CN107851377A - Drive apparatus for evaluating - Google Patents
Drive apparatus for evaluating Download PDFInfo
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- CN107851377A CN107851377A CN201680042976.2A CN201680042976A CN107851377A CN 107851377 A CN107851377 A CN 107851377A CN 201680042976 A CN201680042976 A CN 201680042976A CN 107851377 A CN107851377 A CN 107851377A
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- vehicle
- initial time
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- G—PHYSICS
- G07—CHECKING-DEVICES
- G07C—TIME OR ATTENDANCE REGISTERS; REGISTERING OR INDICATING THE WORKING OF MACHINES; GENERATING RANDOM NUMBERS; VOTING OR LOTTERY APPARATUS; ARRANGEMENTS, SYSTEMS OR APPARATUS FOR CHECKING NOT PROVIDED FOR ELSEWHERE
- G07C5/00—Registering or indicating the working of vehicles
- G07C5/08—Registering or indicating performance data other than driving, working, idle, or waiting time, with or without registering driving, working, idle or waiting time
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
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- General Physics & Mathematics (AREA)
- Time Recorders, Dirve Recorders, Access Control (AREA)
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Abstract
The turning right/left initial time of record data detection vehicle based on car-mounted device (10) and the indicator operation time started near turning right/left initial time, the operating range covered between the two times is calculated, and based on result of calculation output assessment result.Car-mounted device (10) is together with the transverse acceleration of time registration of vehicle and the information of travel speed.The travel speed of acceleration and vehicle of the office PC (40) at least on the width based on vehicle is come Calculation of curvature radius (r), judge whether vehicle is turned at the intersection based on counted radius of curvature, and determine the time when vehicle starts to turn at the intersection.Assess the result obtained by statistical disposition.Show that result is enabled to compared with assessment reference value in the form of a list, or carry out the comparison of the tendentiousness or individual difference between multiple drivers.
Description
Technical field
The present invention relates to one kind to drive apparatus for evaluating, and it is used for the driver behavior for assessing the driver for driving vehicle.
Background technology
Traditionally, in vehicle be used for commercial use such as digital road recorder as car-mounted device with
And analysis and assess in the device of record data recorded by such car-mounted device there is overspeed warning function (patent
Document 1).They can have the number occurred based on excess speed event and other information to assess the function of driving.
In drive recorder device disclosed in patent document 2, based on direction modulating signal by turning right/left state with keeping straight on
State is discriminated from, and result is distinguished in reflection in data compression ratio control.
In vehicle operating management system disclosed in patent document 3, from as obtained from analyzing vehicle operating data
The driving behavior for selecting relevant driver to be warned in operation history, and it is supplied to driver.In addition, it is based on being included in
Steering angle in operation data connects signal with indicator and whether connects indicator in each left-hand rotation or right-hand rotation to analyze.
List of documents
Patent document
Patent document 1：JP-A-2013-206420
Patent document 2：JP-A-2009-175848
Patent document 3：JP-A-2012-248087
The content of the invention
Technical problem
However, only by assessing furious driving (such as in the device of patent document 1), unexpected acceleration/deceleration can not be appropriate
Ground determines whether driver always carries out safe driving.
For example, by from vehicle before intersection (intersection) place is turned right or turned left utilization orientation lamp
Signal is sent well, and the driver of other vehicles as such as oncoming vehicle can keep away by predicting from the route of vehicle
Exempt from the generation of dangerous situation.On the other hand, if not sending signal with indicator from vehicle or just turning right or turning left
Preceding ability sends signal with indicator, then the driver of another vehicle may puzzle, or runs into the driver for forcing other vehicles
Even carry out brake hard cause with collision from vehicle as undesirable situation.
In view of the above circumstances, road traffic law provide in distance be turned left or right-hand rotation at 30 meters of position utilization side
Signal is sent to lamp.As long as observe the rule at the intersection from the driver of vehicle to drive, then such as oncoming vehicle
The driver of other vehicles can avoid situation about facing a danger by predicting from the route of vehicle.
At the intersection to be turned left or turned right to send without utilization orientation lamp from vehicle if driver drives
Signal, then the vehicle operating management system of patent document 3 can alert driver.However, even if because driver is inappropriate
Time signaling (for example, driver's ability utilization orientation lamp just before right-hand rotation or left-hand rotation sends signal) and result in from car
Dangerous situation, using the vehicle operating management system, driver can not be alerted with regard to this driving behavior.
The present invention has been made in view of the foregoing, and is therefore driven it is an object of the invention to provide one kind and assessed dress
Put, it can suitably assess the left/right turn driver behavior made at the intersection.
Issue-resolution
To realize object above, being had according to the driving apparatus for evaluating of the present invention will be below in the form of item (1) to (6)
The feature of description.
(1) it is a kind of to drive apparatus for evaluating, for the operation based on the record as the regulation event detected on vehicle
Record data, to assess the driver behavior of driver, the driving apparatus for evaluating includes：
Assessment result output unit, the assessment result output unit extract from the record data and represent intersection
Data, and assessment result is exported based on the driving carried out in the intersection.
(2) the driving apparatus for evaluating according to item (1), wherein, the assessment result output unit is based on the operation
Record data detects the turning right/left initial time of the vehicle and the indicator near the turning right/left initial time
Initial time is operated, and is exported described based on indicator operation initial time and the turning right/left initial time
Assessment result.
(3) the driving apparatus for evaluating according to item (2), wherein, the assessment result output unit is based on travel speed
The operating range of the vehicle covered from indicator operation initial time to the turning right/left initial time is calculated,
And the assessment result is exported based on the counted operating range.
(4) the driving apparatus for evaluating according to item (2) or (3), in addition to car-mounted device, the car-mounted device are arranged on institute
State in vehicle, and record record data, wherein：
The car-mounted device is at least by the travel speed of the acceleration on the width of the vehicle and the vehicle
Information recorded together with the time, the part as the record data；And
The acceleration and the car on width of the assessment result output unit at least based on the vehicle
The travel speed calculate the radius of curvature of the driving trace of the vehicle, judged based on the counted radius of curvature
Whether the vehicle is turned at the intersection, and the time started when the vehicle when intersection is turned is defined as
The turning right/left initial time.
(5) the driving apparatus for evaluating according to item (4), wherein, if the radius of curvature is less than or equal to the first threshold
Value, the acceleration of turning is more than or equal to Second Threshold, and accumulates steering angle and be more than or equal to the 3rd threshold value, then described
Assessment result output unit judges that vehicle is turned at the intersection.
(6) the driving apparatus for evaluating according to item (4) or (5), in addition to indicator operation initial time recording unit,
Direction lamp operation initial time recording unit monitors the mode of operation of the indicator of the vehicle or to the indicator
Operation, and the time when the indicator starts operation is at least detected, and the time is recorded as the operation and remembered
A part for data is recorded, wherein：
After the turning right/left initial time is detected, the assessment result output unit is by from the right-hand rotation/left side
Turn initial time to start at least towards each data for searching for the record data on past direction, described in determining
Indicator operates initial time.
According to the driving apparatus for evaluating described in item (1), because assessment result output unit extracts from record data
It is related to the data of intersection, so the operation such as to indicator carried out at the intersection, intersection can easily be assessed
Admission velocity, transverse acceleration and whether make driving behavior as temporary parking.
According to the driving apparatus for evaluating described in item (2), due to when assessment result output unit, which is based on indicator operation, to be originated
Between and turning right/left initial time output assessment result, so can reflect among assessment when being turned right from vehicle or
Whether indicator, which is started with, during left-hand rotation in a manner of providing right times as sufficient time margin sends signal.
According to the driving apparatus for evaluating described in item (3), it can reflect in assessment and be sent from using from the indicator of vehicle
Distance of the point of signal to the point for turning left since the vehicle or turning right.Thus, it is possible to easily by the result and road of the assessment
The relevant regulations of traffic method are compared.
According to the driving apparatus for evaluating described in item (4), due to assessment result output unit Calculation of curvature radius, so can
Based on radius of curvature easily by from situation of the vehicle traveling on crankcase ventilaton with being turned right at the intersection from vehicle
Or situation about turning left is distinguished from each other.Further, since acceleration calculation radius of curvature is based on, so turning even with that can not obtain
To the common vehicle of angle information, can also be assessed.
According to the driving apparatus for evaluating described in item (5), due to based on the radius of curvature and acceleration from vehicle and
The accumulation steering angle of turning judges whether turned at the intersection, so more accurate judged result can be obtained.
According to the driving apparatus for evaluating described in item (6), turning right/left initial time, and determination side thereafter are detected first
Initial time is operated to lamp, can so realize appropriate assessment.For example, even in from vehicle turn right or turn left without utilization side
In the case of sending signal to lamp, the dangerous driving behavior also can be reliably assessed.
The advantageous effects of invention
Make it possible to suitably to assess the turning right/left made at the intersection according to the driving apparatus for evaluating of the present invention to drive
Sail operation.More specifically, it is related to the data of intersection due to being extracted from record data, so can easily assess
The operation such as to indicator that intersection is carried out, intersection admission velocity, transverse acceleration and whether stopped temporarily
Driving behavior as car.
Further, since assessment result output unit is based on indicator operation initial time and turning right/left initial time is defeated
Go out assessment result, so when whether can reflect among assessment when being turned right or being turned left from vehicle to provide sufficient
Between the mode of right times as nargin start with indicator and send signal.
The present invention is concisely described above.Read by referring to accompanying drawing described below for implementing the present invention
Embodiment (hereinafter referred to as embodiment), details of the invention will be apparent.
Brief description of the drawings
Fig. 1 is the block diagram for the exemplary configuration for showing driving apparatus for evaluating according to an embodiment of the invention.
Fig. 2 is the flow chart for the primary operational for showing driving apparatus for evaluating according to an embodiment of the invention.
Fig. 3 is to show that vehicle has travelled and travelled the plan in exemplary roadway thereon.
Fig. 4 is the front view of the example for the display for showing assessment result.
List of reference signs
10:Car-mounted device
11:Video Decoder
12:Image procossing CPU
13,18:Read-only storage (ROM)
14,19:Temporary storage (SDRAM)
15:NTSC signal processing unit
16:Monitoring output unit
17:Control system handles CPU
20:Signals of vehicles interface
21:GPS position information acquiring unit
22:CAN interface
23:Voice-output unit
24:Vibration output unit
25:Recording medium
26:Rear analytical database
27:PC interfaces
28:Palm type terminal connection unit
29:Nonvolatile memory (EEPROM)
31:Main vehicle-mounted vidicon
32:Optional vehicle-mounted vidicon
33:Acceleration transducer
35:Daily report
36:Display picture
40:Handle official business PC
50:Road
50a:Intersection
54:From vehicle
54a:Movement locus
P0:Turning right/left starting point
P10,P20,P30:Reference point
Embodiment
The specific embodiment of the present invention is described below with reference to the accompanying drawings.
Fig. 1 shows the exemplary configuration of driving apparatus for evaluating according to an embodiment of the invention.Driving shown in Fig. 1 is assessed
Device is equipped with car-mounted device 10 and office PC40.
Each car-mounted device 10 has a function of digital road recorder (that is, operation recorder), and installed in
As taxi, truck, bus etc. manage object the vehicle for commercial use in the state of make
With.Each car-mounted device 10 can obtain the various types of information for representing the mode of operation from vehicle automatically, and will obtain
The data record that takes and it is stored in recording medium 25.
Office PC40 is mounted in the office of the company for the operation for possessing a number of vehicle and managing vehicle
Management equipment in, and be configured as by the way that special management software is arranged in general purpose personal computer (PC) to obtain
Equipment.So, the PC40 that handles official business, which is obtained and analyzed the expression recorded by the car-mounted device 10 in many vehicles, to be operated
The information of state, and so as to be used for the operational management of vehicle using these information and drive the driver of each vehicle
Labor management, safe driving management etc..
Data transfer between each car-mounted device 10 and office PC40 can be torn open by carrying from car-mounted device 10
From recording medium 25 carry out, or in the case where car-mounted device 10 has radio communication function by using radio communication
The transmission data of car-mounted device 10 carry out.
The characteristic point of embodiment is when the opening position as intersection from vehicle on road makes route
When changing and (turning right or turn left), each car-mounted device 10 is recorded in recording medium 25 required for the mode for judging route change
Various information.Will Each point in time be recorded in various types of information in recording medium 25 include transverse acceleration (G values),
Speed, the positional information (lat/longitude) of current location for representing vehicle, azimuth information, date/time, represent indicator
Mode of operation information and other information.Each car-mounted device 10 also there is identification to be plotted on road surface to represent Travel vehicle
The function of the blueline (for example, white line) on the border between road.
It is accumulated in and can be visited by the PC40 that handles official business by the information that each car-mounted device 10 is recorded in recording medium 25
In the rear analytical database 26 asked.The PC40 that handles official business passes through the information of each vehicle recorded from the reading of rear analytical database 26
And these information are analyzed to obtain the information of needs.More specifically, office speed and transverse acceleration of the PC40 based on record
Calculating the radius of curvature r of turning, and extracted as at the intersection based on counted radius of curvature r and other information
The event that route changes and (turns right or turn left).
In addition, the route that office PC40 detects each route change event (turn right or turn left) changes starting point, and also
Detect the indicator operation starting point near it.Then handle official business PC40 be based on time and speed come calculate route change starting point and
The operating range of vehicle between indicator operation starting point.That is, the PC40 that handles official business determines that changing event in route (turns right or left
Turn) in the operating range of time point of signal actual path change to ing is begun to send out since indicator.In addition, office PC40 is received
Collect all multi-routes being recorded in rear analytical database 26 as data to change the operating range of event and enter them
Row statistical disposition.
When collecting operating range, following two collections result is dividually recorded：Collect the change of left-hand rotation route and right-hand rotation road
Line changes the collection result so that they to be distinguished from each other；And collect that left-hand rotation route changes and right-hand rotation route changes and before not differentiating between
Person and the such collection result of the latter.The instantiation of statistical disposition is generation histogram, and calculates most frequent value (a
Most frequent value), standard deviation, maximum, minimum value etc..
Office PC40 shows the result of statistical disposition on screen.In the process, PC40 is handled official business can easily regard
Feel that the poor mode between identification actual travel distance and predetermined estimation reference value is exported.It is able to access that many each driving
The office PC40 of the record data of member carries out statistical disposition to each driver, and shows result in the form of a list so that
The difference between the group of the behavior of multiple drivers can be identified to contrast.
Office PC40 partial function can be realized in each car-mounted device 10.In this case, based on being recorded in
Information in recording medium 25, analyzed in nearly real time in each car-mounted device 10；Detect route and change (right-hand rotation or a left side
Turn) starting point time t0 0, determine indicator operation starting point time t0 1, and can use speed calculate with this two
Operating range corresponding time difference t00-t01 between individual time point.If in addition, by more counted operating range with
Defined threshold value and judge route change do not form safe driving behavior, then can alert driver.
Then, the representative configuration of each car-mounted device 10 will be described.As shown in figure 1, each car-mounted device 10 equipped with
Video Decoder 11, image procossing CPU12, read-only storage 13, temporary storage 14, NTSC signal processing unit 15, monitoring
Output unit 16, control system processing CPU17, read-only storage 18, temporary storage 19, signals of vehicles interface 20, GPS location
Information acquisition unit 21, CAN interface 22, voice-output unit 23, vibration output unit 24, recording medium 25, PC interfaces 27, the palm
Mo(u)ld top half terminal connection unit 28, nonvolatile memory (EEPROM) 29 and acceleration transducer 33.
Acceleration transducer 33 can detect the size of the acceleration on left and right directions (vehicle-width direction) from vehicle
(G values, m/s2).In embodiment, acceleration transducer 33 is used to detect to be turned from what vehicle was turned right or turned left in intersection etc.
Curved operation.Acceleration transducer 33 is necessarily always with its axis on acceleration detection direction and the left and right directions from vehicle
Parallel mode and install；For example, its axis direction can be upwardly deviated from the right and left from vehicle, as long as acceleration transducer
33 can obtain the acceleration on left and right directions for example, by Vector operation.
Main vehicle-mounted vidicon 31 and optional vehicle-mounted vidicon 32 are connected respectively to two of Video Decoder (decoder) 11
Video inputs.Main vehicle-mounted vidicon 31 can shoot including road surface, from the field including the front of vehicle heading
The state of scape is arranged in compartment, and exports regarding for the vision signal for being shot for NTSC (national television system committee) standard
Frequently.Driving of the optional vehicle-mounted vidicon 32 can shoot as reference object is arranged on compartment in a manner of the driver of vehicle
In, and export the video for the vision signal for being shot for NTSC standard.
Video Decoder 11 receives the vision signal exported respectively from main vehicle-mounted vidicon 31 and optional vehicle-mounted vidicon 32,
And can be by the digital image data of the processing such as computer by auspicious generation.It is corresponding with the video of main vehicle-mounted vidicon 31 shooting
Digital image data and digital image data corresponding with the video of optional vehicle-mounted vidicon 32 shooting are respectively inputted to image
Handle CPU12 and control system processing CPU17.
As defined in image procossing CPU12 as microcomputer can be performed at a high speed by running preassembled program
Image procossing.More specifically, among the corresponding digital image data of video with being shot by main vehicle-mounted vidicon 31, at image
Reason CPU12 can identify profile and the position of each several part from vehicle sections, and can also identify that drafting is wrapped in the scene
On the road surface included and represent the blueline (white line) on the border between traveling lane.Image procossing CPU12 will can scheme
As result delivers to control system processing CPU17.
Read-only storage as the memory of data can be read as when being accessed by image procossing CPU12
(ROM) 13 various programs and data, the various constants needed for such as image procossing CPU12 operation are pre-saved.
Temporary storage (SDRAM) 14 is used for the various types of data of interim storage when needed, when by image procossing
When CPU12 is accessed, the temporary storage can write and read data.
NTSC signal processing unit (encoder) 15 is generated based on image in image procossing CPU12 recognition result etc.
The vision signal of NTSC standard.When being connected to defined monitoring device (display), vision signal is output to monitoring output
Unit 16, the monitoring output unit are capable of monitoring image processing CPU12 recognition result etc..
Control system processing CPU17 as microcomputer can perform use by running various preassembled programs
In the control for the various functions for realizing the needs of car-mounted device 10.Because car-mounted device 10 is digital road recorder, so control
System processing CPU17 primary operational is the automatic acquisition various information relevant with the operation from vehicle, and they are recorded
In recording medium 25.
The information that CPU17 is recorded in recording medium 25 is handled by control system includes following data D1 to D11：
D1：Acceleration (G values) on left and right directions；
D2：Current time (date/time)；
D3：Speed (km/h)；
D4：From the current location of vehicle (lat/lon)；
D5：Represent the azimuth information of the travel direction from vehicle；
D6：Represent the information whether left and right all directions lamp works；
D7：In the presence/absence of the blueline for representing the border between traveling lane；
D8：Igniting (IGN) open/close state；
D9：Brake open/close state；
D10：The view data obtained by shooting driver；And
D11：Indicate whether to occur the data of various events as such as alerting.
Read-only storage as the memory of data can be therefrom read as when being accessed by control system processing CPU17
Device (ROM) 18 pre-saves various programs and data, such as various constants needed for control system processing CPU17 work.
Temporary storage (SDRAM) 19 is used for various data of interim storage when needed, when handling CPU17 by control system
During access, the temporary storage can write and read data.
It is non-volatile as the memory of data as that can write and read when being accessed by control system processing CPU17
Property memory (EEPROM) 29 can preserve the various parameters, various threshold values, table of the mode of operation for determining car-mounted device 10
Deng.The data preserved by nonvolatile memory 29 can be rewritten when needed.
Signals of vehicles interface (I/F) 20 carries out the signal between various other electric devices on car-mounted device 10 and vehicle
Signal transacting needed for exchanging.For example, being inputted via signals of vehicles interface 20 to car-mounted device 10 and defeated from car-mounted device 10
Go out lower column signal：
SG0：Vehicle speed pulse (input)；
SG1：Trigger signal (output)；
SG2：Represent the signal (input) of igniting (IGN) open/close state；
SG3：Expression can be by the signal (input) of the state of the hand switch of pilot control：
SG4：Represent the signal (input) of braking open/close state；
SG5：Represent the signal (input) of the open/close state of left direction lamp；And
SG6：Represent the signal (input) of the open/close state of right direction lamp.
GPS position information acquiring unit 21 can be obtained from the current location of vehicle by using the calculating of receiver
Latitude and longitude, the receiver receive the radio wave from GPS (global positioning system) satellite.GPS location signal acquisition
Unit 21 may be embodied in car-mounted device 10 or be coupled externally to car-mounted device 10.
CAN interface 22 includes the transmitting-receiving for the data communication for being used for performing CAN (controller zone network) standard on vehicle
Device.CAN interface 22 is connected to other devices as the instrument pack of such as instrument board and each via the communication network on vehicle
Kind electronic control unit (ECU).So as to which car-mounted device 10 can obtain speed information, engine speed information from other devices
And other information.
For speed information, additionally it is possible to so that control system handles pulse periods of the CPU17 based on vehicle speed pulse SG0
Or caused umber of pulse calculates speed at the appointed time.
Voice-output unit 23 can produce the voice signal of synthesis, to from the output of defined loudspeaker as can be by
Message as such as alert message or guiding message of the virtual speech that driver hears.That is, the basis of voice-output unit 23
Speech message needed for instruction output from control system processing CPU17.
Vibration output unit 24 can be according to vibrator as defined in the order-driven that CPU17 is handled from control system.Make
With by driving vibration caused by vibrator that driver can be made to pay attention to specific situation.
Recording medium 25 is, for example, the card-like device for including nonvolatile memory.Shape of the recording medium 25 that can dismantle
State is attached to the defined neck set in car-mounted device 10.Such as the specific driver of usage record medium 25 is wanted in expression
Information as driver ID is recorded in the posting field of recording medium 25.
Control system processing CPU17 can be attached to the recording medium 25 of car-mounted device 10 to write data into by accessing
Recording medium 25 and from recording medium 25 read data.In fact, under control system processing CPU17 control, including it is above-mentioned
Data D1 to D11 operation information is subsequently written the memory of recording medium 25.Specific access control is carried out to prevent from writing
Enter to the operation information of recording medium 25 and be tampered or remove by unauthorized access.
For example, when being over vehicle operation work, driver can remove recording medium 25 from car-mounted device 10, will
It takes office to, and the server that will be recorded in various operation informations therein and be transferred to office PC40 so that various behaviour
It is recorded in as information in rear analytical database 26.In the case where car-mounted device 10 has radio communication function, recording
Medium 25 keeps being attached in the state of car-mounted device 10, automatically can pass the operation information being stored in recording medium 25
It is defeated to arrive server.
PC interfaces 27 have the terminal for being used for PC (PC) to the connection of car-mounted device 10.By by defined individual
Computer is connected to PC interfaces 27, such as can be by the status display of car-mounted device 10 on the screen of PC.
Palm type terminal connection unit 28 has the connection terminal for the connection for being used for defined palm type terminal (H/T).Though
So it is not shown in any drawing figure, but palm type terminal can be manipulated equipped with display and by user (manager) more
Individual button.For example, when defined manager carries out maintenance work to car-mounted device 10, can be by the way that palm type terminal be connected
The various parameters being stored in nonvolatile memory 29 are read and update to car-mounted device 10.
Then, will describe how to identify the right-hand rotation or left-hand rotation from vehicle in intersection.
Fig. 3 is the top view for showing the particular instance situation that vehicle travels on road.Situation shown in Fig. 3 is in traveling
Made from vehicle 54 at the 50a of intersection such as movement locus 54a represent route change (right-hand rotation).
In the example of fig. 3, as represented by movement locus 54a, from vehicle 54 on road 50 straight-line travelling until to
Up to intersection 50a, and then by from the turning right/left starting point P0 positioned at intersection 50a porch bend to right and
Make route and change (right-hand rotation).Reference point P10, P20 and P30 shown in Fig. 3 respectively the 10m positioned at turning right/left starting point P0,
At 20m and 30m distance.
In the case of common riding manipulation, driver starts with indicator before intersection 50a is entered and sent
Right-hand rotation or left rotaring signal.This makes it possible to notify that the driver of other vehicles will be turned right or be turned left from vehicle, and from
And the generation of dangerous situation is avoided with high probability.
In view of the above circumstances, for example, road traffic law provides utilize 30 meters of position at distance left-hand rotation or right-hand rotation
Indicator sends signal.So as in examples as shown in figure 3, by the 30m distances away from turning right/left starting point P0
Start the operation of indicator at reference point P30, can be turned right without the relevant regulations for violating road traffic law.In addition, this
The driver for giving neighbouring vehicle carrys out route change of the Accurate Prediction from vehicle with the sufficiently long time, and causes other vehicles
Driving the route of the prediction changed reacted.
On the other hand, in order to check turned right in the manner shown in fig. 3 from vehicle 54 whether without violate road hand over
The relevant regulations of logical method, it is necessary first to judge that it has carried out turning right at the intersection or turned left.
In embodiment, for example, when office PC40 analyses are transferred to rear analyze data road from recording medium 25
During 26 operation information, it is referred to as from the radius of curvature r of the turning of vehicle for identifying the right-hand rotation carried out at the intersection or a left side
The condition turned.Can be according to below equation Calculation of curvature radius r：
R=V2/G(m)…(1)
Wherein
V：Speed (m/s)
G：Acceleration (m/s2)。
In above equation, the information of vehicle velocity V can as the above-mentioned data D3 included in the operation information of record and
Obtain.Acceleration G information can obtain as the above-mentioned data D1 included in the operation information of record.
It is inevitable on a transverse direction (left side for vehicle body when vehicle is for example on a curved road or during plane turning at the intersection
Right direction) on produce acceleration.Acceleration and speed Calculation of curvature radius r can be based on.The motion rail turned can also be determined
Mark, and the direction of transverse acceleration can also be used to distinguish and turn right and turn left.
It is relatively small from the radius of curvature r of vehicle in the case of turning right or turn left at the intersection.On the other hand, when from car
When being travelled on the road bent in the ordinary way, the radius of curvature r detected is relatively large.So as to if by curvature partly
Footpath r has obtained the former compared with defined threshold value and has been less than or equal to the result of the latter, then very big to have entered at the intersection
Go and turned right or turn left.Further, since lateral acceleration G is relatively large when being turned with small radius of curvature r, it is possible to
Contemplate by lateral acceleration G with threshold value compared with provide for identify intersection progress turning a condition.
Can based on the data D6 included in the operation information of record come identify one of left and right directions lamp whether work
Make.If turned in the case where one of left and right directions lamp works, probably turn right or turn left in intersection.
Due to maintaining the pass of below equation between vehicle velocity V (m/s), radius of curvature (m) and angular velocity omega (rad/s)
System, so the angular speed of turning can be calculated based on vehicle velocity V and radius of curvature r：
V=r × ω ... (2)
It can be integrated to calculate the steering angle of turn inside diameter, and can also be calculated since turning by angular velocity ω
Accumulation steering angle.In the circumference displacement L (m) and radius of curvature r (m) of the known movement locus along turning situation
Under, steering angle θ can be calculated according to following equalities：
L=r × θ ... (3)
When carrying out common right-hand rotation and left-hand rotation at the intersection, although angle according to real road situation and to a certain extent
Change, but vehicle is with about 90 ° of turnings.So as to if by accumulation steering angle and defined threshold value ratio from starting to turn
Compared with, obtain the former be more than or equal to the latter result, then have very high possibility carried out at the intersection turn right or
Turn left.
In the case where identifying the blueline on road (white line) by image recognition, blueline disappears at the intersection
Lose.It is thus possible to whether blueline during turning, which is disappeared, increases to the condition whether identification vehicle is in intersection.More specifically
Ground, each blueline on the border of traveling lane is judged by reference to the above-mentioned data D7 included in the operation information of record
Whether disappear, and be reflected in whether identification vehicle is in the processing of intersection.
Car-mounted device 10 includes gps receiver, and azimuth is represented due to also being obtained in addition to the positional information from vehicle
Information, so travel direction of the vehicle in Each point in time can be learnt.That is, can be from being included in the operation information of record
Data D5 obtain the azimuth that represents travel direction when vehicle enters intersection and when vehicle leaves intersection
The azimuth of travel direction.
Thus, it is possible to based on the angular velocity omega for meeting above-mentioned equation (2), according to above-mentioned equation (3), or as based on upper
The azimuthal variation of data D5 calculating is stated, to obtain the accumulation steering angle referenced when identifying whether vehicle is in intersection.
By being turned after the turning (turn right or turn left) of intersection is identified using the above method using acceleration G search
The position of curved beginning, the turning right/left starting point P0 shown in Fig. 3 is can determine, and can be from the operation letter included in record
Above-mentioned data D2 in breath obtains time t0 0 corresponding with turning right/left starting point P0.
, can be by least towards the data bit on past direction from turning right/left starting point P0 based on data D6
The operation information for finding record is put, to determine that indicator begins to send out the point for the signal that will be turned right or turned left soon, and
And then the above-mentioned data D2 from included in the operation information of record obtains the time t0 1 corresponding with the point determined.
If even if from turning right/left starting point P0 Data Position use as defined in the period (for example, 5 seconds) towards mistake
The operation information of record is searched on the direction gone, indicator is not found yet and begins to send out what will be turned right or turned left soon
The point of signal, then from turning right/left starting point P0 Data Position, (for example, 5 seconds) on a timeline within the defined period
Forward direction on search for the operation information of record.That is, by before the time corresponding with turning right/left starting point P0
Stipulated time to the time after stipulated time time range in search record operation information, to determine the use of direction
Lamp sends the time of the signal related to beginning of turning right or turn left.
Because the data D3 from included in the operation information of record learns the speed of Each point in time, so can use
Speed calculates the operating range from vehicle time per unit.Furthermore it is possible to calculate traveling between time t0 0 and time t0 1 away from
From.
Operating range between time t0 0 and time t0 1 is extremely important in safe driving is realized, because it is related to
Driver's prediction to other vehicles changes and right in their driver behavior from the route of right-hand rotation or the left-hand rotation of vehicle 54
It carries out reacting necessary time margin.If for example, such as the defined in road traffic law, perform and starting to turn right
Or utilization orientation lamp sends driver behavior as signal at the 30m distances of the point to turn left, then very can prevent from sending out to maximum probability
Raw dangerous situation.In addition, the operating range assessed between time t0 0 and time t0 1 makes it possible to whether simply check driving
Violate the relevant regulations of road traffic law.
Fig. 2 shows the primary operational of the driving apparatus for evaluating shown in Fig. 1.In the processing shown in Fig. 2, in car-mounted device 10
It is middle to perform step S11 and S12, and perform other steps S21-S31 in the PC40 that handles official business.Step S21-S31 shown in Fig. 2 is
Example；Above-mentioned various types of information can be used from other motions using the operation in addition to the operation shown in Fig. 2
Distinguish the turning of intersection.The operation shown in Fig. 2 is described below.
In car-mounted device 10, CPU12 pairs of image procossing is corresponding with the video of the scene of main vehicle-mounted vidicon 31 shooting
Digital image data carry out image procossing, so as to identify the white line on road, that is, the blueline being plotted on road
(S11)。
Control system processing CPU17 obtains above-mentioned data D1-D11 and recorded them in recording medium 25 automatically,
The data D1-D11 be acceleration magnitude (G values) on left and right directions, current time (date/time), speed (km/h), from car
Current location (lat/longitude), represent the azimuth information from the travel direction of vehicle, represent left and right all directions lamp be
The information of no work, represent border between traveling lane blueline in the presence/absence of and other species information
(S12)。
After daily vehicle operating is completed, the operation information being recorded in recording medium 25 passes through recording medium 25
Physics is mobile or radio communication and be transferred to the rear analytical database 26 of the server admin by the PC40 that handles official business.
On the other hand, in order to office PC40 on evaluation operation information, it is specified that manager access rear analytical database
26 and so as to start to be registered as time series data in succession from reading with operating the corresponding information in position of time started
Each driver operation information.
At step S22, in order to detect the cornering operation from vehicle from operation information, based on the operation included in reading
The data D1 for representing acceleration G in the lateral direction and the data D3 for representing speed, office PC40 in information pass through basis
Above-mentioned equation (1) is calculated the operation information acquisition radius of curvature r from Each point in time.
At step S23, office PC40 calculates the steering angle of the cornering operation from vehicle, and steering angle is added in one
Rise.That is, the PC 40 that handles official business calculates angular velocity omega according to above-mentioned equation (2) and angular speed is added together, or according to above-mentioned etc.
Formula (3) obtains steering angle θ.
At step S24, office PC 40 will be compared counted radius of curvature r at step S22 with defined threshold value
Compared with.If radius of curvature r is less than or equal to threshold value, it is particularly likely that vehicle is located at intersection and the PC40 that therefore handles official business is moved
To next step S25.If radius of curvature r is more than threshold value, office PC40 judges that vehicle is not located at intersection, and returns to
Step S22.
At step S25, office PC40 enters the lateral acceleration G from vehicle for making cornering operation with predetermined threshold value
Row compares.If lateral acceleration G is more than or equal to threshold value, right-hand rotation is very likely made that at the intersection or is turned left, and
And therefore office PC40 shifts to step S26.If lateral acceleration G is less than threshold value, office PC40 judges vehicle not positioned at friendship
At prong and return to step S22.
At step S26, office PC 40 will at step S23 counted accumulation steering angle, i.e., since cornering operation
Angle variables, compared with predetermined threshold value.If accumulation steering angle is more than or equal to threshold value, as it means that the behaviour that turns
The angle of work is big to causing cornering operation to be considered as turning right or turn left, so office PC40 shifts to step S27.If accumulation turns to
Angle is less than threshold value, then the PC40 that handles official business judges that cornering operation is not right-hand rotation or left-hand rotation, and returns to step S22.
At step S27, office PC40 finds the starting point of the cornering operation from vehicle, i.e. Fig. 3 institutes under present analysis
The turning right/left starting point P0 shown, and time t0 0 corresponding with the point is determined based on data D2.Then handle official business PC40 from
During regulation after stipulated time (such as 5 seconds) before the time corresponding with the point to the time of the job initiation point of indicator
Between in this time range, search for data D6.Office PC40 also determines the job initiation point pair with so finding based on data D2
The time t0 1 answered.
At step S28, office PC40 is calculated between turning right/left starting point P0 and indicator operation initial time
From the operating range of vehicle.More specifically, the operating range due to knowing per unit from data D3 speed, so office
PC40 is calculated in the time t0 0 corresponding to turning right/left starting point P0 with operating initial time corresponding to indicator based on speed
Time t0 1 between the displacement that covers.Counted operating range is recorded as an assessment desired value by office PC40.
In the case of common driver behavior, the route for starting to turn right or turning left after indicator operation starts changes
Become.So as to for the starting point that direction of search lamp operates at step S27, to go over from cornering operation starting point P0 in direction
Direction on the common time series data of sequence reference.However, due to exist driver make abnormal driving operation can
Energy property, so being scanned in two time ranges before and after cornering operation starting point.Do not have to indicator also to send out
Go out the possibility that signal ground is turned right or turned left.In this case, the search of indicator operation starting point will fail, and because
This detects the fact that driver behavior exception.
If do not read in all time series datas or scope that manager specifies in time series data,
PC 40 handle official business from step S29 return to step S22 to re-execute above step.As a result, one of operation information will be registered as
Operating range in the time period t 00-t01 for each right-hand rotation or the left-hand rotation event divided is recorded as assessing desired value.
If have been completed the reading of all time series datas or have been completed in the scope that manager specifies
Time series data reading, then the PC40 that handles official business shifts to step S30, the statistical disposition as defined in its execution at the step S30.More
Specifically, the PC40 that handles official business collects the assessment desired value (operating range) and counting statistics value of all turning right/left events.Office
PC40 collects assessment desired value in two ways, i.e. the mode that right-hand rotation route changes and left-hand rotation route changes dividually is collected, with
And the mode that right-hand rotation route changes and left-hand rotation route changes is collected together.For example, office PC40 generation show it is each traveling away from
From occurrence frequency distribution histogram, or calculate average value, most frequent value, standard deviation, maximum, minimum value etc..
When being accomplished to step S30 step, the daily report 35 of PC40 generations of handling official business, this reports that 35 comment including being used as daily
Estimate the information of the result of the statistical disposition for reflecting step S30 of result, and the PC40 that handles official business prints El Diario on worksheet
Accuse 35.In addition, office PC40 shows that picture (S31) is assessed in driving on its display.
After the assessment result that reality output operates from the turning right/left of vehicle, it is assumed that except the step shown in Fig. 2
Outside the operating range calculated at S28, it is also contemplated that speed, lateral-acceleration value when entering intersection to vehicle, whether make
Temporary parking and other information are assessed.This makes it possible to make appropriate assessment.
Followed by the instantiation of the display of assessment result.
Fig. 4 shows the example of the display of assessment result.The content of display shown in Fig. 4 is will be in the step S31 shown in Fig. 2
The instantiation of picture (display picture 36) is assessed in the driving that place is shown on office PC40 display.
It is that five drivers (driver A, driver B, driver C, driver D and drive that picture is assessed in driving shown in Fig. 4
The person of sailing E) output as histogram of the assessment result of the driver behavior only to turn left made, five drivers are with the shape of list
Formula is shown so that the assessment result of five drivers can be compared with one another.In these histograms, the difference quilt of frequency
It is expressed as showing the difference of density or color.Shown in histogram the expression " before 10m " as reference line, " 20m it
Before " and " before 30m " position (assessment reference value) vertical curve." before 10m ", " before 20m " shown in Fig. 4 and " 30m it
Before " position (assessment reference value) correspond respectively to the position of reference point P10, P20 and P30 shown in Fig. 3.
In Fig. 4, time t0 corresponds to the time t0 of the beginning of actual left-hand rotation operation.Time, t1, t2 and t3 were represented respectively
The time corresponding with " before 10m ", " before 20m " and " before 30m " position (assessment reference value).However, due to speed not
It is constant, so real time t1, t2 and t3 are different and different with event.
For example, in the histogram of driver A in the picture shown in Fig. 4, highest frequency assesses desired value (with the time
Operating range between position corresponding t00 and t01) near 27m, this is no better than specified in road traffic law
30m.It is thus possible to think that driver A is made that almost safe driving.In driver E histogram, highest frequency is assessed
Desired value is located near 2m, it means that driver E almost starts with it to be started to turn left while indicator sends signal
It is curved.It is thus possible to think that driver E is made that breakneck driving.
By multiple drivers arranged in the form of a list it is such in a manner of show their assessment result, this to manage
Reason person can readily recognize the tendentiousness of the assessment result of all drivers.In addition, the position of display assessment reference value causes
Manager can be easily according to assessment reference value Recognition Different.As a result, manager can be readily determined as shown in Fig. 4
Need to correct the personnel of its drive manner as driver E.
On the other hand, in the car-mounted device 10 shown in Fig. 1, with regarding for the driver that is shot by optional vehicle-mounted vidicon 32
Frequently corresponding view data also serves as data D10 and is automatically recorded in recording medium 25.This enables manager to pass through again
Show such view data to identify the related behavior of the driving of each driver.For example, searched for by using the time, can
Find out the image of the behavior of driver of the display when driver is turned right or is turned left.So that, can using such image
Check whether driver sees to the left and right side for safety inspection, and the result of the inspection is reflected in assessment.
In the operation shown in Fig. 2, whether entered at the intersection using step S24-S26 relatively simple condition judgment
Row is turned right or turned left.However, as described above, in the description of " how identifying right-hand rotation or left-hand rotation at the intersection from vehicle ",
The identification condition of the combination that relate to various types of information can be used to meet situation.
Such as, alternatively it is conceivable to by what is obtained when the PC40 that handles official business performs the step S21-S31 shown in Fig. 2 on intersection
Information is stored in office PC40 and the information is used when being assessed in future.It is also contemplated that usage record medium 25 will
The information of intersection is transferred to each car-mounted device 10 from office PC40, and in the control of each mobile unit 10 in future
Reflect the information.
Now above-mentioned driving according to an embodiment of the invention will be briefly summarized in the form of item [1] to [6] below to comment
Estimate the feature of device：
[1] it is a kind of to drive apparatus for evaluating, for the operation based on the record as the regulation event detected on vehicle
Record data, to assess the driver behavior of driver, the driving apparatus for evaluating includes：
Assessment result output unit (S21-S31), the assessment result output unit extract from the record data
The data of intersection are represented, and assessment result is exported based on the driving carried out in the intersection.
[2] the driving apparatus for evaluating according to item [1], wherein, the assessment result output unit detects the vehicle
Turning right/left initial time and the indicator operation initial time near the turning right/left initial time, and be based on
The indicator operates initial time and the turning right/left initial time and exports the assessment result.
[3] the driving apparatus for evaluating according to item [2], wherein, the assessment result output unit is based on travel speed
The operating range of the vehicle covered from indicator operation initial time to the turning right/left initial time is calculated,
And the assessment result is exported based on the counted operating range.
[4] the driving apparatus for evaluating according to item [2] or [3], in addition to car-mounted device (10), car-mounted device installation
In the vehicle, and the record data is recorded, wherein：
The car-mounted device is at least by the traveling of the acceleration (G) on the width of the vehicle and vehicle speed
The information of degree (V) records together with the time, the part as the record data；And
The acceleration and the car on width of the assessment result output unit at least based on the vehicle
The travel speed calculate the radius of curvature (r) of the driving trace of the vehicle, based on the counted radius of curvature
Judge whether the vehicle is turned at the intersection, and it is true to start time when intersection is turned when the vehicle
It is set to the turning right/left initial time (t00).
[5] the driving apparatus for evaluating according to item [4], wherein, if the radius of curvature is less than or equal to the first threshold
Value, the acceleration of turning is more than or equal to Second Threshold, and accumulates steering angle and be more than or equal to the 3rd threshold value, then described
Assessment result output unit judges that the vehicle is turned at the intersection.
[6] the driving apparatus for evaluating according to item [4] or [5], in addition to indicator operation initial time recording unit
(control system handles CPU17), direction lamp operation initial time recording unit monitor the operation shape of the indicator of the vehicle
State or the operation to the indicator, and the time when the indicator starts operation is at least detected, and by described in
Time is recorded as a part (D6) for the record data, wherein：
After the turning right/left initial time (t00) is detected, the assessment result output unit is by from described
Turning right/left initial time starts, at least towards each data for searching for the record data on past direction, to come
Determine the indicator operation initial time.
Although by reference to specific embodiment the present invention is described in detail above, it is aobvious for those skilled in the art and
It is clear to, can makes various changes and modifications without departing from the spirit and scope of the present invention.
The Japanese patent application No.2015-156051 that the application was submitted on the 6th based on August in 2015, the disclosure of which pass through
It is incorporated herein by reference.
Industrial applicibility
The invention provides the technology that can suitably assess the turning right/left driver behavior made at the intersection is excellent
Gesture.Using the technical advantage, when applied to assess the driving apparatus for evaluating of the driver behavior for the driver for driving vehicle,
The present invention is useful.
Claims (6)
1. one kind drives apparatus for evaluating, for assessing the driver behavior of driver, the operation note number based on record data
According to the record for being the regulation event detected on vehicle, the driving apparatus for evaluating includes：
Assessment result output unit, the assessment result output unit extract the number for representing intersection from the record data
According to, and assessment result is exported based on the driving performed in the intersection.
2. driving apparatus for evaluating according to claim 1, wherein, the assessment result output unit is based on the operation and remembered
Data are recorded, detect the turning right/left initial time of the vehicle and the indicator behaviour near the turning right/left initial time
Make initial time, and institute's commentary is exported based on indicator operation initial time and the turning right/left initial time
Estimate result.
3. driving apparatus for evaluating according to claim 2, wherein, the assessment result output unit is based on travel speed meter
The operating range of the vehicle covered from indicator operation initial time to the turning right/left initial time is calculated,
And the operating range based on calculating exports the assessment result.
4. the driving apparatus for evaluating according to Claims 2 or 3, in addition to car-mounted device, the car-mounted device is arranged on institute
State in vehicle and record the record data, wherein：
The car-mounted device is at least by the acceleration on the width of the vehicle and the information of the travel speed of the vehicle
Recorded together with the time, the part as the record data；And
The acceleration and the vehicle on width of the assessment result output unit at least based on the vehicle
The travel speed calculates the radius of curvature of the driving trace of the vehicle, described in the radius of curvature based on calculating judges
Whether vehicle is turned in intersection, and the time started when the vehicle when intersection is turned is defined as into the right side
Turn/left-hand rotation initial time.
5. driving apparatus for evaluating according to claim 4, wherein, if the radius of curvature is less than or equal to the first threshold
Value, the acceleration of the turning is more than or equal to Second Threshold, and accumulates steering angle and be more than or equal to the 3rd threshold value, then described
Assessment result output unit judges that the vehicle is turned at the intersection.
6. the driving apparatus for evaluating according to claim 4 or 5, in addition to indicator operation initial time recording unit, should
Indicator operation initial time recording unit monitors the mode of operation of the indicator of the vehicle or the behaviour to the indicator
Make, and at least detect the time when the indicator starts operation, and the time is recorded as the operation note
A part for data, wherein：
After the turning right/left initial time is detected, the assessment result output unit is by from the turning right/left
Initial time starts at least towards each data slice that the record data is searched on past direction, described in determining
Indicator operates initial time.
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2015-156051 | 2015-08-06 | ||
| JP2015156051A JP6342858B2 (en) | 2015-08-06 | 2015-08-06 | Driving evaluation device |
| PCT/JP2016/071678 WO2017022538A1 (en) | 2015-08-06 | 2016-07-25 | Driving evaluation device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107851377A true CN107851377A (en) | 2018-03-27 |
| CN107851377B CN107851377B (en) | 2021-05-25 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201680042976.2A Active CN107851377B (en) | 2015-08-06 | 2016-07-25 | Driving evaluation device |
Country Status (4)
| Country | Link |
|---|---|
| JP (1) | JP6342858B2 (en) |
| CN (1) | CN107851377B (en) |
| MY (1) | MY191057A (en) |
| WO (1) | WO2017022538A1 (en) |
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Also Published As
| Publication number | Publication date |
|---|---|
| WO2017022538A1 (en) | 2017-02-09 |
| MY191057A (en) | 2022-05-30 |
| CN107851377B (en) | 2021-05-25 |
| JP6342858B2 (en) | 2018-06-13 |
| JP2017033507A (en) | 2017-02-09 |
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