JP2003099897A - Curve travel assisting device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To improve skills of drivers having different curve travel skills. SOLUTION: This curve travel assisting device includes a monocular camera 10 and an image processing device 11 for detecting a curvature radius r or the like of a travel lane, a brake pedal stroke sensor 9 and a steering angle sensor 12 for detecting operation contents of the driver, a vehicle speed sensor 13 for detecting a vehicle speed, a controller 14 for assisting travel for deciding a skill level of the driver in travelling a curve on the basis of the curvature radius r detected by the image processing device 11, a stepping amount of a brake pedal detected by the brake pedal stroke sensor 9, and the vehicle speed V detected by the vehicle speed sensor 13, and determining assist contents on the basis of the skill level, and an alarming device 15 and a brake control device 8 for assisting the driver on the basis of the assist contents determined by the controller 14 for assisting travel.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a curve traveling support device for assisting a driver in improving his or her curve traveling skill.

[0002]

2. Description of the Related Art Conventionally, as an apparatus of this type, Japanese Patent Laid-Open No.
"Operation support system,
A recording medium having an operation support method and an operation support program recorded therein is known. This conventional example discloses a method of assisting a driver in improving his or her curve traveling skill by presenting a predicted trajectory of a vehicle and performing training with a simulator that causes the vehicle to travel along a target trajectory.

[0003]

However, in order to apply the above-mentioned conventional example to an actual vehicle, not only the predicted trajectory of the vehicle but also the target trajectory must be presented to the driver, but the curve traveling skill is different. The method of presenting the same target trajectory to the driver may be too difficult for the beginners and may be too easy for the intermediate riders, and it was difficult to support the improvement of the curve running skill as it is.

Therefore, the present invention has been made by paying attention to the unsolved problems of the above-mentioned conventional techniques, and provides a curve traveling support device capable of improving the skill of a driver having different curve traveling skills. The purpose is to

[0005]

In order to solve the above-mentioned problems, the curve traveling support device according to the invention of claim 1 is
Curve state detecting means for detecting the curve state of the traveling lane, operation content detecting means for detecting the operation content of the driver,
Based on a motion state detecting means for detecting a motion state of the vehicle, a curve state detected by the curve detecting means, an operation content detected by the operation content detecting means, and a motion state detected by the motion state detecting means. , A skill level determination means for determining the skill level of the driver when traveling on a curve, a support content determination means for determining support content based on the skill level determined by the skill level determination means, and the support content determination means. Driver assistance means for assisting the driver based on the assistance content determined in (4).

According to a second aspect of the present invention, in the curve traveling support device according to the first aspect of the present invention, the motion state detecting means detects the vehicle speed during traveling on the curve, and the skill level determining means, It is characterized in that the driver's skill level during traveling on a curve is judged based on the variance value of the vehicle speed detected by the motion state detecting means. Further, the invention according to claim 3 is the curve traveling support device according to claim 1 or 2, wherein the motion state detecting means detects a displacement amount from a target locus during traveling on a curve, and The skill level determination means determines the skill level of the driver when traveling on a curve based on the average value of the displacement amounts detected by the motion state detection means.

According to a fourth aspect of the present invention, in the curve traveling support device according to any one of the first to third aspects of the invention, the operation content detecting means is a steering amount of a driver during a curve traveling. And the skill level determination means determines the skill level of the driver when traveling on a curve, based on the change state of the steering amount detected by the operation content detection means.

Further, the invention according to claim 5 is the invention according to claim 1.
According to the invention of claim 4, in the curve traveling support device, the operation content detecting means detects the brake operation amount of the driver when entering the curve, and the skill level determining means detects the operation content detecting means. It is characterized in that the driver's skill level during traveling on a curve is judged based on the changed state of the brake operation amount.

According to a sixth aspect of the present invention, in the curve traveling assistance device according to any one of the first to fifth aspects, the driver assistance means controls the vehicle motion state. Control means, and an alarm presenting means for presenting an alarm to the driver, the support content determining means, the curve state detected by the curve detection means, the operation content detected by the operation content detection means, And whether it is an emergency based on the exercise state detected by the exercise state detection means, and when it is determined that it is an emergency, based on the skill level determined by the skill level determination means, It is characterized in that the content of support is determined by combining control of the exercise state and presentation of an alarm.

Further, the invention according to claim 7 is the invention according to claim 1.
In the curve traveling support device of the invention according to claim 6, the skill level determination means is
The driver's skill level during traveling on a curve is judged in consideration of the operation content detected by the operation content detecting means during the curve entry and the curve traveling, and the exercise state detected by the exercise state detecting means. Is characterized by.

[0011]

Therefore, in the curve traveling support device according to the invention as claimed in claim 1, the vehicle can be operated during the curve traveling based on the curve state of the traveling lane, the operation contents of the driver, and the motion state of the vehicle. Since the skill level of the driver is determined and the content of assistance is determined based on the skill level, it is possible to provide assistance in accordance with the driver's skill level, and it is possible to improve the skill of a driver having different curve traveling skills.

Further, in the curve traveling support device according to the present invention as claimed in claim 2, the vehicle speed is detected at the time of traveling on the curve to calculate the dispersion value, and for example, the dispersion value of the vehicle speed is close to the operation characteristic of the beginner. The driver's skill level when driving on a curve is determined based on the variance value of the vehicle speed, such that the driver is judged to be a beginner and the driver who is close to the operation characteristics of the expert is judged to be an expert. Therefore, the skill level of the driver can be easily determined.

Further, in the curve traveling support device according to the invention of claim 3, the amount of displacement from the target locus is detected during traveling on the curve and an average value is calculated. For example, the average value of the displacement amount is for beginners. The driver who is close to the operating characteristics of is judged to be a beginner, and the driver who is close to the operating characteristics of an advanced person is judged to be an advanced person. Since the driver's skill level is determined, the driver's skill level can be easily determined.

Further, in the curve traveling support device according to the invention of claim 4, the steering amount of the driver is detected during traveling on the curve, and, for example, the change state of the steering amount is close to the operation characteristic of the beginner. It is determined that the driver is a beginner, and that the driver who is close to the operation characteristics of the advanced driver is determined to be the advanced driver. Therefore, the skill level of the driver can be easily determined.

Further, in the curve traveling support device according to the invention of claim 5, the brake operation amount of the driver is detected when entering the curve, and the change state of the brake operation amount is close to the operation characteristic of the beginner. Based on the change state of the brake operation amount, it is determined that the driver is a beginner and that the driver who is close to the operation characteristics of the advanced driver is an advanced driver. Since the level is determined, the driver's skill level can be easily determined.

Further, in the curve traveling support device according to the invention of claim 6, it is judged whether or not it is an emergency based on the curve state of the traveling lane, the operation content of the driver, and the motion state of the vehicle. However, when it is determined that it is an emergency, for example, while simultaneously performing automatic braking and warning to beginners,
Based on the driver's skill level, such as warning only to the advanced driver, the content of assistance is determined by combining the exercise state control and the presentation of an alarm, so the emergency avoidance assistance can also be adjusted to the driver's skill level. Can be done accordingly.

Further, in the curve traveling support device according to the invention of claim 7, at the time of the curve traveling, in consideration of the operation contents and the motion state detected at the time of entering the curve and at the time of the curve traveling at the end of the curve. In order to determine the driver's skill level, it is possible to determine the content of assistance based on the driver's latest skill level, and even when the driver's skill level improves, support according to the driver's skill level is provided. It can be carried out.

[0018]

BEST MODE FOR CARRYING OUT THE INVENTION Embodiments of a curve traveling support device of the present invention will be described below with reference to the drawings. FIG. 1 is a schematic configuration diagram showing an embodiment of the present invention.
L and 1FR are front wheels as driven wheels, 1RL and 1RR are rear wheels as driving wheels, and the rear wheels 1RL and 1RR have the driving force of the engine 2 as the automatic transmission 3, the propeller shaft 4, and the final reduction gear 5. And is transmitted via the axle 6 and is rotationally driven.

Front wheels 1FL, 1FR and rear wheels 1RL, 1R
Disc brakes 7 that generate braking force are provided in R, respectively, and the braking hydraulic pressure of these disc brakes 7 is controlled by a braking control device 8. Then, the braking control device 8 generates a braking hydraulic pressure according to a brake pedal depression amount b detected by the brake pedal stroke sensor 9 and a braking pressure command value output from a traveling support controller 14 described later.

Further, a monocular camera 10 such as a CCD camera is installed on a fixed portion such as an inner mirror stay in the vehicle interior, and the monocular camera 10 outputs image data of the front of the vehicle to the image processing device 11. This image processing device 1
1 detects a white line by performing a process such as binarization on the image data in front of the vehicle, and based on the detection result, FIG.
As shown in, the vehicle's existence area p, the radius of curvature r of the white line, and the lane without deviating from the lane, indicating whether the vehicle is in the area “before entering the curve”, “in the curve”, or “out of the curve”. The target trajectory for efficient traveling, the relative lateral displacement d from the target trajectory, the lane departure time t when maintaining the current vehicle speed, etc. are calculated and output to the travel support controller 14 described later.

Further, various sensors are attached to the vehicle. In the figure, reference numeral 12 denotes a steering angle sensor, which detects the rotation angle of the steering shaft and outputs it to the travel support controller 14. A vehicle speed sensor 13 detects the vehicle speed V from the rotation speed of the propeller shaft 4 and outputs it to the travel support controller 14. And
From the brake pedal stroke amount b output from the brake pedal stroke sensor 9, the own vehicle existing region p, the radius of curvature r, the relative lateral displacement d, the lane departure time t output from the image processing device 11, and the steering angle sensor 12. The output steering angle s and the vehicle speed V output from the vehicle speed sensor 13 are input to the travel support controller 14. The driving support controller 14 is composed of a discretized digital system such as a microcomputer (not shown), executes a curve driving support process described later, and normally gives advice to the alarm device 15 according to the driver's skill level. In case of emergency, the alarm device 15 emits an alarm sound and the braking control device 8 generates braking hydraulic pressure.

Further, the driving support controller 14 has three
Three storage devices 16, 17, 18 are provided, and the first storage device 16 among them is as shown in FIG.
A plurality of skill judgment indexes consisting of general skill data when a general advanced person, an intermediate person, and a beginner perform a driving operation (“time-series change in brake amount until entering curve”, “deviation amount from target trajectory”, "Variation in speed while driving on a curve",
A general skill database including "time-series change of steering angle during curve running") is stored. The skill determination indexes included in the general skill database are time series data b _u [i], b _m [i], of the brake depression amount at the time of entering a curve, respectively.
_b b [i], the average value d _u of the time series data of the relative lateral displacement from the target locus when cornering, d _m, d _b, the standard deviation of the time series data of speed during cornering v _u, v _m , V _b , time-series data s _u [i], s _m [i], and s _b [i] of the steering angle during curve travel are associated with general skill data.

Further, as shown in FIG. 4, the second storage device 17 stores a plurality of skill judgment indexes (“time series of brake amount at the time of entering a curve”, which is made up of individual skill data when the driver performs a driving operation. A personal skill database containing "change", "deviation from target trajectory in curve", "variation of speed in curve", "time-series change of steering angle in curve") is stored. The skill determination index included in the database includes personal data such as the own vehicle existing area p, the skill level, and skill determination data. The skill determination data constituting the skill determination index is time series data B [i] of the brake depression amount at the time of entering a curve, and an average value _Da [i of the time series data of the relative lateral displacement from the target locus at the time of curve traveling. ], The standard deviation V _a [i] of time-series data of speed during curve running, the time-series data S [i] of steering angle during curve running, and the like are associated with skill determination data. Further, in this embodiment,
The skill level is classified into three levels of beginner, intermediate, and advanced, and those levels are set based on the result of comparing the general skill data of the advanced, intermediate, and beginners with the skill determination data of the driver. .

Further, in the third storage device 18, FIG.
As shown in (a) and (b), the radius of curvature r of the white line and the vehicle speed V
In addition to determining whether or not it is an emergency based on the above, an alarm / control support law indicating a support method according to the driver's skill level etc. in an emergency, and as shown in FIG. A skill improvement support law indicating a support method corresponding to a level or the like is stored.

The curve running support process in the present embodiment is a process executed as an interrupt process at every predetermined control cycle (for example, 10 msec), and specifically, a flowchart showing an outline of the procedure of the process. As shown in FIG. 7, first, in step S100, the radius of curvature r of the white line is read from the image processing apparatus 11, and it is determined whether or not the radius of curvature r is less than or equal to a predetermined value α and less than or equal to the predetermined value α. If (Yes), the process proceeds to step S101, and if not (No), the curve traveling support process ends.

In step S101, the image processing calculation result E (E = {own vehicle existence region p, radius of curvature r, deviation amount d, lane departure time t}) is read from the image processing device 11, and the process proceeds to step S102. To do. Step S
At 102, the device state data M (M = {b, s}) including the brake pedal depression amount b and the steering angle s is read from the brake pedal stroke sensor 9 and the steering angle sensor 12, and the vehicle speed V is read from the vehicle speed sensor 13. Is read, and the process proceeds to step S103.

In step S103, a driver assistance method is provided in step S105, which will be described later, based on the image processing calculation result E read in step S101 and the device state data M and vehicle speed V read in step S102. Support method determination data A used when determining
Is generated, and the process proceeds to step S104. Any method may be used to generate the support method determination data A, and for example, the support method determination data A may be generated according to the own vehicle existing area p included in the image processing calculation result E. When generating according to the own vehicle existing area p, when the own vehicle existing area p is “before entering a curve”, A = {own vehicle existing area p, radius of curvature r, vehicle speed V} as the support method determination data A. To generate. In addition, the own vehicle existing region p is “curving”
If it is, A = {own vehicle existence area p, lane departure time t} is generated as the support method determination data A.

In step S104, as shown in FIG. 4, the individual skill data of the driver is read from the individual skill database of the second storage device 17, and step S105
Move to. In the step S105, the skill level corresponding to the own vehicle existing area p is selected from the individual skill data read in the step S104 based on the own vehicle existing area p of the support method determination data A generated in the step S103. , And proceeds to step S106. As shown in FIG. 4, when the vehicle presence region p of the support method determination data A is “curving”, three skill levels corresponding to “curving” are averaged from the individual skill data. Select.

In step S106, when the own vehicle existing region p of the support method determination data A generated in step S103 is "before curve entry", FIG.
As shown in FIG. 3, based on the skill level selected in step S105 and the radius of curvature r of the support method determination data A generated in step S103, the limit vehicle speed indicating the limit value of the vehicle speed at which the vehicle can safely travel is set to the third limit vehicle speed. In addition to reading from the alarm / control support law of the storage device 18, the step S10 is performed.
It is determined whether or not the vehicle speed V of the support method determination data A read in 5 exceeds the limit vehicle speed (Yes), the process proceeds to step S107, and if not (No) the process proceeds to step S109. Further, when the own vehicle existing region p of the support method determination data A generated in the step S103 is “curving”, as shown in FIG. 5B, based on the skill level selected in the step S105. The limit departure time indicating the limit value of the lane departure time for safe driving is read from the alarm / control support law of the third storage device 18, and the step S
It is determined whether or not the lane departure time t of the assistance method determination data A generated in 103 exceeds the limit departure time. If it exceeds (Yes), the process proceeds to step S107, and if not (No), the process proceeds to step S109. To do.

In step S107, the process shown in FIG.
As shown in (b), the "support method" corresponding to the driver's skill level read in step S105 is warned / warned.
After reading from the control support law, a signal for issuing an alarm sound is output to the alarm device 15 based on the "support method", a braking pressure command value is output to the braking control device 8, and the like, and the process proceeds to step S108. .

In step S108, the radius of curvature r of the image processing calculation result E read in step S101.
Is larger than the predetermined value α, and if it is larger (Yes), this curve traveling support processing is ended, and if not (No), the routine proceeds to step S101.
On the other hand, in step S109, it is determined whether or not the skill improvement support implementation flag F indicating that the skill improvement support has been performed is in the set state of "1", and when it is in the set state (Yes), the process proceeds to step S112. If not (No), the process proceeds to step S110.

In step S110, as shown in FIG. 4, the skill determination index having the lowest skill level and its skill level are read by referring to the individual skill database of the second storage device 17, and the process proceeds to step S111. Transition. In step S111, as shown in FIG. 6, based on the skill improvement support rule stored in the third storage device 18, a support method corresponding to the skill determination index and the skill level read in step S110 is provided. The signal is read and a signal for displaying advice or the like is output to the alarm device 15 according to the support method, and the process proceeds to step S112.

In step S112, the radius of curvature r of the image processing calculation result E read in step S101.
Is larger than the predetermined value α, and if larger than the predetermined value α (Yes), the process proceeds to step S116, and if not (No) the process proceeds to step S113. In step S113, based on the displacement amount d of the image processing calculation result E read in step S101, the brake pedal depression amount b, the steering angle s, and the vehicle speed V read in step S102, each skill determination index is determined. skill judgment data _{B [1] ', D a} [1]', V a [1] to generate a ', S [1]', the process proceeds to step S114. The skill determination data B [1] 'of "time-series change in brake amount at curve entry", which is a skill determination index, is a portion at the time of curve entry from the time-series data of the brake pedal depression amount b read in the memory. Is generated by extracting. In addition, the skill determination data D _a [1] 'of “the amount of deviation from the target trajectory in the curve” is obtained by averaging the amount of displacement during curve running extracted from the time series data of the amount of displacement d loaded in the memory. Generated. The skill determination data V _a [1] ′ of “variation of speed on curve” is generated as a standard deviation of vehicle speed during traveling on a curve, which is extracted from time series data of the vehicle speed V read in the memory. The skill determination data S [1] 'of "time-series change of steering angle during curve" is
It is generated by extracting a portion during traveling on a curve from the time series data of the steering angle s read in the memory.

In step S114, the skill determination data B [1] ', _Da [1]', generated in step S113,
The personal skill database stored in the second storage device 17 is updated based on V _a [1] ′ and S [1] ′, and the process proceeds to step S115. In the update of the individual skill database, as shown in FIG. 4, in the plurality of skill determination data groups stored in the individual skill database of the second storage device 17, the skill determination data B generated in step S113.
[1] ', D _a [1]', V _a [1] ', S [1]' are added, and the oldest skill determination data B [m], D _a [among the skill determination data groups are added. m], V _a [m], S [m] are deleted, and further, FIG.
As shown in, the skill level of each skill determination index is determined with reference to the general skill database stored in the first storage device 16.

In the determination of the skill level of each skill determination index,
As shown in FIG. 4, the average value B _a (= {b _a [1], b of the skill determination data B [i] of “the time series change of the brake amount when entering a curve” stored in the individual skill database. _a [2],
, B _a [m]} and the general skill data of the advanced player stored in the general skill database Δb _u = Σ (b _u [i] −
b _a [i]) ² , difference with intermediate level Δb _m = Σ (b _m [i] −ba _a [i])
^2, the difference between the beginner _{△ b b = Σ (b b} [i] -b a [i]) 2 is calculated, the skilled level indicating the smallest value among them,
It is determined that the skill level corresponds to “time-series change in brake amount when entering curve”. Further, the average value D _aa of the skill determination data D _a [i] of “lateral displacement from the target trajectory in the curve” stored in the individual skill database and the general skill of the advanced person stored in the general skill database. Difference with data Δd _u = d _u −D _aa , difference with intermediate level Δd _m = d _m −D
_aa , the difference between the beginner and _{Δd b} = d _b −D _aa is calculated, and the skill level showing the smallest value among them is the skill level corresponding to the “lateral displacement from the target trajectory in the curve”. To judge.

Further stored in the personal skill database
Skill determination data for "variation of speed on curve"
V_aAverage value V of [i]_aaAnd stored in the general workmanship database
Difference with the general skill data of advanced players_u= V_u-V
_aa, Difference with intermediate level Δv_m= V_m-V_aa, Difference with beginners △ v
_b= V_b-V_aaAnd show the smallest of them.
Skill level corresponds to "variation of speed during curve"
It is determined that the skill level is Also, personal workday
The time series variation of the steering angle during the curve stored in the database
Average S of the skill determination data S [i]_a(= {S_a[1],
s_a[2], ..., s _a[m]} and stored in general skill database
Difference with the general skill data of advanced users_u= Σ
(S_u[i] -s_a[i])², Difference Δs with intermediate level_m= Σ (s_m[i]
-S_a[i])², Difference with beginners △ s_b= Σ (s_b[i] -s
_a[i])²Is calculated and the technique showing the smallest value among them is calculated.
The quantity level corresponds to the "time-series change of the steering angle during the curve".
It is judged that it is a skill level.

In step S115, the skill improvement support execution flag F is reset to "0" and the curve traveling support process is terminated. On the other hand, in step S116, the skill improvement support implementation flag F is set to "1", and the process proceeds to step S101. Next, the operation of this embodiment will be described in detail based on a specific situation.

First, it is assumed that the driver turns on the power switch of the driving support controller 14 when a 100R curve appears in front of the vehicle traveling at a speed of 60 km / h. Then, the driving support controller 14 executes the curve driving support processing, and first, at step S1.
00, the curvature radius r of the white line from the image processing apparatus 11 (= 1
00R) is read and the determination is “Yes”, the image processing calculation result E is read from the image processing apparatus 11 in step S101, and the brake pedal depression amount b is read from the brake pedal stroke sensor 9 in step S102. The steering angle s is read from the steering angle sensor 12, the vehicle speed V (= 60 km / h) is read from the vehicle speed sensor 13, and in step S103, the step S10 is performed.
Assistance method determination data A based on the vehicle existence region p (= “before curve entry”) and the radius of curvature r of the white line in the image processing calculation result E read in 1 and the vehicle speed V read in step S102. = {Own vehicle existence region p, radius of curvature r, vehicle speed V} = {immediately before curve, 100R, 60 km / h} is generated, and in step S104, as shown in FIG. 4, the individual skill of the second storage device 17 is calculated. The individual skill data of the driver is read from the database, and in step S105, the support method determination data A generated in step S103.
Based on the own vehicle existing area p of step S104
The skill level (= “beginner”) corresponding to the own vehicle existing region p is selected from the individual skill data read in step S106, and is selected in step S105 in step S106 as shown in FIG. 5A. Skill level and step S
Curvature radius r of the support method determination data A generated in 103
Based on the above, the limit vehicle speed (= “45 km / h”) indicating the limit value of the vehicle speed at which the vehicle can safely travel is read from the alarm / control support law of the third storage device 18, and the determination becomes “Yes”, and the step In S107, as shown in FIG. 5A, "support method" (= "brake !! (voice) + display (deceleration instruction) + braking") corresponding to the driver's skill level read in step S105. Is read from the alarm / control support law, and based on the “support method”, a signal for issuing a voice “brake” and a signal for displaying “brake!” Are output to the alarm device 15, and the braking control device 8
A braking pressure command value that makes the vehicle speed V the limit vehicle speed is output to, and the determination in step S108 is "No",
The above flow is repeated from step S101 again.

As described above, in the present embodiment, the content of assistance is determined by combining the control of the exercise state and the presentation of an alarm based on the skill level of the driver in an emergency.
The emergency avoidance support can be provided according to the driver's skill level. Further, it is assumed that the vehicle speed V becomes lower than the limit vehicle speed by repeating the above flow. Then, the driving support controller 14 executes the driving support processing, and through steps S101 to S105, the determination in step S106 becomes "No", and since the skill improvement support is not implemented, the determination in step S109 is " No ”,
In step S110, as shown in FIG. 4, the individual skill database of the second storage device 17 is referred to, and the skill determination index with the lowest skill level (= “time-series change in brake amount when entering curve”). ) And its skill level (= “beginner”) are read, and in step S111, as shown in FIG. 6, based on the skill improvement support rule stored in the third storage device 18, they are read in step S110. The assistance method (= "Please step on the brake strongly (voice) + display") according to the determined skill determination index and skill level is read, and the alarm device 15 displays "Step on the brake strongly according to the assistance method". A signal indicating "Please brake strongly!" Is output together with a signal that outputs "Please do", and the determination in step S112 is "No", and step S1 6, workmanship improvement support execution flag F is in the set state of "1", the step S10 again
Through steps 1 to S106, the determination in step S109 becomes “No”, and the above flow is repeated from step S112.

As described above, in the present embodiment, since the content of assistance is determined based on the driver's skill level, it is possible to provide assistance according to the driver's skill level, and different curve traveling skills. The skill of the driver can be improved. Also, while the above flow is being repeated,
It is assumed that the vehicle has started to travel on a curve. Then, the driving support controller 14 executes the driving support processing, and through steps S101 and S102, in step S103,
Based on the own vehicle existing area p (= “curving”) and the lane departure time t of the image processing calculation result E read in step S101, the assistance method determination data A = {own vehicle existing area p, lane The deviation time t} is generated, and after step S104, in step S105,
Based on the own vehicle existing area p of the support method determination data A generated in 103, three skill levels (= “intermediate” “corresponding to the own vehicle existing area p from the individual skill data read in the step S104”). An average of "intermediate" and "intermediate") ((intermediate + intermediate + intermediate) / 3≈intermediate) is selected, and the above flow is repeated from step S101 through steps S105 to S116.

Further, it is assumed that the vehicle ends the curve running while the above flow is repeated. Then, the driving support controller 14 executes the driving support processing, and through steps S101 to S109, step S1.
The determination of 12 is “Yes”, and in step S113,
Based on the displacement amount d of the image processing calculation result E read in step S101, the brake pedal depression amount b, the steering angle s, and the vehicle speed V read in step S102, the skill determination data of each skill determination index. B [1] ', D
_{a [1] ', V a} [1]', S [1] ' is generated, step S114
In the step S113 skill judgment data B [1] generated by the _{', D a [1]'} , V a [1] ', S [1]' considering skill level is determined, the second The personal skill database stored in the storage device 17 is updated, and in step S115,
The skill improvement support implementation flag F is set to the reset state of "0", and this curve traveling support processing is ended.

As described above, in the present embodiment, the driver's skill level at the time of curve traveling is determined based on the driver's brake operation amount and steering amount, the average value of the displacement amount from the target locus, the variance value of the vehicle speed, and the like. Since the judgment is made, the skill level of the driver can be easily judged. Further, at the end of the curve, the driver's skill level during the curve traveling is determined based on the latest skill of the driver in consideration of the operation content and the motion state detected at the time of entering the curve and during the curve traveling. The support content can be determined, and even when the driver's skill improves, it is possible to provide support in accordance with the driver's skill level.

In the present embodiment, the curve state detecting means corresponds to the monocular camera 10 and the image processing device 11, and the operation content detecting means corresponds to the brake pedal stroke sensor 9 and the steering angle sensor 12, The motion state detection means corresponds to the vehicle speed sensor 13, the skill level determination means and the support content determination means correspond to the driving support controller, the general skill database and the individual skill database, and the driver support means is the alarm device 15 and the braking control device. Corresponds to 8. The vehicle control means corresponds to the braking control device 8, and the alarm presenting means corresponds to the alarm device 15.

Further, the above-mentioned embodiment shows an example of the curve traveling support device of the present invention, and does not limit the configuration of the device. For example, in the above embodiment, the monocular camera 10 and the image processing device 11 detect the image processing calculation result E (E = {own vehicle existence region p, curvature radius r, deviation amount d, lane departure time t}). Although an example is shown, the detection method is not limited, and detection may be performed based on information from the infrastructure or map data held by the navigation system, for example.

[Brief description of drawings]

FIG. 1 is a schematic configuration diagram showing a first embodiment of a curve traveling support device of the present invention.

FIG. 2 is an explanatory diagram for explaining an own vehicle existing region detected by the image processing apparatus of FIG.

FIG. 3 is an explanatory diagram for explaining the contents of a general skill database stored in the first storage device of FIG. 1.

FIG. 4 is an explanatory diagram for explaining the contents of a personal skill database stored in the second storage device of FIG.

FIG. 5 is an alarm stored in the third storage device of FIG.
It is explanatory drawing for demonstrating the content of the control support law.

6 is an explanatory diagram for explaining the contents of a skill improvement support rule stored in a third storage device of FIG. 1. FIG.

FIG. 7 is a flowchart showing a driving support process executed by the driving support controller of FIG. 1.

[Explanation of symbols]

1FL and 1FR are front wheels 1RL and 1RR are rear wheels 7 is a disc brake 8 is a braking control device 9 is a brake pedal stroke sensor 10 is a monocular camera 11 is an image processing apparatus 12 is a steering angle sensor 13 is a vehicle speed sensor 14 is a controller for driving support 15 is an alarm device 16 is the first storage device 17 is a second storage device 18 is a third storage device

Claims (7)

[Claims] 1. A curve state detecting means for detecting a curve state of a traveling lane, an operation content detecting means for detecting an operation content of a driver, a motion state detecting means for detecting a motion state of a vehicle, and the curve detecting means. Skill level determination for determining the driver's skill level when traveling on a curve based on the curve state detected by, the operation content detected by the operation content detection unit, and the exercise state detected by the exercise state detection unit. Means and a support content determination means for determining support content based on the skill level determined by the skill level determination means, and driver support for assisting the driver based on the support content determined by the support content determination means A curve traveling support device comprising: 2. The motion state detecting means detects a vehicle speed when the vehicle is traveling on a curve, and the skill level determination means is based on a variance value of the vehicle speed detected by the motion state detecting means, a driver who is traveling on a curve. The curve traveling support device according to claim 1, wherein the skill level is determined. 3. The motion state detecting means detects a displacement amount from a target locus during traveling on a curve, and the skill level determining means, based on an average value of the displacement amounts detected by the motion state detecting means, The curve traveling support device according to claim 1 or 2, wherein the driver's skill level when traveling on a curve is judged. 4. The operation content detection means detects a steering amount of a driver when traveling on a curve, and the skill level determination means, based on a change state of the steering amount detected by the operation content detection means, The curve traveling support device according to any one of claims 1 to 3, wherein the driver's skill level during traveling is determined. 5. The operation content detection means detects a brake operation amount of a driver when entering a curve, and the skill level determination means based on a change state of the brake operation amount detected by the operation content detection means. The curve traveling support device according to any one of claims 1 to 4, wherein the driver's skill level during traveling on a curve is determined. 6. The driver support means includes a vehicle control means for controlling a motion state of the vehicle and an alarm presentation means for presenting an alarm to the driver, and the support content determination means is for detecting the curve. It is determined whether it is an emergency based on the curve state detected by the means, the operation content detected by the operation content detection means, and the exercise state detected by the exercise state detection means. When the determination is made, the support content is determined by combining the control of the motion state of the vehicle and the presentation of an alarm based on the skill level determined by the skill level determination means. The curve traveling support device according to any one of the above. 7. The skill level determination means considers the operation content detected by the operation content detection means and the exercise state detected by the exercise state detection means at the end of the curve, at the time of entering the curve and at the time of traveling the curve. The curve traveling support device according to any one of claims 1 to 6, wherein the driver's skill level during traveling on a curve is judged.