JP2005115484A - Driving support device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To predict deviation from normal cruising of peripheral vehicles in advance, and prevent the occurrence of any accident. <P>SOLUTION: A driving support device acquires the information of the peripheral vehicles by a camera 11, a radar 12, and a communication processing section 13; predicts deviation from normal cruising of the peripheral vehicles by a dangerous vehicles prediction section 21; identifies an accident which occurs by the deviation from normal cruising by an accident content identifying section 22; and decides an evasion measure by an evasion measure decision section 23, and also assists presentation of a warning and the evasion measure by using a monitor 33 and a loudspeaker 34, and execution of the evasion measure by controlling an engine control unit 41, a brake control unit 42 and a transmission control unit 43. <P>COPYRIGHT: (C)2005,JPO&NCIPI

Description

  The present invention relates to a driving support device that supports driving by providing information to a driver and assisting / intervening in driving operation, and in particular, predicts a deviation from normal driving of surrounding vehicles in advance. The present invention relates to a driving support device that prevents the occurrence of the problem.

  In recent years, a technology has been devised to prevent vehicle accidents and reduce accident damage by acquiring various information related to vehicle travel, providing notifications to drivers, assisting driving, and intervening in driving. Yes.

  For example, Patent Document 1 determines the risk level of each vehicle with respect to the host vehicle using information such as the inter-vehicle distance from the preceding vehicle, the relative speed, and the speed of the host vehicle, and changes the display form according to the value of the risk level. A display device for a vehicle is disclosed.

  Further, Patent Document 2 transmits information received from a preceding vehicle and information of the host vehicle to a succeeding vehicle, and drives warning means and driving means based on the presence / absence of a suddenly applied vehicle, road surface condition, and inter-vehicle distance. A traveling control device is disclosed.

JP 11-339192 A JP-A-5-266399

  As described above, in the conventional technology, the danger is determined based on the current state of the vehicle, and warning or operation control is performed. In other words, the conventional technology takes measures after the vehicle is in a dangerous state.

  However, the state of the vehicle is constantly changing, and the driver usually predicts the occurrence of a danger (accident) from the surrounding state and operates to prevent the accident. For example, if the vehicle ahead fluctuates or suddenly accelerates or decelerates, that is, if the vehicle ahead is suspicious, the driver is likely to deviate from normal driving conditions and cause an accident. In preparation for the occurrence of an accident, it is determined that the distance between the vehicles is longer than that of a normal vehicle or the lane is changed.

  Therefore, after the driver has overlooked the sign of danger and the vehicle has become dangerous, the conventional technology can cope with it, but it shows the driver a sign of danger and makes the vehicle dangerous. It could not be prevented beforehand.

  In addition, the information used by the driver for predicting danger was limited to the information that the driver could obtain by his / her own vision. However, before the information on the surrounding vehicles was further acquired, It is desirable to recognize abnormalities and predict danger.

  Furthermore, if there is a failure in the headlights or blinkers of surrounding vehicles, there is a possibility of oversight by the driver, but there is a conventional risk judgment based on the positional relationship between the host vehicle and other vehicles. The technology is judged as “no danger”, and the conventional technology cannot perform warning or operation control.

  That is, the realization of a driving assistance device that acquires information on vehicles around the host vehicle, predicts deviations from normal driving of the surrounding vehicles in advance, and prevents accidents from occurring is an important issue.

  The present invention has been made in order to solve the above-described problems in the prior art, and provides a driving support apparatus that predicts deviation from normal running of surrounding vehicles in advance and prevents an accident from occurring. With the goal.

  In order to solve the above-described problems and achieve the object, a driving support apparatus according to the invention of claim 1 includes a surrounding vehicle information acquisition unit that acquires information on surrounding vehicles existing around the host vehicle, and the surrounding vehicle information. Based on the prediction means for predicting a deviation from the normal running of the surrounding vehicle, and notification // for performing the operation control of the own vehicle based on the prediction result by the prediction means. And an operation control means.

  According to the first aspect of the present invention, information on surrounding vehicles existing around the host vehicle is acquired, deviation from normal driving of the surrounding vehicle is predicted from the acquired information, and the vehicle Notification to the driver and / or operation control of the host vehicle is performed.

  According to a second aspect of the present invention, there is provided the driving support apparatus according to the first aspect of the invention, wherein the vehicle information acquisition means includes engine operation information, brake operation information, mission operation information, lighting system operation information, and tire information of surrounding vehicles. It is characterized in that at least one of air pressure, load status, vehicle status, operation status, vehicle speed, inter-vehicle distance, and surrounding road surface status is acquired as the peripheral vehicle information.

  According to the invention of claim 2, engine operation information, brake operation information, mission operation information, lighting system operation information, tire air pressure, load status, vehicle status, and the like of surrounding vehicles existing around the host vehicle, Acquire operation status, vehicle speed, inter-vehicle distance from the host vehicle, surrounding road surface conditions, etc., and predict deviations from normal driving of the surrounding vehicle from the acquired information. Notification and / or operation control of the host vehicle is performed.

  According to a third aspect of the present invention, in the driving support apparatus according to the first or second aspect of the present invention, the surrounding vehicle information acquisition means includes an inter-vehicle communication means for acquiring the surrounding vehicle information through communication with the surrounding vehicle. It is characterized by having.

  According to the third aspect of the present invention, information is acquired by communication with the surrounding vehicle, the deviation from the normal driving of the surrounding vehicle is predicted from the acquired information, and notification to the driver of the host vehicle is made based on the prediction result. And / or control the operation of the host vehicle.

  According to a fourth aspect of the present invention, in the driving support device according to the first, second, or third aspect of the invention, the surrounding vehicle information acquisition means includes a photographing means for photographing the surrounding vehicle, and a periphery photographed by the photographing means. Image processing means for creating the surrounding vehicle information by image processing on the vehicle image.

  According to the invention of claim 4, the state of the surrounding vehicle is acquired from the image obtained by photographing the surrounding vehicle, the deviation from the normal running of the surrounding vehicle is predicted, and the notification to the driver of the own vehicle is made based on the prediction result. And / or control the operation of the host vehicle.

  According to a fifth aspect of the present invention, in the driving support apparatus according to the first to fourth aspects of the present invention, the surrounding vehicle information acquisition means includes a radar means for acquiring the position and behavior of the surrounding vehicle. To do.

  According to the fifth aspect of the present invention, the position and behavior of the surrounding vehicle are acquired by the radar, the deviation from the normal running of the surrounding vehicle is predicted from the acquired information, and the driver of the own vehicle is determined based on the prediction result. Notification and / or operation control of the host vehicle is performed.

  According to a sixth aspect of the present invention, in the driving support apparatus according to the first to fifth aspects of the present invention, the predicting means includes a sudden acceleration / deceleration, a collision, a wobble, or a lane departure of the surrounding vehicle based on the surrounding vehicle information. It is characterized by predicting.

  According to the sixth aspect of the present invention, information on surrounding vehicles existing around the host vehicle is acquired, sudden acceleration / deceleration, collision, stagger, lane departure of the surrounding vehicle is predicted from the acquired information, and the prediction result is also obtained. In addition, notification to the driver of the host vehicle and / or operation control of the host vehicle is performed.

  The driving support apparatus according to a seventh aspect of the present invention is the driving support device according to any of the first to sixth aspects, wherein the notification / operation control means is configured to detect the surrounding area when there is a surrounding vehicle that may deviate from normal driving. It is characterized by comprising display means for displaying the vehicle so that it can be distinguished from other surrounding vehicles.

  According to the invention of claim 7, a vehicle that acquires information on surrounding vehicles existing in the vicinity of the host vehicle, predicts a deviation from normal driving of the surrounding vehicle from the acquired information, and predicts a deviation from normal driving Is displayed separately from other vehicles.

  The driving support apparatus according to an eighth aspect of the present invention is the driving support device according to any one of the first to seventh aspects of the present invention, wherein when the prediction means predicts a deviation from normal running in a surrounding vehicle, there is a risk that the deviation occurs in the host vehicle. It further includes an avoidance measure determining means for specifying the contents and determining an avoidance measure for the specified danger.

  According to the eighth aspect of the present invention, information on surrounding vehicles existing around the host vehicle is acquired, and deviations from the normal running of the surrounding vehicles are predicted from the acquired information. Identify the nature of the hazard that arises and determine how to avoid the identified hazard.

  According to a ninth aspect of the present invention, in the driving support apparatus according to the eighth aspect of the present invention, the notification / operation control means displays the avoidance measure on the display means.

  According to the ninth aspect of the present invention, information on surrounding vehicles existing around the host vehicle is acquired, and deviations from the normal running of the surrounding vehicles are predicted from the acquired information. Identify the content of the hazard that arises and determine and display a workaround for the identified hazard.

  According to a tenth aspect of the present invention, in the driving support apparatus according to the eighth or ninth aspect, the notification / operation control means performs operation control for assisting execution of the avoidance measure.

  According to the invention of claim 10, information on surrounding vehicles existing around the own vehicle is obtained, deviation from the normal running of the surrounding vehicle is predicted from the obtained information, and the deviation from the normal running is detected in the own vehicle. The content of the danger to be generated is specified, the avoidance method for the specified danger is determined, and operation control is performed to assist the execution of the determined avoidance measure.

  A driving support apparatus according to an invention of claim 11 is characterized in that, in the inventions of claims 7 to 10, the display means is shared with a navigation system for displaying a planned route of the host vehicle.

  According to the eleventh aspect of the present invention, information on surrounding vehicles existing in the vicinity of the host vehicle is acquired, deviations from normal driving of the surrounding vehicles are predicted from the acquired information, and prediction results and avoidance measures are displayed on the navigation system. Display on the monitor.

  According to a twelfth aspect of the present invention, the driving support apparatus according to the first to eleventh aspects of the present invention further includes own vehicle information transmitting means for transmitting information on the own vehicle to surrounding vehicles.

  According to the twelfth aspect of the present invention, information on surrounding vehicles existing around the host vehicle is acquired, deviations from normal driving of the surrounding vehicles are predicted from the acquired information, and based on the prediction results, While notifying the driver and / or controlling the operation of the host vehicle, information on the host vehicle is notified to surrounding vehicles.

  According to a thirteenth aspect of the present invention, there is provided a driving support device comprising: a lamp information acquiring means for acquiring, as lamp information, whether there is an abnormality in a lighting system of a surrounding vehicle existing around the own vehicle; and an abnormality occurs in the lighting system. And an output means for outputting information about the vehicle being operated.

  According to the thirteenth aspect of the present invention, the presence or absence of abnormality in the lighting system of surrounding vehicles existing around the host vehicle is acquired as the lighting information, and information on the vehicle in which the abnormality has occurred in the lighting system is output.

  According to a fourteenth aspect of the present invention, in the driving support apparatus according to the thirteenth aspect of the present invention, the lamp information acquisition unit further acquires position information and / or route information of the surrounding vehicle, and the output unit includes the lamp. It is characterized by outputting position information and / or route information of a vehicle in which an abnormality has occurred in the system.

  According to the fourteenth aspect of the present invention, the presence or absence of abnormality in the lighting system of surrounding vehicles existing around the host vehicle is obtained as lighting information, and the position information and route information of the vehicle in which the abnormality occurs in the lighting system are obtained. Furthermore, it acquires and outputs the position information and route information of the vehicle in which the abnormality has occurred.

  According to the first aspect of the present invention, information on surrounding vehicles existing around the host vehicle is acquired, deviation from normal driving of the surrounding vehicle is predicted from the acquired information, and driving of the host vehicle is performed based on the prediction result. Since the notification to the person and / or the operation control of the own vehicle is performed, it is possible to obtain a driving support device that predicts deviation from the normal driving of the surrounding vehicle in advance and prevents the occurrence of an accident in advance.

  According to the second aspect of the present invention, engine operation information, brake operation information, mission operation information, lighting system operation information, tire air pressure, load condition, vehicle condition of surrounding vehicles existing around the host vehicle The operation status, vehicle speed, inter-vehicle distance from the host vehicle, surrounding road surface conditions, etc. are acquired, and deviations from the normal driving of the surrounding vehicle are predicted from the acquired information. Therefore, it is possible to obtain a driving support device that accurately predicts in advance a deviation from normal driving of surrounding vehicles and prevents an accident from occurring.

  According to the invention of claim 3, information is acquired by communication with the surrounding vehicle, the deviation from the normal running of the surrounding vehicle is predicted from the acquired information, and the driver of the own vehicle is predicted based on the prediction result. Since the notification and / or the operation control of the own vehicle is performed, it is possible to obtain a driving support device that can accurately predict in advance the deviation from the normal running of surrounding vehicles and prevent the occurrence of an accident.

  According to the invention of claim 4, the state of the surrounding vehicle is obtained from an image obtained by photographing the surrounding vehicle, the deviation from the normal driving of the surrounding vehicle is predicted, and the driver of the own vehicle is based on the prediction result. Since the notification and / or operation control of the host vehicle is performed, there is an effect that it is possible to obtain a driving support device that predicts deviation from normal driving in advance and prevents occurrence of an accident without depending on surrounding vehicles.

  According to the invention of claim 5, the position and behavior of the surrounding vehicle are acquired by the radar, the deviation from the normal running of the surrounding vehicle is predicted from the acquired information, and the driver of the own vehicle is based on the prediction result. As a result, a driving support device that can prevent the occurrence of an accident by predicting deviation from normal driving in advance without depending on surrounding vehicles can be obtained. .

  According to the invention of claim 6, information on surrounding vehicles existing around the host vehicle is acquired, sudden acceleration / deceleration, collision, wobbling, lane departure of surrounding vehicles are predicted from the acquired information, and a prediction result is obtained. Since the notification to the driver of the own vehicle and / or the operation control of the own vehicle is performed based on the above, it is possible to obtain a driving support device that predicts in detail the deviation of the surrounding vehicle from normal running and prevents the occurrence of an accident in advance. There is an effect.

  According to the invention of claim 7, information on surrounding vehicles existing around the host vehicle is acquired, a deviation from normal driving of the surrounding vehicle is predicted from the acquired information, and a deviation from normal driving is predicted. Since the vehicle is displayed separately from other vehicles, it is possible to obtain a driving assistance device that predicts deviation from normal driving of surrounding vehicles in advance and notifies the driver of the prediction result, thereby preventing the occurrence of an accident. There is an effect that is.

  According to the eighth aspect of the present invention, information on surrounding vehicles existing around the host vehicle is obtained, deviation from the normal running of the surrounding vehicle is predicted from the obtained information, and the own vehicle is detected by the deviation from the normal running. The risk content that occurs in the vehicle is identified and measures to avoid the identified hazard are determined, so driving that reliably prevents the occurrence of an accident by predicting deviations from normal driving of surrounding vehicles in advance and determining the workaround There is an effect that a support device can be obtained.

  According to the ninth aspect of the present invention, information on surrounding vehicles existing around the own vehicle is obtained, deviation from the normal running of the surrounding vehicle is predicted from the obtained information, and the own vehicle is detected by deviation from the normal running. Since the contents of the hazards that occur are identified, and the measures to avoid the identified hazards are determined and displayed, deviations from the normal driving of the surrounding vehicles are predicted in advance, and an accident occurs by notifying the driver of the measures. There is an effect that a driving support device can be obtained to prevent the above.

  According to the invention of claim 10, information on surrounding vehicles existing around the own vehicle is acquired, deviation from the normal running of the surrounding vehicle is predicted from the obtained information, and the own vehicle is detected by the deviation from the normal running. Therefore, it is necessary to predict the deviation of the surrounding vehicle from normal driving in advance, and to determine the avoidance measures for the identified hazards and to assist the execution of the determined avoidance measures. By assisting the execution of the workaround by the above, there is an effect that it is possible to obtain a driving support device that prevents an accident from occurring.

  According to the eleventh aspect of the present invention, information on surrounding vehicles existing in the vicinity of the host vehicle is acquired, deviation from the normal driving of the surrounding vehicle is predicted from the acquired information, and the prediction result and the avoidance measure are displayed in the navigation system. Therefore, there is an effect that it is possible to obtain a small driving support device that prevents an accident from occurring.

  According to the twelfth aspect of the present invention, information on surrounding vehicles existing around the own vehicle is acquired, deviation from the normal running of the surrounding vehicle is predicted from the acquired information, and the own vehicle is based on the prediction result. In addition to notifying the driver of the vehicle and / or controlling the operation of the own vehicle and notifying the surrounding vehicle of information on the own vehicle, it is possible to predict the deviation of the surrounding vehicle from normal running in advance and to prevent an accident from occurring. In addition, the driving support device that contributes to the prevention of accidents in surrounding vehicles can be obtained by providing information on the host vehicle.

  According to the invention of claim 13, the presence or absence of an abnormality in the lighting system of surrounding vehicles existing around the own vehicle is acquired as lighting information, and information on the vehicle in which the abnormality is occurring in the lighting system is output. Therefore, there is an effect that it is possible to obtain a driving support device that prevents an oversight of surrounding vehicles and thereby prevents an accident from occurring.

  According to the fourteenth aspect of the present invention, the presence or absence of abnormality in the lighting system of surrounding vehicles existing around the host vehicle is acquired as lighting information, and the position information and route information of the vehicle in which the abnormality occurs in the lighting system Since the location information and route information of the vehicle in which an abnormality has occurred are output, the lighting system of the surrounding vehicle can be replaced with the own vehicle to prevent oversight of the surrounding vehicle, thereby preventing an accident from occurring. There is an effect that a driving support device can be obtained.

  Exemplary embodiments of a driving support apparatus according to the present invention will be described below in detail with reference to the accompanying drawings.

FIG. 1 is a schematic configuration diagram showing a schematic configuration of a driving support apparatus according to an embodiment of the present invention. As shown in the figure, the driving support device 1 includes a camera 11, a radar 12, a communication processing unit 13, an image processing unit 14, a main control unit 20, a navigation system 31, a GPS (Global Positioning System) receiver 32, A monitor 33, a speaker 34, an engine control unit 41, a brake control unit 42, a mission control unit 43, a lighting control unit 44, and a vehicle body control unit 45 are provided.

  The camera 11 captures the state of the vehicle around the host vehicle and transmits it to the image processing unit 14. The image processing unit 14 performs image processing on the image captured by the camera 11 to detect the relative distance between the surrounding vehicle and the host vehicle and the behavior of the surrounding vehicle, and transmits them to the main control unit 20.

  The radar 12 measures the relative distance between the surrounding vehicle and the host vehicle and the behavior of the surrounding vehicle and transmits the measured distance to the main control unit 20.

  The communication processing unit 13 communicates with surrounding vehicles, communication devices installed on the road shoulders, communication centers, and the like, and transmits the received information to the main control unit 20.

  The main control unit 20 includes a dangerous vehicle prediction unit 21, an accident content identification unit 22, an avoidance measure determination unit 23, and an operation information output unit 24 therein. The dangerous vehicle prediction unit 21 predicts a departure from normal travel in vehicles around the host vehicle based on various information received from the radar 12, the communication processing unit 13, and the image processing unit 14. When the dangerous vehicle prediction unit 21 predicts a deviation from normal running in the surrounding vehicle, the accident content identification unit 22 identifies the content of the danger (accident) that occurs in the host vehicle due to the deviation. Further, the avoidance measure determination unit 23 determines an avoidance measure for avoiding the danger (accident) specified by the accident content specifying unit 22.

  Furthermore, the avoidance measure determination unit 23 controls the navigation system 31, the engine control unit 41, the brake control unit 42, the mission control unit 43, and the like based on the determined avoidance measure.

  Specifically, the avoidance measure determination unit 23 transmits the contents to the navigation system 31 in order to convey the determined avoidance measure to the driver of the host vehicle, and via the monitor 33 and the speaker 34 connected to the navigation system 31. To inform the driver.

  In addition, the avoidance measure determination unit 23 controls the operation corresponding to the avoidance measure. For example, if there is a dangerous vehicle (a vehicle that is predicted to deviate from normal driving) ahead of the host vehicle, the deceleration is performed quickly when the driver performs a deceleration operation by reducing the play of the brake. Prepare as you can.

  On the other hand, the operation information output unit 24 acquires the operation information of the engine control unit 41, the brake control unit 42, the mission control unit 43, the lighting control unit 44, the vehicle body control unit 45, etc., and externally via the communication processing unit 13. Process to send. Further, the operation information output unit 24 acquires the position information and the planned route of the host vehicle from the navigation system 31 and transmits them to the outside. That is, the operation information output unit 24 has a function of supplying information on the host vehicle as an information source for other vehicles to make a prediction of danger.

  The navigation system 31 is connected to the GPS receiver 32, the monitor 33, and the speaker 34, and manages the planned route of the host vehicle. Here, the GPS receiver 32 has a function of calculating the position of the host vehicle through communication with a GPS artificial satellite. The navigation system 31 creates a planned route of the host vehicle based on the current position of the host vehicle calculated by the GPS receiver 32, map data (not shown), and input from the user, and displays the planned route on the monitor 33 and a speaker. Route guidance is performed by the sound output from 34.

  Furthermore, the navigation system 31 presents (proposes) an avoidance measure to the driver by displaying the avoidance measure received from the avoidance measure determining unit 23 on the monitor 33. Therefore, the driver can check the monitor 33 to recognize the presence of a dangerous vehicle around the host vehicle, and can select an avoidance action based on the avoidance measure proposed by the driving support device 1. Needless to say, the speaker 34 may be used when a workaround is proposed. The navigation normally displays the route, but switches to the screen shown in FIG. 3 and the like when a dangerous vehicle is detected. As for the display of the other vehicle, the position information and the size information of the vehicle are detected by communication from the other vehicle and displayed based on this. The own vehicle and the other vehicle therapy can transmit these pieces of information to each other through inter-vehicle communication.

  In addition, the navigation system 31 supplies the operation information output unit 24 with the current position of the host vehicle and the planned route of the host vehicle calculated by the GPS receiver.

  The engine control unit 41 is a control unit that controls the operation of the engine in accordance with a driver's operation. Further, the engine control unit 41 performs processing for notifying the operation information output unit 24 when an abnormality occurs in the engine of the host vehicle. Further, the engine control unit 41 receives operation control from the avoidance measure determination unit 23. Specifically, when acceleration assistance is instructed from the avoidance measure determination unit 23, preparation is made so that acceleration can be executed quickly when the driver performs an acceleration operation by reducing the play of the throttle. .

  Similarly, the brake control unit 42 is a control unit that controls the operation of the brake according to the operation of the driver. In addition, the brake control unit 42 performs processing for notifying the operation information output unit 24 when an abnormality occurs in the brake of the host vehicle. Furthermore, the brake control unit 42 receives operation control from the avoidance measure determination unit 23. Specifically, when a deceleration assist is instructed from the avoidance measure determination unit 23, preparation is made so that acceleration can be executed quickly when the driver performs acceleration operation by reducing brake play. .

  The mission control unit 43 is a control unit that controls the operation of the mission according to the operation of the driver. Further, the mission control unit 43 performs a process of notifying the operation information output unit 24 when an abnormality occurs in the mission of the host vehicle. Further, the mission control unit 43 receives operation control from the avoidance measure determination unit 23. Specifically, when a mission assistance is instructed from the avoidance measure determination unit 23, an operation of assisting the mission switching is performed.

  The lighting control unit 44 is a control unit that controls lighting systems such as a vehicle headlamp (headlight), a turn indicator (blinker), a brake lamp, and a hazard lamp. In addition, the lighting system control unit 44 performs a process of notifying the operation information output unit 24 when an abnormality occurs in the lighting system of the host vehicle.

  The steering control unit 46 switches the traveling direction according to the turning angle of the steering wheel. When instructed to assist the steering, the steering control unit 46 eliminates play or increases the sensitivity (gear ratio) of switching the traveling direction with respect to the turning angle.

  Similarly, the vehicle body control unit 45 is a control unit that controls the opening / closing and locking of the doors and trunks of the vehicle body, and notifies the operation information output unit 24 when an abnormality occurs in the vehicle body of the host vehicle. Here, the abnormality of the vehicle body includes a state in which the trunk is open despite traveling, and a state in which the door is not normal (half door). In addition, the vehicle body control unit 45 obtains the state of the suspension, calculates the loaded weight of the host vehicle, and notifies the operation information output unit 24.

  In this way, the driving assistance device 1 transmits various information of the own vehicle to the other vehicle and receives the information of the other vehicle, predicts a deviation from normal driving in the surrounding vehicles, and a risk caused in the own vehicle due to the deviation. Identify and determine workarounds.

  Next, various determinations (prediction of surrounding vehicles deviating from normal driving, identification of danger, determination of avoidance measures) in the driving support device 1 will be described in detail with reference to FIG. As shown in the figure, the factors deviating from normal running can be broadly classified into “vehicle abnormality” and “other than vehicle abnormality”. Factors categorized as “Vehicle Abnormality” include “Engine Trouble”, “Brake Trouble”, “Mission Trouble”, “Lighting Trouble”, “Tire Trouble (Air Pressure Abnormality, etc.)”, “Fixed Cargo” Examples include “unstable”, “overloading”, and “body abnormality”. Further, factors classified as “other than vehicle abnormality” include “operation abnormality”, “running state”, and “road surface state”.

  These factors all cause deviations from normal driving, but the information acquirers who acquire this factor as information are different. For example, since it is difficult to know an engine system trouble by observation from the outside, it is necessary to acquire information by the vehicle itself (the vehicle) and notify the surrounding vehicles. Similarly, it is difficult to know brake problems, mission problems, tire problems, overloading, etc. by external observation, so the vehicle itself can provide information, for example, a diagnosis function (self-diagnosis function). It is necessary to obtain and notify surrounding vehicles. When notifying, the diagnostic data, vehicle position information, and vehicle size information are transmitted using inter-vehicle communication or the like.

  On the other hand, whether or not the load is sufficiently fixed can be known by observation from an external vehicle, and it is difficult to know on the side of the vehicle that is insufficiently fixed. Therefore, it is necessary to acquire information on whether or not the cargo is sufficiently fixed by using image recognition, radar, or the like on the surrounding vehicle, that is, the observation vehicle side.

  Further, the lighting system trouble, the vehicle body abnormality, the operation abnormality, the traveling state, and the road surface state can be acquired on the vehicle side or the observation vehicle side. Here, “body abnormality” indicates a state where the trunk of the vehicle is open, a half door state, or the like. Further, “operation abnormality” indicates operations such as sudden acceleration, sudden deceleration, sudden steering, excessive speed, and the history thereof. In addition, it is not necessary that each operation itself may cause an accident. That is, it is determined that a vehicle that performs sudden braking may perform sudden braking even in future operations and may cause an accident.

  Further, the “traveling state” indicates a mutual relationship between vehicles such as a distance between vehicles. Here, even when each of the inter-vehicle distance and the vehicle speed is within the allowable range, the case where it is determined to be dangerous if the inter-vehicle distance and the vehicle speed are comprehensively determined is included. The “road surface state” indicates a road surface state that may cause a vehicle accident such as freezing of the road surface or the presence or absence of an obstacle.

  When an “engine trouble” occurs in a vehicle, “speed reduction” is predicted as a phenomenon (deviation from normal running) that occurs in the vehicle. Furthermore, an “accident from a following vehicle” can be considered as an accident that occurs due to this “speed reduction”. Therefore, as a workaround when there is a vehicle in which an “engine problem” has occurred in front of the host vehicle, “open the inter-vehicle distance”, “change lane”, or “pass over” can be considered.

  Next, when a “brake trouble” or “mission trouble” occurs in a vehicle, “an increase in braking distance” is predicted as a phenomenon (deviation from normal running) that occurs in the vehicle. Furthermore, as an accident that occurs from this “increase in braking distance”, “a rear-end collision with a preceding vehicle” and “a collision with a subsequent vehicle due to a ball hit after a rear-end collision” can be considered. In other words, if there is a vehicle with “brake system trouble” or “mission system trouble” behind the host vehicle, there is a risk of rear-end collision from the vehicle, and “brake system trouble” or “mission mission” is in front of the host vehicle. When there is a vehicle having a “system trouble”, there is a risk that the vehicle will further collide with a vehicle ahead and the vehicle will be involved in a subsequent crushing accident. Therefore, as a workaround when there are vehicles having “brake system troubles” and “mission system problems” before and after the host vehicle, “clear distance” and “change lane” are effective.

  Next, when a “lighting system trouble” occurs in a vehicle, “oversight from surrounding vehicles” is predicted as a phenomenon that occurs in the vehicle. Furthermore, “accidents from the following vehicle” and “collision with the oncoming vehicle” can be considered as accidents resulting from this “oversight from surrounding vehicles”. That is, the failure of the brake lamp or the blinker makes it impossible for the following vehicle to predict the operation of the vehicle, makes it impossible to recognize the deceleration of the vehicle, or makes it impossible to grasp the relative distance, and may cause a rear-end collision. Moreover, it may be overlooked from the oncoming vehicle due to the failure of the headlight, and a frontal collision with the oncoming vehicle may occur. Therefore, as a workaround when there is a vehicle having a “lighting system trouble” in front of the host vehicle, “open the inter-vehicle distance” and “lighting information substitution process” are effective. In addition, “lighting information substitution processing” is effective as a workaround when there is a vehicle having a “lighting system trouble” behind the host vehicle.

  This “lighting information substitution process” is a method for acquiring position information and a planned route of a vehicle having trouble in the lighting system and notifying the driver of the vehicle through a speaker or a monitor. The process which substitutes the alerting | reporting function to the periphery which a brake lamp and a blinker implement | achieve is shown.

  Next, when a “tire trouble” occurs in a vehicle, “burst”, “rapid deceleration”, and “lane departure” are predicted as phenomena that occur in the vehicle. Furthermore, accidents resulting from these “bursts”, “rapid deceleration”, and “lane departure” are “rear-end collisions from the following vehicles”. “Collision with side vehicle” is considered. Therefore, as a workaround when there is a vehicle with “tire trouble” in front of the host vehicle, “clear distance”, “change lane”, and “pass over” are effective. Further, “positional adjustment” is effective as a workaround when there is a vehicle having “tire trouble” in the measurement of the host vehicle.

  This “adjustment of the positional relationship” means that the host vehicle is moved to a position where a collision can be avoided even when the side vehicle deviates from the oblique line.

  Next, in the case of “unstable load fixing”, a “falling load” is predicted as a phenomenon occurring in the vehicle. Furthermore, “accidents from the rear and measurement” can be considered as accidents resulting from this “falling load”. Therefore, as a workaround when there is a vehicle that is “unstable in loading” in front of the host vehicle or in the vicinity of the lane in the vicinity, “clear distance”, “change lane”, or “overtake” Is effective.

  When the vehicle is “overloaded”, “an increase in braking distance” is predicted as a phenomenon that occurs in the vehicle. Furthermore, as an accident that occurs from this “increase in braking distance”, “a rear-end collision with a preceding vehicle” and “a collision with a subsequent vehicle due to a ball hit after a rear-end collision” can be considered. That is, if there is an “overloaded” vehicle behind the host vehicle, there is a danger of a rear-end collision from the vehicle, and if there is an “overloaded” vehicle in front of the host vehicle, the vehicle further moves forward. There is a risk that the vehicle will collide with the vehicle and the vehicle will be involved in a subsequent collision. Therefore, as a workaround when there are “overloaded” vehicles before and after the host vehicle, “clear distance” and “change lane” are effective.

  Next, when the vehicle is “body abnormal”, that is, when the vehicle is running with the trunk open or half door, the phenomenon that occurs in the vehicle is “load drop” or “door opening” Is predicted. Furthermore, “accidents at the rear and measurement” can be considered as accidents resulting from this “falling of luggage” and “opening of doors”. Therefore, as a workaround when there is a “body abnormality” vehicle in front of the vehicle or in front of a nearby lane, “clear distance”, “change lane”, or “pass” are effective. It is.

  Next, if the vehicle is “operation abnormal”, that is, if an operation such as sudden acceleration, sudden deceleration, sudden steering, excessive speed, etc. is being performed, the vehicle may perform similar sudden braking again. is expected. Furthermore, it is considered that there is a risk of “a rear-end collision from a following vehicle”, “a rear-end collision to a preceding vehicle”, and “a collision with a side vehicle” due to this sudden braking. Therefore, as a workaround when there are “body abnormality” vehicles before and after the host vehicle, “clear distance” and “change lane” are effective. Further, “positional adjustment” is effective as a workaround when there is a “body abnormality” vehicle in the measurement of the host vehicle.

  Next, when the “running state” of the vehicle is abnormal, that is, when the interrelationship between the vehicles such as the inter-vehicle distance and the vehicle speed is not appropriate, the vehicle may cause an accident with other surrounding vehicles. it is conceivable that. Thus, when there is an abnormality in the running state around the host vehicle, it is effective to adjust the positional relationship of the host vehicle so that the host vehicle is not involved in an accident.

  Next, when the “road surface condition” is abnormal, that is, when the road surface is frozen or there are obstacles, “increase braking distance”, “slip”, “sudden stop” depending on the content of the abnormality Occurrence is predicted. Furthermore, as an accident that occurs from the “increase in braking distance”, “slip”, and “sudden stop”, “a rear-end collision with a preceding vehicle” and “a collision with a subsequent vehicle” can be considered. Therefore, as a workaround when there is an abnormality in the “road surface condition”, “open the inter-vehicle distance”, “decelerate”, or “change the lane” depending on the content of the abnormality, that is, the content of the possible accident. It becomes effective.

  After determining the avoidance measure in this way, the avoidance measure determination unit 23 performs notification to the driver (presentation of the avoidance measure) via the navigation system 31 and control of the operation corresponding to the avoidance measure. Specifically, when increasing the distance between vehicles or when decelerating, the brake control unit 42 is instructed to decelerate and the mission control unit 43 is instructed to assist the mission, and the response speed of deceleration and mission switching To improve.

  Further, when changing lanes or overtaking, the engine control unit 41 is instructed to perform acceleration assist and the mission control unit 43 is instructed to perform mission assist, thereby improving the response speed of acceleration or mission switching. Similarly, when adjusting the positional relationship, an acceleration assist, a deceleration assist, and a mission assist are instructed as necessary. In addition to these assist processes, an assist instruction may be given to the steering control unit 46 to further assist the steering operation.

  Next, notification of dangerous vehicles (vehicles predicted to deviate from normal travel) by the navigation system 31 will be further described. FIG. 3 is an explanatory diagram for explaining a specific example of notification by the navigation system 31. As shown in the figure, the navigation system 31 displays a display screen 50 on the monitor 33. On the display screen 50, vehicles C1 and C3 in front of the same lane as the host vehicle C0, vehicles C6 in the rear of the same lane, vehicles C2 and C4 in front of the adjacent lane, vehicles C7 in the rear of the adjacent lane, and vehicles C5 for measuring the own vehicle C0. Is displayed. Further, the display form may be changed depending on the content of the vehicle abnormality (for example, the content of the vehicle abnormality may be changed in color or expressed in characters).

  Here, when the vehicle C1 is a dangerous vehicle, the vehicle C1 is displayed on the display screen 50 differently from the vehicles C2 to C7 to notify the driver of the presence of the dangerous vehicle. Specifically, the color and size of the display may be changed, or notification may be made by blinking or a marker.

  In addition, if the factors and occurrences that are expected to occur in dangerous vehicles, accidents that are expected to occur, and avoidance measures are also displayed, the driver is notified of the presence of dangerous vehicles and the avoidance measures are presented. be able to.

  In addition, the own vehicle C0 and the vehicles C1 to C7 do not necessarily need to be displayed in accordance with the actual positional relationship of the vehicle, such as four units located in front of the own vehicle and two units located behind the own vehicle. A predetermined number of vehicles may be schematically displayed.

  By displaying dangerous vehicles around the vehicle in this way, the driver is notified of abnormal behavior in vehicles that are difficult to see from the driver, and behavior abnormalities that cannot be observed from the outside. Accidents can be prevented from occurring.

  For example, in FIG. 3, the vehicle C3 exists between the own vehicle C0 and the vehicle C1 that is a dangerous vehicle, and the vehicle C1 cannot be visually observed by the driver of the own vehicle C0. However, it is possible to predict whether or not the vehicle C1 deviates from normal running based on information acquired through inter-vehicle communication or the like.

  Next, the “running state” that causes an accident will be described. FIG. 4 is an explanatory diagram for explaining a specific example of a traveling state that causes an accident. In FIG. 4, the vehicles C11 and C12 are traveling in front of the host vehicle C0, and the vehicle C13 is traveling behind the host vehicle C0.

  Here, even if no vehicle abnormality has occurred in the vehicle C11 and the vehicle C12, if the inter-vehicle distance D1 between the vehicle C11 and the vehicle C12 is short, the positional relationship of the vehicle itself does not deviate from normal travel. It becomes a factor and causes a rear-end collision. Therefore, the inter-vehicle distance D1 is acquired by inter-vehicle communication or the like, and when the inter-vehicle distance D1 is too short, the inter-vehicle distance D0 between the own vehicle C0 and the vehicle C11 is increased to ensure the safety of the own vehicle.

  In addition, when ensuring the safety of the own vehicle C0 by increasing the inter-vehicle distance D0, it is necessary to adjust so that the inter-vehicle distance with the vehicle C13 behind the own vehicle C0 does not become too short. At this time, when the inter-vehicle distance with the rear vehicle C13 is not sufficient, it is desirable to present lane change or the like as a workaround.

  Next, a case where a lane change is presented as a workaround will be described. When a dangerous vehicle exists in front of the host vehicle C0, a lane change may be presented as a workaround as shown in FIG. At this time, the lane change is not necessarily performed uniformly, and it is desirable to change the route taken by the own vehicle at the time of the lane change according to the contents of a phenomenon that may occur.

  For example, when the phenomenon that may occur is a phenomenon that does not affect the adjacent lane, it is desirable to select the route R0 shown in FIG. 5 and display it on the navigation screen. However, when a phenomenon that may occur affects the adjacent lane, the route R1 shown in FIG. 5 is selected, and it can be avoided even when the behavior of the vehicle C21 affects the adjacent lane. desirable. When displaying the avoidance direction, the “vacant area” for driving is extracted from the other vehicle position information, size information and road data obtained by inter-vehicle communication, and an arrow is drawn on this area. The

  Specifically, the case where there is no influence on the adjacent lane is a case of “engine trouble”, “brake trouble”, “mission trouble”, “overload”, and the like. On the other hand, the case where the adjacent lane is affected is a case of “tire trouble”, “unstable load fixing”, “body abnormality”, “operation abnormality”, “traveling state”, “road surface state”, or the like.

  The route selected based on the factor may be displayed on the monitor 33 and presented to the driver. As described above, when the avoidance measure is “lane change”, an optimum lane change route is obtained for each factor and presented to the driver, so that the occurrence of an accident can be more effectively prevented. Even in the case of overtaking the preceding vehicle (vehicle C21), an appropriate route can be selected for each factor, as in the case of lane change.

  Next, a further explanation will be given of a workaround when trouble occurs in the lighting system. In FIG. 6, the vehicle C31 is traveling in the opposite lane of the host vehicle C0, and the vehicle C31 is scheduled to turn right along the route R10. If the lighting system of the vehicle C31 is normal, the driver of the host vehicle C0 can recognize the presence of the vehicle C31 by the headlight of the vehicle C31 and can grasp the positional relationship with the host vehicle C0. Furthermore, it can be recognized that the vehicle C31 is scheduled to turn right by the lighting state of the blinker of the vehicle C31.

  However, when there is an abnormality in the lighting system of the vehicle C31 and the headlights and blinkers are turned off, there is a risk that the driver of the host vehicle C0 overlooks the vehicle C31 or delays discovery. Further, there is a risk that the host vehicle C0 and the vehicle C31 collide with each other by misrecognizing the positional relationship or misrecognizing that the vehicle C31 travels straight.

  Therefore, when there is an abnormality in the lighting system of the vehicle C31, the vehicle C31 transmits position information and route information by the navigation system to surrounding vehicles when an abnormality in the lighting system is detected. The host vehicle C0 acquires position information and a planned route from the vehicle C31, and notifies the driver of the host vehicle C0 of the presence of the vehicle C31, its position, and the planned route through the monitor 33 and the speaker 34. That is, the monitor 33 and the speaker 34 of the host vehicle C0 substitute for the lighting system function of the vehicle C31.

  The information transmitted from the vehicle C0 is not limited to position information and route information, and operation states such as an accelerator, a brake, and a direction indicator may be used.

  In this way, by replacing the lighting system of the vehicle with other functions, even if there are vehicles in the vicinity that have trouble with the lighting system, the oversight by the driver of the own vehicle is prevented and an accident occurs. Can be more effectively prevented.

  Next, the processing operation of the driving support device 1 will be further described. FIG. 7 is a flowchart for explaining the processing operation of the driving support device 1. This processing operation is repeatedly executed during driving of the host vehicle. First, the driving assistance apparatus 1 acquires operation information from surrounding vehicles by the communication processing unit 13 (step S101). Next, the state of the surrounding vehicle is acquired by the camera 11 and the radar 12 (step S102).

  Thereafter, the dangerous vehicle prediction unit 21 predicts the dangerous vehicle (step S103). As a result of the prediction, when a dangerous vehicle is present in the vicinity (Yes in step S104), the contents of the accident that can be generated by the accident content specifying unit 22 are specified (step S105). Further, the avoidance measure determination unit 23 determines an avoidance measure (step S106), executes a warning and avoidance measure presenting process via the navigation system 31, and performs the engine control unit 41, the brake control unit 42, and the mission control unit 43. Operation control processing is executed (step S107).

  After step S107 ends or when there is no dangerous vehicle in step S104 (step S104, No), the driving support device 1 ends the process.

  As described above, in the driving support apparatus 1 shown in the present embodiment, when information on surrounding vehicles is acquired to predict whether or not to deviate from normal driving, and when deviation from normal driving is predicted, Since it identifies phenomena and accidents that can occur and determines a workaround, accidents can be prevented from occurring.

  In addition, the method of acquiring information on surrounding vehicles is not limited to inter-vehicle communication, an in-vehicle camera, and an in-vehicle radar, and any method can be used. For example, information may be acquired from a server that manages vehicle information, or may be received from an information collection device such as a camera or radar provided near the road. Moreover, you may further utilize the information which the other vehicle acquired. Further, either display or assist may be used.

  As described above, the driving assistance device according to the present invention is useful for ensuring safety during vehicle traveling, and is particularly suitable for driving assistance that prevents an accident from occurring.

1 is a schematic configuration diagram showing a schematic configuration of a driving support apparatus according to an embodiment of the present invention. It is explanatory drawing explaining the various judgments in the driving assistance device shown in FIG. It is explanatory drawing explaining the specific example of alerting | reporting by the navigation system shown in FIG. It is explanatory drawing explaining the specific example of the driving | running | working state used as the factor of an accident. It is explanatory drawing explaining the lane change path | route which changes for every factor. It is explanatory drawing explaining the avoidance measure with respect to a trouble in a lighting system. It is a flowchart explaining the processing operation of the driving assistance apparatus shown in FIG.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Driving assistance apparatus 11 Camera 12 Radar 13 Communication processing part 14 Image processing part 20 Main control part 21 Dangerous vehicle prediction part 22 Accident content specific part 23 Avoidance measure determination part 24 Operation information output part 31 Navigation system 32 GPS receiver 33 Monitor 34 Speaker 41 Engine control unit 42 Brake control unit 43 Mission control unit 44 Light control unit 45 Car body control unit 46 Steering control unit 50 Display screen C0 Own vehicle C1 to C7, C11 to C13, C21, C31 Vehicle D0, D1 Inter-vehicle distance R0, R1, R10 route

Claims (14)

Surrounding vehicle information acquisition means for acquiring information of surrounding vehicles existing around the own vehicle;
Predicting means for predicting deviation from normal driving of the surrounding vehicle based on the surrounding vehicle information;
Based on the prediction result by the prediction means, notification / operation control means for performing notification to the driver of the host vehicle and / or operation control of the host vehicle;
A driving support apparatus comprising:   The vehicle information acquisition means includes engine operation information, brake operation information, mission operation information, lighting system operation information, tire air pressure, load status, vehicle body status, operation status, vehicle speed, and own vehicle of surrounding vehicles. The driving support device according to claim 1, wherein at least one of the inter-vehicle distance and the surrounding road surface condition is acquired as the surrounding vehicle information.   The driving support device according to claim 1, wherein the surrounding vehicle information acquisition unit includes an inter-vehicle communication unit that acquires the surrounding vehicle information through communication with the surrounding vehicle.   The surrounding vehicle information acquisition unit includes: an imaging unit that captures the surrounding vehicle; and an image processing unit that creates the surrounding vehicle information by performing image processing on the surrounding vehicle image captured by the imaging unit. The driving support device according to claim 1, 2, or 3.   The driving assistance apparatus according to any one of claims 1 to 4, wherein the surrounding vehicle information acquisition unit includes a radar unit that acquires a position and a behavior of the surrounding vehicle.   The driving support according to any one of claims 1 to 5, wherein the predicting unit predicts sudden acceleration / deceleration, collision, wobbling, and lane departure of the surrounding vehicle based on the surrounding vehicle information. apparatus.   The notification / operation control means includes a display means for displaying the surrounding vehicle so as to be distinguishable from other surrounding vehicles when there is a surrounding vehicle that may deviate from the normal running. The driving assistance device according to any one of claims 1 to 6.   When the predicting means predicts a deviation from normal driving in a surrounding vehicle, it further includes an avoidance measure determining means for specifying the content of the danger caused to the own vehicle due to the deviation and determining the avoidance measure for the specified risk. The driving support device according to any one of claims 1 to 7, wherein   9. The driving support apparatus according to claim 8, wherein the notification / motion control means displays the avoidance measure on the display means.   The driving support apparatus according to claim 8 or 9, wherein the notification / motion control means performs motion control that assists execution of the avoidance measure.   The driving support device according to any one of claims 7 to 10, wherein the display means is shared with a navigation system that displays a planned route of the host vehicle.   The driving support device according to any one of claims 1 to 11, further comprising own vehicle information transmitting means for transmitting information of the own vehicle to surrounding vehicles. Lighting information acquisition means for acquiring the presence or absence of abnormality in the lighting system of surrounding vehicles existing around the host vehicle as lighting information;
Output means for outputting information about a vehicle in which an abnormality has occurred in the lighting system;
A driving support apparatus comprising:   The lighting information acquisition means further acquires position information and / or route information of the surrounding vehicles, and the output means outputs position information and / or route information of a vehicle in which an abnormality occurs in the lighting system. The driving support apparatus according to claim 13.

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