JPH05126591A - Alarming apparatus for driving - Google Patents

Abstract

PURPOSE:To eliminate a false alarm and also to enable issuance of an alarm even when a driver is not brought to his senses, by issuing the alarm by computing a deviation distance after a very short time on the basis of the radius of curvature computed from lateral acceleration and a vehicle speed and the radius of curvature in road information. CONSTITUTION:While receiving road information from a road beacon, an arithmetic device computes the radius of curvature in actual running from lateral acceleration and a vehicle speed which are detected and determines a cross-correlation coefficient D between the radius of curvature in the road information and the computed radius of curvature. When the determined cross-correlation coefficient D0 shows a prescribed strong correlation, the radius of curvature of a road and the radius of curvature of the running vehicle are found in a relationship of substantial coincidence. Moreover, the arithmetic device computes a deviation distance after a prescribed very short time on the basis of the radius of curvature in the road information and the computed radius of curvature. When the radius of curvature of the road is gamma2 and the computed one is equal to it, in other words, the driving is determined as normal. When the radius of curvature of the vehicle is gamma1 or gamma3 and the deviation distance deltaL after the prescribed very short time exceeds an allowable value, the driving is determined as inattentive or dozing and an alarm is issued.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a driving warning device, and more particularly to a device for giving a warning to a driver looking aside or drowsy while driving a vehicle such as an automobile.

In recent years, in-vehicle navigation devices, car phones, in-vehicle AV devices, etc. have become widespread, and the number of inattentive driving operations without looking ahead of the vehicle is increasing. Such inattentive driving and unconscious driving are dangerous. There is a need for an alarm device for drowsy driving, which is similar to inattentive driving in the sense that a state is exhibited.

As a conventional driving warning device, there is disclosed a device for detecting drowsiness driving appropriately according to the driver and the running condition, which is disclosed in JP-A-60-76425. In the above, various reference patterns for steering steering during drowsy driving are stored, and the stored reference pattern is compared with the actually detected steering pattern to generate an alarm when the occurrence of drowsy driving is detected. When a warning is issued when the driver is not in the dozing driving, the driver resets the warning to stop the warning, and the reference detection pattern at this time is not used in the subsequent detection of the dozing driving.

[0004]

In the case of such a conventional driving warning device, the pattern of the steering angle is used as the criterion, but since such a pattern is based on statistical prediction, the warning is issued. It will be hit and missed.

Further, since a drowsiness starts during the steering operation, and an alarm is issued when the driver awakens once during the steering and suddenly steers, there is a problem that the alarm is not issued and the accident cannot be prevented without the awakening.

Therefore, an object of the present invention is to provide a driving warning device which can prevent a warning from being missed and can issue a warning even without awakening.

[0007]

In order to achieve the above-mentioned object, a driving alarm device according to the present invention is provided with a beacon for transmitting road information during traveling on the road, and a vehicle speed detecting means and a lateral side are provided on the vehicle side. When the cross-correlation coefficient between the curvature radius calculated from the acceleration detection means, the warning means, the lateral acceleration and the vehicle speed by each detection means, and the curvature radius in the road information has a strong correlation, the two curvature radii are constant. And an arithmetic unit for activating the alarm means if a turn signal is not generated when the deviation distance exceeds a permissible maximum value.

Further, in the present invention, an in-vehicle navigation device can be used instead of the above beacon.

[0009]

The operation warning device according to the present invention will be described with reference to FIG. 1. When the vehicle travels on a road, the arithmetic unit receives road information transmitted from a beacon provided on the road and detects vehicle speed. From the vehicle speed and the lateral acceleration from the lateral acceleration detecting means, a radius of curvature in which the vehicle is actually traveling is calculated, and a cross-correlation coefficient between the calculated radius of curvature and the radius of curvature in the received road information is calculated. Ask.

When the calculated cross-correlation coefficient shows a constant strong correlation D ₀ , the radius of curvature of the road and the radius of curvature of the running track of the vehicle are substantially in agreement as shown in FIG. Therefore, it is confirmed that the road information received from the beacon is correct information.

Therefore, the arithmetic unit further calculates what the deviation distance after a certain minute time is due to the curvature radius in the current road information and the calculated curvature radius.

This will be explained with reference to FIG. 1. If the radius of curvature of the road is r2, normal driving is performed at the same time as this, and the radius of curvature of the vehicle is r1 or r3 due to the inattentive driving or the dozing driving.
, A "deviation" occurs after a certain minute time,
This deviation distance δL is obtained, and when the deviation distance δL exceeds the maximum allowable value, it is determined that the vehicle is looking aside or dozing, and the alarm means is activated to give an alarm to the driver. There is.

A similar driving warning can be issued by using an in-vehicle navigation device instead of the above beacon and using road information from this in-vehicle navigation device.

As described above, according to the present invention, an alarm can be issued by finding a warning sign of dangerous driving based on road information, and a driving warning device having excellent responsiveness can be realized.

[0015]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS A driving warning system according to the present invention comprises a roadside system and a vehicle side system.
Is a diagram showing the former roadside system, and beacon 1
Is provided on a post P provided on a shoulder R of the road, and is a vehicle that constantly passes by the side of road information 2 including the next beacon or discrete (equal distance) curvature radius data up to the next beacon. Calling 3

Road information 2 transmitted from this beacon 1
Is shown in FIG. 3, and includes the direction of each 20 m of the road, the radius of curvature, and the eastward distance (X coordinate) and the northward distance (Y coordinate) with respect to an arbitrary point.
It should be noted that such road information 2 is stored in a memory (not shown) built in the beacon 1.

On the other hand, the system on the vehicle side is shown in FIG. 4, and the road information received from the receiving antenna ANT is demodulated by the receiver 4 and given to the arithmetic unit 10.

The arithmetic unit 10 further includes a vehicle speed sensor 5 as a vehicle speed detecting means for giving a vehicle speed signal, a lateral acceleration sensor 6 as a lateral acceleration detecting means for giving a lateral acceleration signal, and a direction indicating sensor for giving a turn signal. 7 are connected. As will be described later, a steering wheel turning angle sensor 8 which gives a steering wheel turning angle signal and an orientation sensor 9 which gives an orientation signal are additionally connected.

This arithmetic unit 10 has a receiver 4 as shown.
And an input interface 11 connected to the sensors 5-9
A CPU 12 connected to the input interface 11 via the bus B; a memory 13 interconnected from the CPU 12 via the bus B; and an output signal from the CPU 12 via the bus B to an external abnormal operation alarm. The output interface 14 outputs to the alarm device 20 as a means.

In the embodiment shown in FIG. 4, a vehicle-mounted navigation device as shown in FIG. 5 can be used instead of the receiver 4. In this case, the electronic map stored in advance in the CD-ROM 41 is used. Digital map data,
The same road information (position coordinates, road direction, radius of curvature, etc.) as the road information 2 from the above beacon 1 is included, and the vehicle-mounted navigation device 40 performs data processing on such road information and is currently traveling. It is also possible to give the arithmetic unit 10 the radius of curvature of the road at the location.

FIG. 6 is a flow chart showing a processing algorithm of the CPU 12 in the arithmetic unit 10 shown in FIG. 4, and an embodiment of the vehicle side system shown in FIG. 4 will be described below with reference to FIG. ..

First, from the radius of curvature R in the road information from the receiver 4 (or the in-vehicle navigation device 40), the vehicle speed signal v from the vehicle speed sensor 5, the lateral acceleration signal AN from the lateral acceleration sensor 6 and the direction indicating sensor 7. And the turn signal of are read (step S1).

The data of the curvature radius r2 input from the receiver 4 (or the vehicle-mounted navigation device 40) can be estimated at a place where it can be estimated from the traveling distance obtained by integrating the vehicle speed signal v in the arithmetic unit 10. It is desirable to perform processing such as (secondary) interpolation and delay correction.

Thereafter, the CPU 12 calculates the radius of curvature r1 from the vehicle speed v and the lateral acceleration AN as shown in equation (1) (step S2).

Then, the delay "0" of the curvatures a1 and a2 indicated by the reciprocal numbers of the above-mentioned curvature radii r1 and r2, respectively.
The cross-correlation D in the above equation is calculated as shown in equation (2) (step S3).

The cross-correlation D calculated in this way
Is determined to have a strong correlation. In this determination, it is determined whether 0.85 <D ≦ 1 (step S4).

As a result, when the cross-correlation D is not between 0.85 and 1, the mutual data do not substantially coincide with each other, and therefore the radius of curvature r2 from the receiver 4 (or the vehicle-mounted navigation 40). The data is judged to be incorrect,
Therefore, it is not possible to determine whether or not the operation is correct in each of the following steps, so that the process proceeds to step S10, the abnormal operation alarm device 20 is turned off, and the process ends.

On the other hand, when the cross-correlation D is between 0.85 and 1, the mutual data substantially match and the data of the radius of curvature r2 are judged to be correct, so the routine proceeds to step S5, where the vehicle speed is It is determined whether or not v has traveled at 50 km / h or more for 5 seconds or more. This is because when traveling at a low speed, the centrifugal force is small and the calculation accuracy of the radius of curvature r1 is reduced, so that the driving warning processing of FIG. 6 is applied only to the high speed traveling.

That is, it is often difficult to travel along the curvature of the road on an ordinary road (for avoiding utility poles, parked vehicles, bicycles, pedestrians, etc.), and at 50 km / h or less, the chain is tired. There is a possibility that you are running around
This is because the accuracy of the vehicle speed and the traveling distance may be reduced.

In step S5, the vehicle speed v is 50 km /
If the period of h or more is 5 seconds or more, then the deviation distance δL from the trajectory after a certain minute time δt seconds is calculated (step S6).

The calculation of the deviation distance δL will be described with reference to FIGS. 7 and 8. First, in the example of the uniform velocity circular motion shown in FIG. 7, when the vehicle is traveling at the velocity v, a minute time δt. After a second, the distance advances by δs. In this case, δs = v
Xδt.

The angle δθ at which the vehicle deviates from the tangent line is
When the angle is small, δθ = δs / r. However, r shows a radius of curvature.

When the deviation from the trajectory is calculated as shown in FIG. 8 by using the example of the uniform velocity circular motion shown in FIG. 7, first, the radius of curvature obtained from the receiver 4 (or the in-vehicle navigation device 40) is calculated. When r2 and the radius of curvature r1 actually calculated are different, the deviation distance δL from the track of the vehicle 1 and the road after a minute time δt seconds can be approximately expressed as follows.

ΔL = δs · sin (δθ2-δθ1) ≈δs (δθ2-δθ1) = δs ² (r2 ⁻¹ −r1 ⁻¹ ) = v ² δt ² (r2 ⁻¹ −AN / v ² ) Formula (3) )

The deviation distance δL thus obtained is compared with the maximum value that can be tolerated, that is, whether or not it exceeds the threshold value LMAX (step S7), and the threshold value LMAX must be exceeded. For example, the alarm device 20 is off
However, when the threshold value LMAX is exceeded, it is further determined whether the turn signal from the direction indicating sensor 7 is ON or OFF (step S8). This is because, for example, if the road has two or more lanes on each side, the lane may be changed or the course may be changed to another road. In such a case, the turn signal is normally activated (ON). If the turn signal is ON, no alarm is generated (step S1
0) Only when the turn signal is not activated, it is considered that the driver is looking aside or drowsy, so the abnormal operation alarm device 20 is turned on for T seconds (step S9). Then, this routine ends.

In addition to the embodiment described above, as in the embodiment shown in FIG. 9, while tracing the running locus obtained from the integration of the curvatures on the XY coordinates, a few minutes after the lateral acceleration AN is estimated. The distance h from the predicted position q _{i + 1} to the tangent of the trajectory obtained from the database (data from the receiver 4 or the in-vehicle navigation device 40) is calculated as
It can be used instead of L.

The distance h in this case is h = | ax _{i + 1} + y _{i + 1} + c | / (a ² +1) ^1/2 (a and c are constants). Therefore, the steering wheel turning angle sensor 8 and the azimuth sensor 9 shown by dotted lines in FIG. 4 are used.

[0038]

As described above, according to the driving warning device of the present invention, the radius of curvature actually calculated from the lateral acceleration and the vehicle speed and the radius of curvature in the road information given from the beacon or the vehicle-mounted navigation device. When the cross-correlation coefficient of shows a strong correlation, the deviation distance after a certain minute time by both curvature radii is calculated, and when this deviation distance exceeds the allowable maximum value and no turn signal is generated, Since it is configured to generate an alarm, the following unique effects can be obtained. When a warning sign of dangerous driving is found, an alarm can be quickly generated, and the alarm can be issued even if there is no missed warning and there is no awakening, and a device with higher safety is realized. An alarm is also issued when changing routes without activating the turn signal, which is useful for teaching driving manners. In the future, automatic driving devices for automobiles (devices that control the steering angle so as to minimize the deviation from the track, and devices that select the gear stage of the transmission using discrete slope data)
It can also be applied to.

[Brief description of drawings]

FIG. 1 is a diagram for explaining an operation of a driving warning device according to the present invention.

FIG. 2 is a system diagram on the road side used in the driving warning device according to the present invention.

FIG. 3 is a diagram showing road information transmitted from a beacon and given to a vehicle side according to the present invention.

FIG. 4 is a block diagram showing a system configuration on the vehicle side of the driving warning device according to the present invention.

FIG. 5 is a diagram schematically showing a vehicle-mounted navigation device when a beacon is not used as a modified example of the present invention.

FIG. 6 is a flowchart showing a processing procedure executed by a CPU in the arithmetic unit used in the present invention.

FIG. 7 is a diagram showing an example of a uniform velocity circular motion for explaining a deviation distance from a trajectory calculated by a driving warning device according to the present invention.

FIG. 8 is a diagram illustrating a process of calculating a deviation distance from a trajectory in the present invention.

FIG. 9 is a diagram showing a method of estimating a deviation from a trajectory by tracing a trajectory on XY coordinates as a modified example of the invention.

[Explanation of symbols]

 1 beacon 2 road information 3 vehicle 4 receiver 5 vehicle speed sensor 6 lateral acceleration sensor 7 direction indicator sensor 10 arithmetic unit 12 CPU 13 memory 20 alarm device 40 vehicle-mounted navigation device In the drawings, the same reference numerals indicate the same or corresponding parts.

Claims (2)

[Claims] 1. A beacon for transmitting road information during traveling is provided on the road, and a vehicle speed detecting means, a lateral acceleration detecting means, a warning means, and a curvature calculated from the lateral acceleration and vehicle speed by each detecting means on the vehicle side. When the cross-correlation coefficient between the radius and the radius of curvature in the road information indicates a strong correlation, the displacement distance after a certain minute time is calculated by both radiuses of curvature, and the displacement distance exceeds the allowable maximum value. A driving warning device, wherein a driving device for activating the warning means is provided when a turn signal is not generated. 2. The driving warning device according to claim 1, wherein an in-vehicle navigation device is used instead of the beacon.