JP2003231449A - Driving support device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To control caution, alarm or a vehicle in accordance with human senses, in a driving support device. <P>SOLUTION: This driving support system comprises: an inter-vehicle distance measurement means for measuring an inter-vehicle distance between a vehicle running ahead and one's own vehicle; a control unit for calculating a basic risk potential showing whether or not the one's own vehicle physically collides with the vehicle running ahead from a signal from the inter-vehicle distance measurement means; a vehicle control device for controlling the inter-vehicle distance based on the basic risk potential; a one's own vehicle safety data storing memory with one's own vehicle safety data based on a collision test result of the one's own vehicle stored; a driving ability data storing memory with driving ability data reflecting personal difference of the driver stored; an environmental information memory with information relative to the environment around the one's own vehicle stored by detecting it; and a correction means for changing the basic risk potential based on the information from the evaluation data storing memory, the driving ability data storing memory and the environmental information memory. <P>COPYRIGHT: (C)2003,JPO

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention measures an inter-vehicle distance, issues a warning and an alarm according to the measured inter-vehicle distance, and further controls a vehicle in order to prevent an accident of a vehicle traveling on a road. The present invention relates to a driving support device that supports driving.

[0002]

2. Description of the Related Art Most of traffic accidents are caused by human factors such as a driver's dozing, aimless driving, agitation, and tension.
From information). Under such circumstances, currently, a system that measures the inter-vehicle distance between the own vehicle and the vehicle in front and issues an inter-vehicle distance warning and a system that maintains a safe inter-vehicle distance have been developed and are actually installed in some automobiles.

For example, as a system for maintaining a safe inter-vehicle distance, the distance between the host vehicle and the preceding vehicle is measured, the safe inter-vehicle distance is calculated based on the vehicle speed and deceleration, and an alarm is issued or the safe inter-vehicle distance is set. The content of keeping the distance is disclosed in the registered patent No. 2830576.

[0004]

However, the vehicle-to-vehicle distance that a person feels safe is not necessarily the same as the vehicle-to-vehicle distance that does not cause a physical collision. At the same physically safe inter-vehicle distance, for example, when the front vehicle is a large vehicle such as a truck and when it is a passenger vehicle, the person feels more dangerous when the front vehicle is a truck.

Further, the way of feeling safety depends on the type of the own vehicle and whether or not the own vehicle is resistant to a collision. For example, when comparing a case where a vehicle is strong against a collision and a case where a vehicle is weak against a collision by a collision test, a person feels that it is safer when the vehicle is strong against a collision. Therefore, when the alarm is issued at a physically safe inter-vehicle distance regardless of the type of the vehicle ahead or the own vehicle, a person feels uncomfortable.

Further, if the vehicle continuously travels at the same safe inter-vehicle distance regardless of the type of the front vehicle or the own vehicle, excessive tension due to discomfort or anxiety continues, resulting in fatigue. This fatigue can lead to a loss of judgment and an accident. Also, people cannot withstand this state for a long time, so they try to avoid this state by operating the brakes and accelerators themselves.

In other words, the prior art does not consider whether or not a person feels safe, so that it does not match the human sense, and as a result, even if the above system is installed, it can be used only in limited situations. There was a big problem in practical use.

[0008]

According to the present invention, in order to solve the above-mentioned problems, a driving support device according to the invention of claim 1 is an inter-vehicle distance measuring means for measuring an inter-vehicle distance between a front vehicle and an own vehicle, A control unit that calculates a basic risk potential indicating whether or not the own vehicle and a preceding vehicle physically collide from a signal from the inter-vehicle distance measuring means, and a vehicle that controls the inter-vehicle distance based on the basic risk potential. A control device, a vehicle safety data storage memory in which vehicle safety data based on a collision test result of the vehicle is stored, and a driving ability data storage memory in which driving ability data reflecting driver's individual difference is stored, Based on the information from the environment information memory that has detected and stored information related to the environment around the vehicle, the evaluation data storage memory, the driving capacity data storage memory, and the environment information memory. It is characterized in that it comprises a correction means for changing the basic risk potential to have.

Since the vehicle safety data based on the result of the collision test is used, the safety of the driver at the time of the actual collision can be secured, and the control can be performed according to the environment and the driver's situation which change from moment to moment. With this control, it is possible to perform appropriate control with no discomfort compared to mere inter-vehicle distance control.

Further, in the driving support device according to the invention of claim 2, the own vehicle safety data of the driving support device according to claim 1 is data acquired based on the vehicle safety performance evaluation procedure. Characterize. And claim 3
In the invention of the driving support device described above, the driving ability data of the driving support device according to claim 1 is data acquired based on the automobile insurance rate calculation element. Further, in the driving support apparatus according to the invention described in claim 4, the environment information of the driving support apparatus according to claim 1 is information determined by the wiper switch of the own vehicle and the outside air temperature sensor. Furthermore, in the driving support device according to the invention of claim 5, the own vehicle safety data based on the collision test result of the own vehicle of the driving support device according to claim 1 is stored in advance in the own vehicle safety data storage memory. It is characterized by

According to a sixth aspect of the present invention, there is provided an inter-vehicle distance measuring means for measuring an inter-vehicle distance between the front vehicle and the own vehicle, and a rear vehicle inter-vehicle distance measuring means for measuring an inter-vehicle distance between the rear vehicle and the own vehicle. Based on the signal from the inter-vehicle distance measuring means and the signal from the rear vehicle inter-vehicle distance measuring means, a basic risk potential indicating whether the own vehicle and the front vehicle or the own vehicle and the rear vehicle physically collide is calculated. Control unit for calculation, own vehicle safety data storage memory that stores own vehicle safety data based on the collision test result of own vehicle, and driving ability data storage memory that stores driving ability data that reflects individual differences of the driver And an environment information memory in which information about the environment around the vehicle is detected and stored, and from the evaluation data storage memory, the driving ability data storage memory and the environment information memory. Characterized by comprising the correction means for changing the basic risk potential based on the distribution.
Accordingly, the own vehicle can be controlled in consideration of the risk of collision with the rear vehicle.

According to the invention described in claim 7, claim 6
The described basic risk potential is characterized in that the intermediate point between the front vehicle and the rear vehicle is the minimum, and the point of the front vehicle or the rear vehicle is infinite. Further, as in the invention described in claim 8, it is preferable to control the own vehicle to a point where the basic risk potential is minimum. As a result, the host vehicle can be controlled to the safest position.

According to the invention of claim 9, claim 6 is provided.
The described basic risk potential is characterized by being changed according to the size of the vehicle ahead. If the vehicle ahead is a large vehicle such as a truck, it is dangerous and the distance between the vehicles can be increased.

According to the tenth aspect of the present invention, an inter-vehicle distance measuring means for measuring an inter-vehicle distance between the front vehicle and the host vehicle,
Rear vehicle inter-vehicle distance measuring means for measuring the inter-vehicle distance between the rear vehicle and the own vehicle, side vehicle distance measuring means for measuring the distance between the side vehicle and the own vehicle, a signal from the inter-vehicle distance measuring means, and the rear vehicle. A control unit for calculating a basic risk potential indicating whether or not the own vehicle and the front vehicle or the own vehicle and the rear vehicle physically collide based on a signal from the inter-vehicle distance measuring means; Own vehicle safety data storage memory having own vehicle safety data based on the collision test result of the own vehicle, having a correcting means for changing the basic risk potential based on the signal from the side vehicle distance measuring means, and driving Driving ability data storage memory in which driving ability data reflecting individual differences of persons are stored,
From an environment information memory in which information about the environment around the vehicle is detected and stored, and a correction means for changing the basic risk potential based on the information from the evaluation data storage memory, the driving capacity data storage memory and the environment information memory. It is characterized by Accordingly, the own vehicle can be controlled in consideration of the risk of collision with the front vehicle, the rear vehicle, and the side vehicle.

[0015]

BEST MODE FOR CARRYING OUT THE INVENTION Embodiments of the present invention will be described below with reference to the drawings.

The system configuration of an automobile to which the present invention is applied is shown in FIGS. 1, 2 and 3.

FIG. 1 is a view of an automobile, which is a vehicle 100 equipped with the devices constituting the present invention, as seen from above.
Reference numeral 101 is a front radar that serves as an inter-vehicle distance measuring means, and measures the distance to a vehicle in front or an obstacle. 10
An outside air temperature sensor 2 measures the temperature of outside air. 10
A vehicle speed sensor 3 serves as a vehicle speed measuring means, and measures the speed of the host vehicle. A brake oil pressure sensor 104 measures the oil pressure of the brake. Reference numeral 105 denotes a throttle sensor, which measures the opening degree of the throttle. Reference numerals 106 and 111 denote side monitoring devices, which measure the distance between the vehicle on the right or left of the vehicle and obstacles, and capture an image. 10
Reference numeral 7 denotes a speaker and a microphone, which inform the driver of a warning by voice and input the driver's voice to the system. Reference numeral 108 denotes a display device such as a head-up display or an instrument panel, which displays and transmits information to the driver. Reference numeral 109 denotes switches around the steering wheel (light switch, ignition switch, wiper switch, direction indicator). A control unit 200 controls the entire system. A solar radiation sensor 112 measures the brightness inside and outside the vehicle. A display device 113 with a touch switch, such as a navigation device, displays map information and the like, and can input the date of birth, age, sex, driving experience, etc. of the driver. Reference numeral 114 denotes a vehicle interior camera which captures the driver's condition, the number of passengers, and the like as images. A front monitoring camera 115 captures a front image. A rear monitoring camera 116 captures a rear image. An antenna 117 receives a signal from a GPS satellite.
An antenna 118 receives signals of various terrestrial waves (radio, VICS, beacon, telephone). Reference numeral 119 is a rear-viewing radar, which measures the distance to a vehicle behind or an obstacle.

FIG. 2 is a control block diagram showing a signal flow of the vehicle 100 equipped with the devices constituting the present invention. Front radar 101, vehicle speed sensor 103,
The signals obtained from various information input means 205 such as the outside air temperature sensor 102 and the wiper switch are transmitted to the control unit 200.
Are collected via the input port 201 and stored in the memory 202. The CPU 203 reads out necessary information from the memory 202, determines the situation, decides the control target and control method, and outputs the various actuators 20 via the control output port 204.
HMI (H
(man machine interface) Further, it outputs a control signal to the vehicle control device for the throttle 207 and the brake 208. The control signal also includes image and sound data.

Further, the control unit 200 determines that the weather is fine unless the wiper switch 109 is operating. If the wiper switch 109 is operating, it is judged as rain or snow,
If the wiper switch 109 is operating and the outside air temperature sensor 102 is below 0 degrees, it is determined that it is snowing and the weather information is stored in the memory 202.

FIG. 3 shows the memory 20 of the control unit 200.
2 shows an internal area, and is divided into memory areas A, B, and C. The memory area A is an area that cannot be changed because the vehicle-specific information that does not change is stored in advance when the product is shipped. The memory area B stores information input by the driver through the display device 113 with a touch switch and the microphone 107, and the data is not erased even when the ignition switch is turned off. Information obtained from various information input means 205 is stored in the memory area C so that data can be stored and updated when the ignition switch is turned on, and the data disappears when the ignition switch is turned off. It has become.

Further, as shown in FIGS. 4 (a) and 4 (b), in the memory area A, "collision test data of the host vehicle 100 (various test data based on the notification of the Ministry of Land, Infrastructure, Transport and Tourism: Car Safety Performance Evaluation Implementation Guidelines). "," Weight "is stored,
Further, information such as "displacement amount" and "vehicle type" of the vehicle is stored. The memory area B stores the driver's "auto insurance grade", "date of birth", "age", "sex", "health status", "reaction time", "mental status", and "fatigue degree". The data stored in the memory area A is stored in the memory area B when the driving support device of the present invention is installed at an automobile dealership, at an automobile parts specialty store, or so that the user can change the setting. You may do it. In the memory area C, "speed", "position", "throttle opening", "brake hydraulic pressure" of the host vehicle 100
The "direction indicator" and the "number of passengers" are stored. In the memory area C, "collision test data" of the front vehicle and the rear vehicle is stored.
It stores "weight", "speed", "position", "throttle opening", "brake oil pressure", "direction indicator", and "passenger number".
The various information of the front vehicle and the rear vehicle stores the information acquired by the inter-vehicle communication. Further, the memory area C stores "driving duration", "driver's awakening degree, line-of-sight direction, eyeball position".

Various information (previous data, current data) at different times is stored in the memory area C, and the data is updated and output according to the request of the CPU 203.

Next, a process in which the basic risk level potential is calculated by the CPU 203 based on the data stored in the memory 202 will be described. Here, the basic risk potential represents the risk of a physical collision between the host vehicle and the front vehicle or the rear vehicle calculated based on the information from the front radar 101 or the rear monitoring radar and the information from the vehicle speed sensor 103. It is the degree of danger indicated by the basic potential curve described below.

FIG. 6 (a) shows the risk of collision when there is a front vehicle 402 and a rear vehicle 403 with the own vehicle 401 in between as shown in FIG. Vehicle 40 on the horizontal axis
1 and front vehicle 402 and own vehicle 402 and rear vehicle 40
The distance from 3 is taken and the vertical axis represents the degree of danger. It is divided into control level 1, control level 2, and control level 3 according to the degree of danger. Control level 1 or lower is the inter-vehicle distance automatic controllable area, control level 2 or lower is the inter-vehicle distance caution area, and control level 3 or lower. Is the inter-vehicle distance warning area, and the control level 3 or higher is the inter-vehicle distance braking control area. Draw a basic potential curve that represents the risk of collision with a vehicle in front or the risk of collision with a vehicle behind. When the front vehicle 401 and the rear vehicle 403 are vehicles of the same size, the basic potential curve becomes the lowest when the host vehicle 401 is located at the midpoint between the front vehicle 402 and the rear vehicle 403. The basic potential curve becomes infinite when the host vehicle 401 is the front vehicle 402 or the rear vehicle 403.

When the host vehicle 401 approaches the front vehicle 402 and passes the front vehicle warning position Af, the display device 108
Display to call attention to. When the host vehicle 401 approaches the front vehicle 402 and passes the front vehicle alarm generation position Bf, the speaker 107 emits an alarm sound. Further, when the host vehicle 401 approaches the front vehicle 402 and exceeds the front vehicle braking control position Cf, the throttle opening is closed or the brake is applied to control the braking of the host vehicle 401.

Similarly, when the host vehicle 401 approaches the rear vehicle 403 and passes the rear vehicle alert position Ab, a display is displayed on the display device 108 to alert the user. Own vehicle 40
1 approaches the rear vehicle 403, and the rear vehicle alarm generation position Bb
When it exceeds, the speaker 107 sounds an alarm sound. Further, when the host vehicle 401 approaches the rear vehicle 403 and exceeds the rear vehicle braking control position Cb, if the speed is equal to or lower than a predetermined speed, the throttle opening is increased and the speed is increased. Furthermore, between the front vehicle attention position Af and the rear vehicle attention position Ab of the host vehicle 401 is an automatic inter-vehicle distance control section, and the front vehicle 402 and the rear vehicle 4 having the lowest basic potential curve are shown.
The own vehicle 401 is controlled to be located at the intermediate point of 03. The basic potential curve has a parabolic shape so that the control of the own vehicle 401 does not feel uncomfortable.
The center is the lowest, and the curve has a continuous increase.

Next, the control of the present invention will be described with reference to the flowchart shown in FIG.

First, the driver turns on the ignition switch (I / G) to turn on the control unit 2.
A basic risk potential of 00 is calculated and control processing is started (step 301). In step 302, the CPU acquires information necessary for processing from the memory 202. In step 303, various pieces of information that are temporally different (previous data and current data) are compared to determine whether the change exceeds a threshold for updating the map of the basic risk potential Pd. If the threshold is exceeded, step 304
If not, go to step 308. In step 304, the previous data and the current data are compared to determine whether the control level should be changed. If it should be changed, go to step 305, and if it is not necessary, 30
Go to 6. An example of a case where the control level needs to be changed is, for example, that a driver who has a low probability of having an automobile insurance 20 grade accident is changed to a driver who has a high automobile insurance 1 grade accident. There are cases. Figure 6 shows the control level for drivers who have a high probability of accidents.
As shown in (b), the inter-vehicle distance is automatically controlled at a level where the basic risk potential is lower than that of a driver having a low probability of accident, a caution display is presented, and a warning is given to prevent an accident. That is, level 1, level 2 and level 3 which are the control levels of the driver with low probability of causing an accident.
For drivers with a high probability of causing an accident, change to Level 1 ', Level 2', or Level 3 ', present a caution display at an early stage, and perform warning and braking control.

Further, it may be considered that the driver is changed from a young person to an elderly person. In general, the older the person, the longer it takes for cognition and reaction.
As shown in (1), the inter-vehicle distance is automatically controlled, the caution display is presented, and the warning / braking control is performed at a control level that is lower than that of a young person. That is,
It is better for the human sense to change the control levels of the younger persons, Level 1, Level 2 and Level 3, to the elderly persons, Level 1 ', Level 2'and Level 3'.

Furthermore, the environment around the vehicle may change. For example, when it is raining or snowing, the wiper switch 109 and the outside air temperature sensor 1 described above are used.
It is judged by the signal from 02. In such a case,
As shown in FIG. 7, the potential curve 1 is changed to the potential curve 2 to control the inter-vehicle distance so that the warning display is presented earlier to perform control corresponding to the environment around the vehicle. be able to.

In step 306, the previous data and the current data are compared to determine whether or not the basic potential curve should be changed. If the change is necessary, the process proceeds to step 307. If the change is not necessary, the process proceeds to 308. A case where the basic potential curve needs to be changed in step 307 is a case where the preceding vehicle is changed from a small vehicle to a large vehicle such as a truck. A person feels more dangerous when a large vehicle is a front vehicle even with the same physically safe inter-vehicle distance. In such a case, as shown in FIG. 7, the potential curve 1 is changed to the potential curve 2 so that the inter-vehicle distance is controlled to be increased, and the warning display is presented earlier to match the human sense. To do.

A method of calculating the size of the vehicle from the photographed image will be described with reference to FIG. FIG. 14 shows a case where the size of a vehicle ahead is measured using an image captured by the front monitoring camera 603. In FIG. 14, 601 is the own vehicle, 602 is the front vehicle, 603 is the front monitoring camera,
Reference numeral 604 is an inter-vehicle distance measuring device. 14A shows a view of the road from above, FIG. 14B shows a view of the road from the side, and FIG. 14C shows an image taken by the front monitoring camera 603. θx is the horizontal shooting angle of view, θy
Is the vertical shooting angle of view, L is the inter-vehicle distance, W0 is the horizontal size of the shot image, H0 is the vertical size of the shot image,
W is the width of the vehicle ahead, H is the height of the vehicle ahead, X0do
t is the number of horizontal pixels of the captured image, Y0dot is the number of vertical pixels of the captured image, Xdot is the number of horizontal pixels of the vehicle ahead, Y
dot indicates the number of vertical pixels of the vehicle ahead. W and H are W = 2L · Xdot / X0do depending on the preset horizontal / vertical angle of view of the captured image, the number of pixels of the entire captured image and the vehicle in front, and the inter-vehicle distance measured by the distance measuring device.
t · tan (θx / 2) and H = 2L · Ydot
It is calculated by using / Y0dot · tan (θy / 2). Further, this method is applicable not only to a front vehicle but also to a rear vehicle and a side vehicle.

In addition, the collision safety based on the vehicle safety performance evaluation procedure of the own vehicle is set to the default, the basic potential curve is created. In the case of inferiority or when the user intentionally wants to open the inter-vehicle distance, it is possible to open the inter-vehicle distance by changing the potential curve 1 to the potential curve 2 as shown in FIG. It is better for human senses to display the warning display earlier.

In step 308, the previous data and the current data are compared to determine whether the HMI or vehicle control is required. When it is necessary to control the HMI or the vehicle, when the inter-vehicle distance automatic controllable area is changed to the inter-vehicle distance caution area, the inter-vehicle distance caution area is changed to the inter-vehicle distance warning area, or the inter-vehicle distance warning area is braked. This is the case when changing to the control area. If the HMI or vehicle control is required, the process proceeds to step 309, and if the HMI or vehicle control is not required, the process proceeds to step 313.

In step 309, the previous data and the current data are compared to determine whether the HMI control is necessary.
If the HMI control is required, the process proceeds to step 310, and if not, the process proceeds to step 311.

Details of step 310 are shown in FIG. In step 801, various information necessary for HMI control is stored in the memory 2
It is read from 02. In step 802, CPU2
The information read at 03 is analyzed to determine the HMI control method. In step 803, the control signal for executing the determined HMI control is the control signal output port 20.
It is output to various HMIs through 4. Depending on the output signal, various HMIs such as head-up display 1
At 08, a predetermined operation such as displaying a caution is performed. HM
As an example of the case where the control of I is necessary, when the inter-vehicle distance is shorter than the intersection A of the control level 1 and the potential curve 1 in FIG. This is a case where the inter-vehicle distance is shortened from the intersection B of the potential curve 1 and the alarm is to be presented.

In step 311, the previous data and the current data are compared to determine whether the vehicle needs to be controlled. If vehicle control is required, the process proceeds to step 312, and if not, the process proceeds to step 313.

Details of step 312 are shown in FIG. In step 901, various information necessary for vehicle control is stored in the memory 20.
2 is read. In step 902, the CPU 20
The information read in 3 is analyzed and the vehicle control method is determined. In step 903, a control signal for executing the determined vehicle control is output to various vehicle control devices through the control signal output port 204. Various vehicle control devices, for example, perform predetermined operations such as reducing the throttle opening to decelerate according to the output signal. As an example of the case where the vehicle needs to be controlled, as shown in FIG. 7, the inter-vehicle distance becomes shorter than the intersection A of the control level 1 and the potential curve 1 and the inter-vehicle distance should be widened, or the control level in the risk potential map. 3 and potential curve 1
This is a case where the inter-vehicle distance is shortened from the intersection C and the braking is applied. FIG. 10 shows a display example of the HMI.
FIG. 10 shows an example in which a warning is superimposed on the windshield on the head-up display as a front vehicle approaches, and a warning for a two-wheeled vehicle approaching from the rear / side is displayed. Information that supplements the alarm, for example, the distance to the vehicle ahead is also displayed on the head-up display 108. Also,
At the same time as the display, an alarm is generated by voice from the speaker 107.

In step 313, if the state of the ignition switch (I / G) is ON, the control is continued and the O
If it is FF, the control ends. In order to better match the driver's feeling, the ignition switch (I / I
The operation duration time measured when the state of G) is ON,
Depending on the driver's driving experience (number of accidents), health status, alertness, gaze direction, reaction time, eye position, fatigue level,
The basic potential curve or the control level may be changed.

In addition to the front and rear vehicles, FIG.
In multiple lanes such as 2, the side monitoring devices 106, 111
The distance information of the side vehicles 504 and 505 is obtained from the information from (1) to change the potential curve or the control level.

The side vehicle 504 or 5 is added to the own vehicle 501.
When there is 05, the basic potential curve A by the front vehicle 402 and the rear vehicle 403 (represented by a dotted line) and the basic potential curve by the side vehicle 504 or 505 are represented by B (represented by a dotted line) as shown in FIG. The basic potential curve C obtained by adding the basic potential curve A and the basic potential curve B becomes the basic potential curve of the host vehicle 401, and the degree of danger between the front vehicle 402 and the side vehicle 504 or between the side vehicle 504 and the rear vehicle 403. Will be lower.

The control of the host vehicle 501 will be described below with reference to FIG.

When the distance between the host vehicle 501 and the front vehicle 502 or the distance between the host vehicle 501 and the rear vehicle 503 is long, the control of the host vehicle 501 is as follows. Side vehicle 504
Alternatively, when 505 is accelerating, the vehicle is driven at a constant speed and overtaken by a side vehicle. Side vehicle 504 or 50
When 5 is a constant speed, the host vehicle 501 accelerates or decelerates within the speed limit and separates from the side vehicle 504 or 505. When the side vehicle 504 or 505 is decelerating, the host vehicle 501 overtakes the side vehicle at a constant speed.

When the distance between the host vehicle 501 and the front vehicle 502 is short and the distance between the host vehicle 501 and the rear vehicle 503 is long, the control of the host vehicle 501 is as follows. Side vehicle 504
Alternatively, if 505 is accelerating, the host vehicle 501 decelerates and has the side vehicle 504 or 505 overtake it. If the side vehicle 504 or 505 is at a constant speed,
The host vehicle 501 decelerates and the side vehicle is overtaken. If the side vehicle is decelerating, pass the side vehicle at a constant speed.

The control of the host vehicle 501 when the distance between the host vehicle 501 and the front vehicle 502 is large and the distance between the host vehicle 501 and the rear vehicle 503 is short is as follows. Side vehicle 504
Alternatively, if 505 is accelerating, the host vehicle 501 causes the side vehicle 504 or 505 to overtake it at a constant speed. If the side vehicle 504 or 505 is at a constant speed,
The host vehicle 501 accelerates within the speed limit to overtake or decelerate the side vehicle to have the side vehicle overtake. When the side vehicle 504 or 505 is decelerating, the host vehicle 501 overtakes the side vehicle at a constant speed.

The control of the host vehicle 501 when the distance between the host vehicle 501 and the front vehicle 502 and the distance between the host vehicle 501 and the rear vehicle 530 are short are as follows. Side vehicle 504
Alternatively, when 505 is accelerating, the vehicle is driven at a constant speed and overtaken by a side vehicle. Side vehicle 504 or 50
When 5 is a constant speed, the vehicle is decelerated and the side vehicle 504 or 505 is overtaken. Side vehicle 504 or 5
When 05 is decelerating, it overtakes the side vehicle at a constant speed.

As described above, by changing the control level and the potential curve in the danger level potential map in accordance with various kinds of information on the vehicle, the driver, and the environment, it is possible to realize the control of the HMI and the vehicle that match the human sense.

[Brief description of drawings]

FIG. 1 is a system configuration diagram of an automobile to which a driving support device of the present invention is applied.

FIG. 2 is a control block showing a signal flow of the driving support device of the invention.

FIG. 3 is a diagram showing a memory 202 of the control unit 110 of the present invention.

4A and 4B show a memory 202 of the present invention.
It is a figure which shows the data stored in.

FIG. 5 is a diagram showing a flowchart of control of the present invention.

6A is a diagram showing a basic risk potential of the present invention, and FIG. 6B is a diagram showing correction thereof.

FIG. 7 is a diagram showing correction of the basic risk potential of the present invention.

FIG. 8 is a diagram showing a flowchart when the driving assistance device of the present invention performs HMI control.

FIG. 9 is a diagram showing a flowchart when the driving support device of the present invention controls a vehicle.

FIG. 10 is a diagram showing a display device 108 of the driving assistance device of the present invention.

FIG. 11 is a diagram for explaining control during traveling of an automobile to which the driving assistance device of the present invention is applied.

FIG. 12 is a diagram for explaining control during traveling of an automobile to which the driving assistance device of the present invention is applied.

FIG. 13 is a diagram for explaining control of the own vehicle when there is a side vehicle of the driving assistance device of the present invention.

FIG. 14 is a principle diagram for measuring the size of a vehicle ahead of the driving support device of the present invention.

FIG. 15 is a diagram illustrating a basic risk potential when a side vehicle of the driving assistance device of the present invention is present.

[Explanation of symbols]

100 ... Own vehicle, 101 ... front radar, 102 ... outside temperature sensor, 111 ... Lateral monitoring device, 119 ... Rear-viewing radar, 200 ... control unit, 200 ... memory, 203 ... CPU, 205 ... Various information input means, 206 ... Various actuators, 209 ... Wiper switch.

─────────────────────────────────────────────────── ─── Continuation of front page (51) Int.Cl. ⁷ Identification code FI theme code (reference) B60R 21/00 B60R 21/00 626C 626E 627 627 628 628E 628F B60K 28/06 B60K 28/06 A Z G08G 1 / 16 G08G 1/16 CE (72) Inventor, Hiroshi Naganawa, 1-1, Showa-cho, Kariya city, Aichi stock company DENSO (72) Inventor, Shinsho Kawahara, 1-1, Showa-cho, Kariya city, Aichi stock association Company's DENSO F-term (reference) 3D037 FA01 FA05 FA14 FA16 FA17 FA24 FB02 FB10 5H180 AA01 BB04 BB05 CC04 CC12 CC14 FF05 FF25 FF27 FF32 LL04 LL07 LL08 LL09

Claims (10)

[Claims] 1. An inter-vehicle distance measuring means for measuring an inter-vehicle distance between a front vehicle and an own vehicle, and a basic risk degree indicating whether or not the own vehicle and the front vehicle physically collide from a signal from the inter-vehicle distance measuring means. A control unit that calculates a potential, a vehicle control device that controls an inter-vehicle distance based on the basic risk potential, a vehicle safety data storage memory in which vehicle safety data based on a collision test result of the vehicle is stored, A driving capacity data storage memory that stores driving capacity data that reflects individual differences among drivers, an environment information memory that detects and stores information about the environment around the host vehicle, the evaluation data storage memory and the driving capacity data storage described above. A driving support device comprising a memory and a correction means for changing the basic risk potential based on information from the environment information memory. 2. The driving support device according to claim 1, wherein the own vehicle safety data is data obtained based on a vehicle safety performance evaluation procedure. 3. The driving support device according to claim 1, wherein the driving ability data is data acquired based on a vehicle insurance premium class. 4. The driving support device according to claim 1, wherein the environmental information is information determined by a wiper switch of an own vehicle and an outside air temperature sensor. 5. A driving assistance device, wherein the own vehicle safety data based on the result of the own vehicle collision test according to claim 1 is stored in advance in a own vehicle safety data storage memory. 6. An inter-vehicle distance measuring means for measuring an inter-vehicle distance between a front vehicle and an own vehicle, a rear vehicle inter-vehicle distance measuring means for measuring an inter-vehicle distance between a rear vehicle and an own vehicle, and a signal from the inter-vehicle distance measuring means. A control unit for calculating a basic risk potential indicating whether or not the own vehicle and the front vehicle or the own vehicle and the rear vehicle physically collide based on the signal from the rear vehicle distance measuring means; The vehicle safety data storage memory that stores the vehicle safety data based on the collision test results, the driving ability data storage memory that stores the driving ability data that reflects the individual differences of the driver, and the environment around the vehicle Based on the information from the detected and stored environment information memory, the evaluation data storage memory, the driving ability data storage memory, and the environment information memory, the basic risk level A driving support device comprising a correction means for changing the potential. 7. The driving assistance device according to claim 6, wherein the basic danger potential is such that the intermediate point between the front vehicle and the rear vehicle is minimum and the point of the front vehicle or the rear vehicle is infinite. 8. A driving assistance device, characterized in that, based on the basic risk potential according to claim 6, the host vehicle is controlled at a point where the basic risk potential is minimized. 9. The driving assistance device according to claim 6, wherein the basic risk potential is changed according to the size of a vehicle ahead. 10. An inter-vehicle distance measuring means for measuring an inter-vehicle distance between a front vehicle and an own vehicle, a rear vehicle inter-vehicle distance measuring means for measuring an inter-vehicle distance between a rear vehicle and an own vehicle, and a distance between a side vehicle and an own vehicle. The own vehicle and the front vehicle or the own vehicle and the rear vehicle physically collide on the basis of the side vehicle distance measuring means for measuring, the signal from the inter-vehicle distance measuring means and the signal from the rear vehicle-to-vehicle distance measuring means. A control unit for calculating a basic risk potential indicating whether or not to perform, and the control unit has a correction unit for changing the basic risk potential based on a signal from the lateral vehicle distance measuring unit, Vehicle safety data storage memory that stores vehicle safety data based on the collision test results and driving ability data storage memory that stores driving ability data that reflects individual differences among drivers. Memory, an environment information memory that stores information about the environment around the vehicle, and a correction that changes the basic risk potential based on the information from the evaluation data storage memory, driving ability data storage memory, and environment information memory. And a driving support device.