WO2011158317A1

WO2011158317A1 - Driving assistance device

Info

Publication number: WO2011158317A1
Application number: PCT/JP2010/060048
Authority: WO
Inventors: 芳宏大桑; 健史佐々木; 潤佐藤; 史好栗原
Original assignee: トヨタ自動車株式会社
Priority date: 2010-06-14
Filing date: 2010-06-14
Publication date: 2011-12-22

Abstract

Provided is a driving assistance device for controlling a vehicle so as to comply with the original intention of a driver even when a wrong operation is performed. In the driving assistance device, an operation determination means determines whether an operation input by the driver is appropriate. When the operation input by the driver is not appropriate, a replacement control means estimates an operation input that should be originally performed by the driver and replaces the operation input by the driver with the operation input that should be originally performed by the driver to control the vehicle.

Description

Driving assistance device

The present invention relates to a driving support device that supports driving by a driver.

Conventionally, as described in Japanese Patent Application Laid-Open No. 2005-219611, as a driving assistance device that supports driving by a driver, an erroneous operation of the driver has been detected from a vehicle compartment camera, a leg camera, or the like. In some cases, driving assistance devices that perform control intervention such as suppression of driving operations are known.

JP 2005-219611 A

However, in such a driving support device, there are cases where the vehicle cannot be controlled in accordance with the driver's original intention. For example, when an operation that is actively performed with the intention of a vehicle control performed by the driver is an erroneous operation, the erroneous operation is suppressed, but the vehicle control originally intended by the driver is not performed.

Accordingly, the present invention has been made to solve such problems, and it is an object of the present invention to provide a driving support device that performs vehicle control in accordance with the driver's original intention even when an erroneous operation is performed. And

That is, the present invention is a driving support device that supports driving of a vehicle, and includes an operation determination unit that determines whether a driver's operation input is appropriate, and a driver when the driver's operation input is not appropriate. And a replacement control means for controlling the host vehicle by replacing the operation input of the driver with the operation input that should be originally performed by the driver.

According to the present invention, it is determined by the operation determination means whether the driver's operation input is appropriate. When the operation input by the driver is not appropriate, the operation input that should be originally performed by the driver is estimated by the replacement control means, and the driver's operation input is replaced with the vehicle control that should be originally performed by the driver, The vehicle is controlled according to the person's original intention.

Preferably, the operation determining unit determines whether the driver's operation input is appropriate based on the input state of the driver's operation input, and the replacement control unit sets the input state of the driver's operation input. Based on this, an operation input that should be originally performed by the driver is estimated.

In such a configuration, for example, the input state of the driver's operation input is compared with the normal range of the input state of each operation input. When the input state of the driver's operation input is not within the normal range of the input state of the operation input, the operation determining means determines that the driver's operation input is not appropriate. Further, an operation input that should be originally performed by the driver is estimated by the replacement control means. For example, when the input state of the driver's operation input is within the normal range of the input state of the other operation input, the driver should perform the other operation input according to the input state of the driver's operation input. It is presumed that the operation input should be performed.

In addition, preferably, the apparatus further includes driver monitoring means for recognizing the driver's posture, and the operation determining means appropriately inputs the driver's operation based on the driver's posture recognized by the driver monitoring means. The replacement control unit estimates the operation input that should be originally performed by the driver based on the driver's posture recognized by the driver monitoring unit.

In such a configuration, for example, a course originally intended by the driver is predicted from the posture of the driver recognized by the driver monitoring means. When the course according to the driver's operation input is different from the course originally intended by the driver, the operation determination means determines that the driver's operation input is not appropriate. Further, it is presumed that the operation input to be made by the driver is an operation input that should be made by the replacement control means to match the course of the host vehicle with the course originally intended by the driver.

Preferably, the vehicle is further provided with obstacle detection means for detecting obstacles around the host vehicle, and the operation determination means appropriately receives the driver's operation input based on the obstacle information detected by the obstacle detection means. The replacement control means estimates the operation input that should be originally performed by the driver based on the obstacle information detected by the obstacle detection means.

In such a configuration, for example, the relative position of the obstacle with respect to the host vehicle is grasped by the obstacle detection means. And when the course according to a driver's operation input goes to the position of an obstacle, it is judged by an operation judging means that a driver's operation input is not appropriate. In addition, it is presumed that the operation input that prevents the course of the host vehicle from moving toward the position of the obstacle by the replacement control means is an operation input that should be originally performed by the driver.

Preferably, the apparatus further comprises position specifying means for specifying the position of the own vehicle, and surrounding map information acquiring means for acquiring map information around the own vehicle based on the position of the own vehicle specified by the position specifying means. The operation determining means determines whether the driver's operation input is appropriate based on the map information around the host vehicle acquired by the surrounding map information acquiring means, and the replacement control means is determined by the surrounding map information acquiring means. Based on the acquired map information around the own vehicle, an operation input that should be originally performed by the driver is estimated.

In such a configuration, information on the road around the own vehicle can be obtained based on the map information around the own vehicle. Then, when the course predicted from the driver's operation input deviates from the driving path around the host vehicle, the operation determination unit determines that the driver's operation input is not appropriate. In addition, it is estimated that the operation input that prevents the course of the host vehicle from deviating from the traveling path around the host vehicle by the replacement control means is an operation input that should be originally performed by the driver.

Preferably, the vehicle further comprises peripheral traffic rule information acquiring means for acquiring traffic rule information around the host vehicle based on the position of the host vehicle specified by the position specifying means, and the operation determining means includes the peripheral traffic rule information. Based on the traffic rule information around the host vehicle acquired by the acquiring unit, it is determined whether the driver's operation input is appropriate, and the replacement control unit determines whether the driver's operation input is acquired by the surrounding traffic rule information acquiring unit. Based on the traffic rule information, an operation input that should be originally performed by the driver is estimated.

In such a configuration, it is possible to obtain information on the travel route around the host vehicle based on the map information around the host vehicle. Furthermore, it is possible to obtain information on lanes that can travel around the host vehicle based on the traffic rule information around the host vehicle. Then, when the course predicted from the driver's operation input deviates from the lane in which the vehicle can travel, the operation determination means determines that the driver's operation input is not appropriate. In addition, it is presumed that the operation input that prevents the course of the host vehicle from deviating from the driveable lane around the host vehicle is the operation input that should be originally performed by the driver.

Preferably, the apparatus further comprises a moving body detecting means for detecting the behavior of the moving body around the own vehicle, and the operation determining means is operated based on the behavior of the moving body around the own vehicle detected by the moving body detecting means. The replacement control means estimates the operation input that should be originally performed by the driver based on the behavior of the moving body around the host vehicle detected by the moving body detecting means. .

In such a configuration, it is possible to perform vehicle control in accordance with the driver's original intention after avoiding a collision between the own vehicle and the moving body.

Preferably, when the replacement control unit replaces the driver's operation input with an operation input that should be originally performed by the driver and controls the own vehicle, the driver's operation input should be performed by the driver. Further provided is an informing means for informing the driver that the vehicle is to be controlled in place of the input.

In such a configuration, it is possible to prevent the reaction of the own vehicle to the operation input from causing the driver to be embarrassed.

According to the present invention, it is possible to provide a driving support device that performs vehicle control in accordance with the driver's original intention even when an erroneous operation is performed.

1 is a schematic configuration diagram illustrating a first embodiment of a driving assistance apparatus according to the present invention. It is a flowchart which shows the driving assistance procedure performed by the driving assistance apparatus of FIG. It is a flowchart which shows the driving assistance procedure performed by 2nd Embodiment of the driving assistance apparatus which concerns on this invention. It is a flowchart which shows the driving assistance procedure performed by 3rd Embodiment of the driving assistance apparatus which concerns on this invention. It is a flowchart which shows the driving assistance procedure performed by 4th Embodiment of the driving assistance apparatus which concerns on this invention. It is a figure which shows an example from which the future locus | trajectory of the own vehicle has deviated from the travel path in the map information around the own vehicle. It is a flowchart which shows the driving assistance procedure performed by 5th Embodiment of the driving assistance apparatus which concerns on this invention. It is a figure which shows an example from which the future locus | trajectory of the own vehicle has remove | deviated from the lane where driving | running | working is permitted on traffic rules. It is a flowchart which shows the driving assistance procedure performed by 6th Embodiment of the driving assistance apparatus which concerns on this invention. It is a figure which illustrates the relationship between the own vehicle and a moving body. It is a schematic block diagram which shows 7th Embodiment of the driving assistance device which concerns on this invention. It is a flowchart which shows the driving assistance procedure performed by the driving assistance apparatus of FIG. It is a figure which shows an example in which driving assistance is performed in 7th Embodiment.

Hereinafter, a preferred embodiment of a driving support apparatus according to the present invention will be described in detail with reference to the drawings.

FIG. 1 is a schematic configuration diagram showing a first embodiment of a driving support apparatus according to the present invention. In the figure, a driving support device 1 includes an accelerator pedal 2, a brake pedal 3, a shift lever 4, a steering 5, a radar sensor 6, a driver monitor camera 7, a navigation computer 8, an engine control unit 9, a brake control unit 10, and shift control. A unit 11, a steering control unit 12, and an ECU (Electronic Control Unit) 13. In the first embodiment, the radar sensor 6, the driver monitor camera 7, and the navigation computer 8 that are not used in the driving support procedure described later may be omitted.

Accelerator pedal 2 is an operation input unit for inputting an engine throttle opening / closing instruction, and acquires the input state of the operation input by the driver. Here, the input state corresponds to part or all of the depression strength, displacement amount, and displacement speed of the accelerator pedal 2.

The brake pedal 3 is an operation input unit for instructing braking of the host vehicle, and acquires the input state of the operation input by the driver. Here, the input state corresponds to part or all of the depression strength, displacement amount, and displacement speed of the brake pedal 3.

The shift lever 4 is an operation input unit for instructing a shift change, and acquires the input state of the operation input by the driver. Here, the input state corresponds to which shift position the shift lever is tilted.

Steering 5 is an operation input unit that instructs turning, and acquires the input state of the operation input by the driver. Here, the input state corresponds to a part or all of the rotation direction and the rotation angle of the steering wheel 5.

The radar sensor 6 is a sensor that detects obstacles and moving objects around the host vehicle, and includes obstacle detection means that detects obstacles around the host vehicle, and moving body detection that detects the behavior of the moving body around the host vehicle. Used as a means. As the radar sensor 6, for example, a millimeter wave radar, a laser radar, or the like can be used.

The driver monitor camera 7 is a camera that captures the driver's posture in the vehicle, and is used as driver monitoring means for recognizing the driver's posture.

The navigation computer 8 is a computer that acquires map information around the host vehicle and traffic rule information around the host vehicle. The navigation computer 8 acquires position information of the host vehicle via the GPS sensor 14. Then, the map information 15 and traffic rule information 16 held in advance are referred to, and map information around the own vehicle and traffic rule information around the own vehicle are acquired. In this way, the navigation computer 8 has a position specifying means for specifying the position of the own vehicle, a surrounding map information acquiring means for acquiring map information around the own vehicle, and a surrounding traffic rule information for acquiring traffic rule information around the own vehicle. Used as acquisition means.

The engine control unit 9 is a control output unit that controls the driving of the engine in response to a command from the ECU 13. The engine control unit 9 controls the driving of the engine by adjusting the opening of the throttle valve via the throttle actuator 17.

The brake control unit 10 is a control output unit that controls braking of the host vehicle in response to a command from the ECU 13. The brake control unit 10 operates the brake via the brake actuator 18 and controls braking of the host vehicle.

The shift control unit 11 is a control output unit that performs a shift change in response to a command from the ECU 13. The shift control unit 11 performs a shift change via the shift actuator 19.

The steering control unit 12 is a control output unit that controls the turning of the host vehicle in response to a command from the ECU 13. The steering control unit 12 adjusts the direction of the wheels via the steering actuator 20 and controls the turning of the host vehicle.

ECU13 performs a predetermined process based on the input state acquired by each operation input part 2-5, and judges whether a driver's operation input is appropriate. In this manner, the ECU 13 constitutes an operation determination unit that determines whether the driver's operation input is appropriate.

Further, when the ECU 13 determines that the driver's operation input is appropriate, the ECU 13 performs vehicle control (normal control) according to the driver's operation input via the control output units 9 to 12. On the other hand, when it is determined that the driver's operation input is not appropriate, predetermined processing is performed based on the input state acquired by each of the operation input units 2 to 5, and the operation input (normative) that should be performed by the driver Operation input). Then, vehicle control (replacement control) in which the driver's operation input is replaced with the normative operation input is performed via the control output units 9 to 12. In this manner, the ECU 13 estimates the operation input that should be performed by the driver, and constitutes a replacement control unit that controls the host vehicle by replacing the operation input of the driver with the operation input that should be performed by the driver. .

FIG. 2 is a flowchart showing a driving support procedure executed by the ECU 13 in the first embodiment. In the driving support procedure of the first embodiment, only the operation input units 2 to 5 and the control output units 9 to 12 are used.

First, the input state of the operation input is acquired via the operation input units 2 to 5 (step S10). For example, the depression strength, the displacement amount, and the displacement speed are acquired via the accelerator pedal 2.

Subsequently, the acquired input state is compared with the normal range of the input state of each operation input (step S12). For example, the depression force, displacement amount and displacement speed acquired via the accelerator pedal 2 are compared with the normal depression strength, displacement amount and displacement speed of the accelerator pedal 2, and further the normal depression strength of the brake pedal 3. It is compared with the displacement amount and the displacement speed. The normal range of each operation input is determined in advance by, for example, past operation data.

In the comparison result of step S12, when the acquired input state is within the normal range of the input state of the operation input, it is determined that the driver's operation input is appropriate. On the other hand, when the acquired input state is not within the normal range of the input state of the operation input, it is determined that the driver's operation input is not appropriate (step S14).

If it is determined in step S14 that the driver's operation input is appropriate, vehicle control (normal control) corresponding to the driver's operation input is performed via each control output unit 9-12 (step S16). ).

On the other hand, if it is determined in step S14 that the driver's operation input is not appropriate, the comparison result in step S12 is referred to again. In step S12, when the acquired input state is within the normal range of the input state of other operation inputs, the operation that should be originally performed by the driver to perform the other operation input in the input state. It is estimated that it is an input (normative operation input) (step S18). Then, vehicle control (replacement control) is performed by replacing the driver's operation input with the normative operation input via the control output units 9 to 12 (step S20).

As an example when the acquired input state is in the normal range of the input states of other operation inputs, the depression strength, the displacement amount, and the displacement speed acquired via the accelerator pedal 2 are the normal values of the brake pedal 3. There are cases where it is in the range of the proper depression strength, displacement amount and displacement speed. In such a case, it is presumed that the stepping strength, displacement amount and displacement speed obtained via the accelerator pedal 2 are applied to the brake pedal 3 as a normative operation input, via the brake control unit 10. Replacement control is performed.

As described above, the driving support apparatus 1 according to the present embodiment compares the acquired input state with the normal range of the input state of the operation input, and determines whether the driver's operation input is appropriate. To do. When it is determined that the operation input of the driver is not appropriate, the operation input that should be originally performed by the driver is estimated by comparing the acquired input state with the normal range of the input state of the other operation input. . In other words, by using information based on the driver's operation input (input state) and other information (normal range of the input state), it is detected that the driver's operation input is not appropriate, and the driver originally Estimate the operation input to be performed. Then, the vehicle operation is controlled by replacing the operation input of the driver with the operation input that should be originally performed by the driver. In this way, it is possible to perform vehicle control in line with the driver's original intention.

Next, a second embodiment of the driving support device according to the present invention will be described. The schematic configuration of the second embodiment is the same as that of the first embodiment shown in FIG. In the second embodiment, the radar sensor 6 and the navigation computer 8 that are not used in the driving support procedure described later may be omitted.

FIG. 3 is a flowchart showing a driving support procedure executed by the ECU 13 in the second embodiment. In the driving support procedure of the second embodiment, only the operation input units 2 to 5, the driver monitor camera 7, and the control output units 9 to 12 are used.

First, after the input state of the operation input is acquired (step S22) as in step S10 of the first embodiment, the image acquired via the driver monitor camera 7 is subjected to image processing, and the driver's posture is recognized. (Step S24). For example, it is recognized in which direction the upper body of the driver is directed, where the driver's eyes are directed, and the like.

Subsequently, the driver's intention is estimated from the driver's posture (step S26). For example, when the upper body of the driver is facing the rear of the host vehicle, it is estimated that the driver intends to move the host vehicle backward. It is also presumed that the driver intends to move the host vehicle backward when the driver's line of sight is concentrated on the rearview mirror of the host vehicle.

Here, the input state of the operation input acquired in step S22 is compared with the driver's intention acquired in step S26 (step S27). When the input state of the operation input is in line with the driver's intention, it is determined that the driver's operation input is appropriate. On the other hand, if the input state of the operation input is not in line with the driver's intention, it is determined that the driver's operation input is not appropriate (step S28).

As an example of the case where the input state of the operation input is not in line with the driver's intention, there may be a case where the driver has the intention of moving backward even though the shift lever 4 is tilted to the forward side. .

If it is determined in step S28 that the driver's operation input is appropriate, vehicle control (normal control) corresponding to the driver's operation input is performed via each control output unit 9-12 (step S30). ).

On the other hand, if it is determined in step S28 that the driver's operation input is not appropriate, the operation input that matches the driver's intention is estimated to be the operation input (normative operation input) that should be originally performed by the driver. (Step S32). Then, vehicle control (replacement control) in which the driver's operation input is replaced with the normative operation input is performed via the control output units 9 to 12 (step S34).

As in the above-described example, when the driver intends to move backward even though the shift lever 4 is tilted to the forward side, it is possible to input the reference lever to tilt the shift lever 4 to the backward side. Presumed to be. Then, replacement control is performed via the shift control unit 11. That is, a shift change is performed so as to correspond to the case where the shift lever 4 is tilted backward via the shift actuator 19.

As described above, the driving support device 1 according to the present embodiment estimates the driver's intention based on the driver's posture. Then, the input state of the driver's operation input is compared with the driver's intention to determine whether the driver's operation input is appropriate. If it is determined that the driver's operation input is not appropriate, the operation input that should be originally performed by the driver is estimated in accordance with the driver's intention. In other words, by using information (input state) based on the driver's operation input and other information (driver's posture), it is detected that the driver's operation input is not appropriate, and the driver originally performs the operation. Estimate the operation input to be performed. Then, the vehicle operation is controlled by replacing the operation input of the driver with the operation input that should be originally performed by the driver. In this way, it is possible to perform vehicle control in line with the driver's original intention.

Next, a third embodiment of the driving support apparatus according to the present invention will be described. The schematic configuration of the third embodiment is the same as that of the first embodiment shown in FIG. In the third embodiment, the driver monitor camera 7 and the navigation computer 8 that are not used in the driving support procedure described later may be omitted.

FIG. 4 is a flowchart showing a driving support procedure executed by the ECU 13 in the third embodiment. In the driving support procedure of the third embodiment, only the operation input units 2 to 5, the radar sensor 6, and the control output units 9 to 12 are used.

First, after the input state of the operation input is acquired as in step S10 of the first embodiment (step S36), the relative position of the obstacle with respect to the host vehicle is detected via the radar sensor 6 (step S38). . Subsequently, a trajectory (future trajectory) drawn immediately after traveling of the host vehicle is calculated based on the acquired input state of the operation input (step S40). For example, the course of the host vehicle is calculated from the input state of the shift lever 4, the turning track of the host vehicle is calculated from the rotation direction and the rotation angle of the steering 5, and the future track of the host vehicle is calculated.

Here, the future trajectory of the host vehicle is compared with the position of the obstacle (step S42). If the future trajectory of the host vehicle is not directed to the position of the obstacle, it is determined that the driver's operation input is appropriate. On the other hand, if the future trajectory of the host vehicle is moving toward the obstacle, it is determined that the driver's operation input is not appropriate (step S44). For example, when an operation input is applied to the accelerator pedal 2 in a state where the future trajectory of the host vehicle is toward an obstacle, it is determined that it is not appropriate to apply the operation input to the accelerator pedal 2.

If it is determined in step S42 that the driver's operation input is appropriate, vehicle control (normal control) corresponding to the driver's operation input is performed via each control output unit 9-12 (step S46). ).

On the other hand, if it is determined in step S42 that the driver's operation input is not appropriate, an operation input that should be originally performed by the driver is to prevent the future trajectory of the host vehicle from moving toward the position of the obstacle. It is presumed that it is (normative operation input) (step S48). Then, vehicle control (replacement control) in which the driver's operation input is replaced with the normative operation input is performed via the control output units 9 to 12 (step S50).

When the operation input is applied to the accelerator pedal 2 in a state where the future locus of the host vehicle is directed toward the obstacle as in the above-described example, for example, the depression obtained through the accelerator pedal 2 It is presumed that adding the strength, the displacement amount, and the displacement speed to the brake pedal 3 is the normative operation input, and the replacement control is performed via the brake control unit 10.

As described above, the driving support apparatus 1 according to the present embodiment determines whether the driver's operation input is appropriate based on whether the future trajectory of the host vehicle is toward the position of the obstacle. When it is determined that the driver's operation input is not appropriate, the operation input that should be originally performed by the driver is estimated so that the future trajectory of the host vehicle does not go to the position of the obstacle. In other words, by using information (input state) based on the driver's operation input and other information (position of the obstacle), it is detected that the driver's operation input is not appropriate, and the driver originally performs the operation. Estimate the operation input to be performed. Then, the vehicle operation is controlled by replacing the operation input of the driver with the operation input that should be originally performed by the driver. In this way, it is possible to perform vehicle control in line with the driver's original intention.

Next, a fourth embodiment of the driving support apparatus according to the present invention will be described. The schematic configuration of the fourth embodiment is the same as that of the first embodiment shown in FIG. In the fourth embodiment, the radar sensor 6 and the driver monitor camera 7 that are not used in the driving support procedure described later may be omitted.

FIG. 5 is a flowchart showing a driving support procedure executed by the ECU 13 in the fourth embodiment. In the driving support procedure of the fourth embodiment, only the operation input units 2 to 5, the navigation computer 8, and the control output units 9 to 12 are used.

First, similarly to step S10 of the first embodiment, after the input state of the operation input is acquired (step S52), map information around the host vehicle is acquired via the navigation computer 8 (step S54). Subsequently, similarly to step S40 of the third embodiment, a trajectory (future trajectory) drawn immediately after traveling of the host vehicle is calculated (step S56).

Here, the map information around the host vehicle acquired in step S54 is compared with the future trajectory of the host vehicle calculated in step S56 (step S58). Then, when the future trajectory of the host vehicle is not deviated from the travel path in the map information around the host vehicle, it is determined that the driver's operation input is appropriate. On the other hand, if the future trajectory of the host vehicle is out of the travel path in the map information around the host vehicle, it is determined that the driver's operation input is not appropriate (step S60).

FIG. 6 is a diagram showing an example in which the future trajectory of the host vehicle is out of the travel path in the map information around the host vehicle. In FIG. 6, the future trajectory 42 of the host vehicle 41 is off to the far side from the right turn destination road 43, although the driver is turning right because the steering wheel 5 is rotated to the right.

If it is determined in step S60 of FIG. 5 that the driver's operation input is appropriate, vehicle control (normal control) corresponding to the driver's operation input is performed via each control output unit 9-12. (Step S62).

On the other hand, if it is determined in step S60 that the driver's operation input is not appropriate, the driver inputs an operation input that prevents the future trajectory of the host vehicle from deviating from the travel path in the map information around the host vehicle. It is presumed that the operation input should be performed (normative operation input) (step S64). Then, vehicle control (replacement control) in which the driver's operation input is replaced with the normative operation input is performed via the control output units 9 to 12 (step S66).

In the case of the example shown in FIG. 6, it is estimated that the operation input that draws the future trajectory 44 in which the future trajectory of the own vehicle does not deviate from the travel path 43 is the normative operation input, Replacement control is performed. That is, control such as adjusting the direction of the wheels so as to draw the future trajectory 44 is performed via the steering actuator 20.

As described above, in the driving support device 1 according to the present embodiment, whether the driver's operation input is appropriate based on whether the future trajectory of the host vehicle is out of the travel path in the map information around the host vehicle. Judging. When it is determined that the driver's operation input is not appropriate, the operation input that should be originally performed by the driver is estimated so that the future trajectory of the host vehicle does not deviate from the travel path. In other words, by using information based on the driver's operation input (future trajectory of the host vehicle) and other information (map information around the host vehicle), it is detected that the driver's operation input is not appropriate, The operation input that should be performed by the driver is estimated. Then, the vehicle operation is controlled by replacing the operation input of the driver with the operation input that should be originally performed by the driver. In this way, it is possible to perform vehicle control in line with the driver's original intention.

Next, a fifth embodiment of the driving support apparatus according to the present invention will be described. The schematic configuration of the fifth embodiment is the same as that of the first embodiment shown in FIG. In the fifth embodiment, the radar sensor 6 and the driver monitor camera 7 that are not used in the driving support procedure described later may be omitted.

FIG. 7 is a flowchart showing a driving support procedure executed by the ECU 13 in the fifth embodiment. In the driving support procedure of the fifth embodiment, only the operation input units 2 to 5, the navigation computer 8, and the control output units 9 to 12 are used.

First, after the input state of the operation input is acquired in the same manner as in step S10 of the first embodiment (step S68), map information around the host vehicle is acquired via the navigation computer 8 (step S70). Is obtained (step S72). Subsequently, similarly to step S40 of the third embodiment, a trajectory (future trajectory) drawn by the traveling of the host vehicle is calculated immediately (step S74).

Here, the map information and traffic rule information around the own vehicle acquired in steps S70 and 72 and the future trajectory of the own vehicle calculated in step S74 are compared (step S76). In step S76, first, the future trajectory of the host vehicle is compared with the travel path in the map information around the host vehicle, and the travel path related to the future trajectory of the host vehicle is specified. Next, the travel route and traffic rule information around the host vehicle are compared, and it is confirmed whether the travel route is a lane that is allowed to travel according to the traffic rule. Then, if the future trajectory of the host vehicle is not deviated from the lane allowed to travel according to the traffic rules, it is determined that the driver's operation input is appropriate. On the other hand, when the future trajectory of the host vehicle deviates from the lane allowed to travel according to the traffic rules, it is determined that the driver's operation input is not appropriate (step S78).

FIG. 8 is a diagram showing an example in which the future trajectory of the own vehicle deviates from the lane allowed to travel according to the traffic rules. In FIG. 8, a lane 53 is an exit of the highway 56 and is a lane that is not allowed to travel due to traffic rules. On the other hand, the lane 54 is an entrance of the highway 56 and is a lane that is allowed to travel according to traffic rules. However, the future trajectory 52 of the host vehicle 51 deviates from the lane 54 that is allowed to travel according to the traffic rules, and is heading toward the lane 53 that is not allowed to travel according to the traffic rules.

If it is determined in step S78 of FIG. 7 that the driver's operation input is appropriate, vehicle control (normal control) corresponding to the driver's operation input is performed via each control output unit 9-12. (Step S80).

On the other hand, if it is determined in step S78 that the driver's operation input is not appropriate, an operation input that prevents the future trajectory of the host vehicle from deviating from the lane allowed to travel according to the traffic rules is originally given by the driver. It is estimated that this is an operation input (normative operation input) to be performed (step S82). Then, vehicle control (replacement control) in which the driver's operation input is replaced with the normative operation input is performed via the control output units 9 to 12 (step S84).

In the case of the example shown in FIG. 8, it is estimated that the operation input that causes the future locus of the host vehicle to draw the future locus 55 that does not deviate from the lane 54 that is allowed to travel according to the traffic rules is the normative operation input. Replacement control is performed via the steering control unit 12 or the like. That is, control such as adjusting the direction of the wheels so as to draw the future locus 55 is performed via the steering actuator 20.

As described above, in the driving assistance device 1 according to the present embodiment, whether the driver's operation input is appropriate based on whether the future locus of the host vehicle is out of the lane allowed to travel according to the traffic rules. to decide. When it is determined that the driver's operation input is not appropriate, the operation input that should be originally performed by the driver is estimated so that the future trajectory of the host vehicle does not deviate from the lane allowed to travel according to the traffic rules. In other words, by using information based on the driver's operation input (future trajectory of the host vehicle) and other information (map information and traffic rule information around the host vehicle), the driver's operation input is not appropriate. While detecting, the operation input which should be performed originally by a driver | operator is estimated. Then, the vehicle operation is controlled by replacing the operation input of the driver with the operation input that should be originally performed by the driver. In this way, it is possible to perform vehicle control in line with the driver's original intention.

Next, a sixth embodiment of the driving support apparatus according to the present invention will be described. The schematic configuration of the sixth embodiment is the same as that of the first embodiment shown in FIG. In the sixth embodiment, the driver monitor camera 7 that is not used in the driving support procedure described later may be omitted.

FIG. 9 is a flowchart showing a driving support procedure executed by the ECU 13 in the sixth embodiment. In the driving support procedure of the sixth embodiment, only the operation input units 2 to 5, the radar sensor 6, the navigation computer 8, and the control output units 9 to 12 are used.

First, similarly to the fourth embodiment, the input state of the operation input is acquired (step S86), the map information around the host vehicle is acquired (step S88), and the future trajectory of the host vehicle is calculated (step S90). Thereafter, the behavior of the moving body around the host vehicle is detected via the radar sensor 6 (step S92), and the future locus of the moving body is calculated based on the detected behavior of the moving body (step S94).

Here, the map information around the own vehicle acquired in step S88 and the future locus of the moving body around the own vehicle calculated in step S94 are compared with the future locus of the own vehicle calculated in step S90 ( Step S96). In step S96, first, the future trajectory of the own vehicle is compared with the travel path in the map information around the own vehicle, and the travel path related to the future trajectory of the own vehicle is specified. Next, the trajectory heading toward the travel path is compared with the future trajectory of the mobile body around the host vehicle, and it is confirmed whether the host vehicle heading toward the travel path and the mobile body may collide. Then, if the future trajectory of the host vehicle does not deviate from the travel path in the map information around the host vehicle and there is no risk of collision between the host vehicle and the moving body, it is determined that the driver's operation input is appropriate. The On the other hand, if the future trajectory of the host vehicle deviates from the travel path in the map information around the host vehicle or there is a risk of collision between the host vehicle and the moving body, it is determined that the driver's operation input is not appropriate ( Step S98).

FIG. 10 is a diagram illustrating the relationship between the host vehicle and the moving body. In FIG. 10, the future trajectory 62 of the host vehicle 61 is directed toward the travel path 63 at the right turn destination. In addition, another vehicle 64 that is a moving body around the host vehicle exists on the opposite lane in the straight traveling direction, and the future locus 65 of the vehicle 65 is traveling straight ahead facing the host vehicle. For this reason, the future trajectory 62 of the own vehicle and the future trajectory 65 of the moving body are in an intersecting relationship. If the difference in timing to reach the intersection is large, the host vehicle and the moving body are unlikely to collide, and if the timing difference to reach the intersection is small, the host vehicle and the moving body may collide.

If it is determined in step S98 in FIG. 9 that the driver's operation input is appropriate, vehicle control (normal vehicle control) corresponding to the driver's operation input is performed via each control output unit 9-12. (Step S100).

On the other hand, if it is determined in step S98 that the driver's operation input is not appropriate, the operation input for preventing the future trajectory of the host vehicle from deviating from the travel path in the map information around the host vehicle is moved with the host vehicle. It is presumed that the operation input (normative operation input) that should be performed by the driver is performed at the timing when the body does not collide (step S102). Then, vehicle control (replacement control) in which the driver's operation input is replaced with the normative operation input is performed via each control output unit 9-12 (step S104).

As described above, in the driving support device 1 according to the present embodiment, whether the future trajectory of the host vehicle does not deviate from the travel path in the map information around the host vehicle and there is no risk of collision between the host vehicle and the moving body. Based on this, it is determined whether the driver's operation input is appropriate. If it is determined that the driver's operation input is not appropriate, the driver will ensure that the future trajectory of the host vehicle does not deviate from the travel path in the map information around the host vehicle and that there is no risk of collision between the host vehicle and the moving body. To estimate the operation input that should be performed. In other words, by using information based on the driver's operation input (future trajectory of the host vehicle) and other information (map information around the host vehicle and behavior of the moving body around the host vehicle), the driver's operation input Is not appropriate, and the operation input that should be originally performed by the driver is estimated. Then, the vehicle operation is controlled by replacing the operation input of the driver with the operation input that should be originally performed by the driver. In this way, it is possible to perform vehicle control in line with the driver's original intention.

Next, a seventh embodiment of the driving support device according to the present invention will be described. FIG. 11 is a schematic configuration diagram showing a seventh embodiment of the driving support apparatus according to the present invention. In the figure, parts common to the driving support apparatus 1 shown in FIG. In the seventh embodiment, the radar sensor 6 and the driver monitor camera 7 that are not used in the driving support procedure described later may be omitted.

The driving support device 71 according to the seventh embodiment is different from the driving support device 1 according to the first embodiment only in that a notification unit 72 is added.

The notification unit 72 is configured so that when the replacement control unit configured by the ECU 13 replaces the driver's operation input with the operation input that should be originally performed by the driver and controls the own vehicle, the driver's operation input is originally performed by the driver. Informing means for notifying the driver that the own vehicle is to be controlled in place of the operation input to be performed. As the notification unit 72, for example, a warning light, a speaker, or the like can be used.

FIG. 12 is a flowchart showing a driving support procedure executed by the ECU 13 in the seventh embodiment. In the driving support procedure of the seventh embodiment, only the operation input units 2 to 5, the navigation computer 8, the notification unit 72, and the control output units 9 to 12 are used.

In the seventh embodiment, the driving support procedure executed by the ECU 13 is the same as that of the fifth embodiment except for step S83 described later. Accordingly, common procedures are denoted by the same reference numerals and description thereof is omitted. In step S83, the driver is notified via the notification unit 72 that vehicle control (replacement control) in which the driver's operation input is replaced with the norm operation input is performed. This step S83 includes a step S82 for estimating an operation input (normative operation input) to be originally performed by the driver, and a step S84 for executing vehicle control (replacement control) in which the driver's operation input is replaced with a norm operation input. Executed between.

FIG. 13 is a diagram illustrating an example in which driving assistance is performed in the seventh embodiment. In the figure, the future trajectory 74 of the host vehicle 73 is heading toward a lane 75 that is not allowed to travel due to traffic rules. For this reason, the replacement control is performed so as to draw a future trajectory 77 toward the lane 76 that is allowed to travel according to traffic rules. Here, the lane 76 is away from the lane 75 due to the presence of the median strip 78, and the future locus 77 and the future locus 74 are greatly different. Even in such a case, since the notification unit 72 notifies in advance that the replacement control is performed, the driver's embarrassment is prevented.

The seven embodiments of the driving support device according to the present invention have been described above. In the above description, each embodiment has been individually illustrated, but the driving support procedures of each embodiment may be appropriately combined and executed. By combining a plurality of driving support procedures, it is possible to further perform vehicle control in line with the driver's original intention.

It should be noted that the driving support device according to the present invention is not limited to the one exemplified above. The idea that when the driver's operation input is not appropriate, the operation input that should be originally performed by the driver is estimated, and the driver's operation input is replaced with the operation input that should be originally performed by the driver to control the host vehicle. Any other configuration may be used as long as it is based on the above.

DESCRIPTION OF SYMBOLS 1,71 ... Driving assistance device, 2 ... Accelerator pedal, 3 ... Brake pedal, 4 ... Shift lever, 5 ... Steering, 6 ... Radar sensor, 7 ... Driver monitor camera, 8 ... Navi computer, 9 ... Engine control part, 10 DESCRIPTION OF SYMBOLS ... Brake control part, 11 ... Shift control part, 12 ... Steering control part, 13 ... ECU, 14 ... GPS sensor, 15 ... Map information, 16 ... Traffic rule information, 72 ... Notification part.

Claims

A driving support device for supporting driving of a vehicle,
Operation determining means for determining whether the operation input of the driver is appropriate;
When the driver's operation input is not appropriate, the operation input that should be originally performed by the driver is estimated, and the driver's operation input is replaced with the operation input that should be originally performed by the driver. Replacement control means for controlling;
A driving support apparatus comprising:
The operation determining means determines whether the operation input of the driver is appropriate based on the input state of the operation input of the driver,
The driving support apparatus according to claim 1, wherein the replacement control unit estimates an operation input that should be originally performed by the driver based on an input state of the operation input of the driver.
Further comprising driver monitoring means for recognizing the driver's posture;
The operation determining means determines whether or not the driver's operation input is appropriate based on the driver's posture recognized by the driver monitoring means,
2. The driving support apparatus according to claim 1, wherein the replacement control unit estimates an operation input that should be originally performed by the driver based on the posture of the driver recognized by the driver monitoring unit. .
An obstacle detection means for detecting obstacles around the host vehicle;
The operation determining means determines whether or not the driver's operation input is appropriate based on the obstacle information detected by the obstacle detecting means,
The driving support apparatus according to claim 1, wherein the replacement control unit estimates an operation input to be originally performed by the driver based on information on the obstacle detected by the obstacle detection unit.
Position specifying means for specifying the position of the host vehicle;
Further comprising peripheral map information acquisition means for acquiring map information around the host vehicle based on the position of the host vehicle specified by the position specifying unit;
The operation determining means determines whether the operation input of the driver is appropriate based on the map information around the host vehicle acquired by the surrounding map information acquiring means,
The said replacement control means estimates the operation input which should be performed originally by the said driver based on the map information around the said vehicle acquired by the said surrounding map information acquisition means. Driving assistance device.
Based on the position of the host vehicle specified by the position specifying unit, the vehicle further comprises a surrounding traffic rule information acquiring unit that acquires traffic rule information around the host vehicle,
The operation determining means determines whether or not the driver's operation input is appropriate based on traffic rule information around the own vehicle acquired by the surrounding traffic rule information acquiring means,
6. The replacement control unit estimates an operation input that should be originally performed by the driver based on traffic rule information around the own vehicle acquired by the surrounding traffic rule information acquisition unit. The driving assistance apparatus as described.
A moving body detecting means for detecting the behavior of the moving body around the host vehicle;
The operation determining means determines whether the operation input of the driver is appropriate based on the behavior of the moving body around the own vehicle detected by the moving body detecting means,
The said replacement control means estimates the operation input which should be performed originally by the said driver based on the behavior of the mobile body around the said own vehicle detected by the said mobile body detection means. Driving assistance device.
When the replacement control means replaces the driver's operation input with an operation input that should be originally performed by the driver and controls the host vehicle, the driver's operation input should be originally performed by the driver. The driving support apparatus according to claim 1, further comprising notification means for notifying the driver that the own vehicle is to be controlled instead of an operation input.