FIG. 5, “indicator timing” that is the evaluation item with the most “inappropriate” is extracted as a specific evaluation item, and evaluation and notification about “indicator timing” are performed. Done. The extraction criteria for specific evaluation items are not limited to the above-mentioned criteria, and a plurality of specific evaluation items may be extracted from the five evaluation items.

  [4F] In the above embodiment, the notification is performed for each of the first notification mode to the sixth notification mode. However, the present invention is not limited to this. When the driver feels bothered by the notification, the notification may be omitted as appropriate. For example, since the first notification mode to the third notification mode are notifications performed when the latest lane change is appropriately performed by the driver, when the driver feels bothered by the notification, Notification may be omitted.

  [4G] The functions of one constituent element in the above embodiment may be distributed as a plurality of constituent elements, or the functions of a plurality of constituent elements may be integrated into one constituent element. Further, at least a part of the configuration of the above embodiment may be replaced with a known configuration having the same function. Moreover, you may abbreviate | omit a part of structure of the said embodiment as long as a subject can be solved. In addition, at least a part of the configuration of the above embodiment may be added to or replaced with the configuration of the other embodiment. In addition, all the aspects included in the technical idea specified from the wording described in the claims are embodiments of the present invention.

  [4H] In the present invention, in addition to the driving evaluation apparatus 10 described above, the driving evaluation system 1 including the driving evaluation apparatus 10 as a constituent element, a program for causing a computer to function as the driving evaluation apparatus 10, and the program are recorded. It can be realized in various forms such as a medium and an operation evaluation method.

  DESCRIPTION OF SYMBOLS 1 ... Driving | operation evaluation system 3 ... Center 17 ... History database 18 ... Caution position database 31 ... External storage device

Claims (9)

Operation detecting means (S105) for detecting that the target driving operation, which is the driving operation to be evaluated, is performed by the driver of the vehicle;
Information acquisition means (S120) for acquiring driving information which is information used as a judgment material for evaluating the target driving operation;
A first evaluation unit (S125) that evaluates the target driving operation based on a comparison between the driving information when the target driving operation is detected by the operation detecting unit and a predetermined evaluation criterion; ,
An evaluation result storage means (S130) for storing in the evaluation result storage device a first evaluation result which is an evaluation result by the first evaluation means;
Second evaluation means for evaluating the target driving operation based on a comparison between the latest first evaluation result and the past first evaluation result stored in the evaluation result storage device (S135- S140, S150, S165, S175, S136-S141, S151, S166, S176),
Evaluation notification processing means for performing processing for notifying the driver in a different notification mode according to the first evaluation result and the second evaluation result that is the evaluation result by the second evaluation means. (S145, S155, S160, S170, S180, S185),
Equipped with a,
The evaluation notification processing means notifies the driver when the latest first evaluation result is not appropriate, and notifies the driver when it is appropriate. A driving evaluation apparatus characterized by being omitted . The driving evaluation apparatus according to claim 1,
The second evaluation means (S135 to S140, S150, S165, S175) is for comparing the latest first evaluation result with the evaluation results expected from the plurality of past first evaluation results. The driving evaluation device characterized in that the target driving operation is evaluated based on the driving operation. The driving evaluation apparatus according to claim 1,
The second evaluation means (S136 to S141, S151, S166, S176) is configured to perform the target driving operation based on a comparison between the latest first evaluation result and the previous first evaluation result. A driving evaluation device characterized by The driving evaluation device according to any one of claims 1 to 3,
The target driving operation is a driving operation for changing a traveling lane of the vehicle. The driving evaluation apparatus according to claim 4,
An obstacle determination means (S110) for determining whether an obstacle exists in the traveling lane of the vehicle;
The first evaluation unit does not evaluate the target driving operation when the obstacle determination unit determines that the obstacle is present. The driving evaluation device according to any one of claims 1 to 5,
Position acquisition means (S115) for acquiring the position of the vehicle when the target driving operation is detected by the operation detection means;
When a specific evaluation is made by the first evaluation means, attention position storage means (S190) for storing the position of the vehicle acquired by the position acquisition means in the attention position storage device as an attention position;
Warning notification processing means (S260) for performing processing for notifying the driver when the vehicle is predicted to pass through the attention position stored in the attention position storage device; The driving | running evaluation apparatus characterized by this. The driving evaluation device according to claim 6,
The caution position storage device stores the caution position by a plurality of vehicles including the vehicle. The driving evaluation device according to any one of claims 1 to 7,
The driving information includes at least information related to a traveling state of the vehicle. The driving evaluation device according to any one of claims 1 to 8,
The driving information includes at least information related to a driving operation by the driver.