JP2007133486A - Driving support system - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To present information for notifying a deceleration start time point and guiding a driver's driving behavior for deceleration. <P>SOLUTION: According to history information on a driver's driving behavior pattern, an optimum braking operation start point and an optimum vehicle speed at a pre-curve fixed decelerated speed point are set for travel through a curve on a course (Step S1 to S10). When the vehicle reaches a point corresponding to the optimum braking operation start point, a buzzer is sounded to notify a braking operation start, and the buzzer sound is lowered with reducing vehicle speed, so that the driver can recognize by the buzzer sound volume a speed difference from the optimum vehicle speed, which is a deceleration target. The current position of the vehicle is also displayed between the point corresponding to the optimum braking operation start point and a point corresponding to a group-standard pre-curve fixed decelerated speed point, so that the driver can recognize by the display a remaining distance to the point corresponding to the group-standard pre-curve fixed decelerated speed point (Step S11, S12). <P>COPYRIGHT: (C)2007,JPO&INPIT

Description

  In the present invention, when driving on a curved road such as a curve, a right turn, a left turn road, etc., information is presented in advance according to the driving state of the vehicle, and the driver is driven to decelerate, thereby driving on a curved road. A driving support device that stabilizes vehicle behavior when driving

Conventionally, when traveling on a curve, a notification system has been proposed in which notification is made to prompt deceleration at a point before the curve start point so that the vehicle can sufficiently decelerate by the curve start point (for example, Patent Documents). 1).
JP 2004-151803 A

However, the conventional method has the following problems.
That is, in the notification system, since the notification that prompts the deceleration is simply performed at a point before the start point of the curve, the driver can perform the deceleration action at what timing in various curve situations. I can't recognize what to do. For this reason, if only the deceleration notification instructing deceleration is performed when driving on a curve, it will be an informal notification system for people with a high driving skill level, and for those with a low driving skill level, driving depending on the notification system If the alarm system does not work properly, you may feel discomfort, dissatisfaction, and anxiety about driving.
Therefore, the present invention has been made paying attention to the above-mentioned conventional unsolved problems, not only informing the deceleration, but also guiding the driving behavior of the driver to perform the driving behavior suitable for the driving situation, An object of the present invention is to provide a driving support device that allows a driver to easily and accurately perform a driving operation.

  In order to achieve the above object, the driving support device according to the present invention collects the actual driving operation situation when the driving driver passes the curved road by the driving data collecting means, and holds this as history information. deep. Then, when the curved path detecting means detects that there is a curved path on the course of the host vehicle, the path on the course in accordance with the actual driving operation status of the driver based on the history information held by the driving data collecting means. The target value of the driver's driving operation for stable driving on the curved road is set by the target value setting means, and the driver's actual driving operation matches the target value of the driving operation. Guidance information for guiding the driving operation is presented to the driver by the information presenting means.

  According to the driving support apparatus of the present invention, when there is a curved road on the course of the host vehicle, the driver is provided with guidance information for guiding the driving operation of the driver. However, the driving operation is performed based on the guidance information so as to coincide with the target value of the driving operation for stably driving the curved road on the course in accordance with the driving operation situation when the driver has traveled the curved road in the past. Since guidance is provided, it is possible to present information for guiding the host vehicle to stable driving at a timing according to the driving characteristics of the driver, and what kind of driving operation should be performed on the driver. It can be recognized, and driving assistance can be performed effectively.

Embodiments of the present invention will be described below.
FIG. 1 is a configuration diagram of a driving support apparatus 100 according to the present invention.
This driving support device 100 includes a vehicle alignment detecting means for detecting the current position of the own vehicle such as GPS, road map information, and road curve information for determining which curve group the target road belongs to. Based on the current position of the own vehicle detected by the own vehicle position detection means such as GPS, a template holding circuit is extracted, and the surrounding map information is extracted, and the current position of the own vehicle and the surrounding road map information are output. When the navigation apparatus 1, the vehicle speed sensor 2 for detecting the traveling speed of the host vehicle, and the deceleration operation detecting means 3 for detecting whether or not the deceleration operation has been performed are provided, the current position of the host vehicle from the navigation apparatus 1 and its surroundings Based on the road map information and the detection information from the vehicle speed sensor 2 and the deceleration operation detecting means 3, when there is a curved road on the course of the host vehicle, before entering the curved road, A controller 10 for generating appropriate value guidance information for causing the driver to perform a driving action for decelerating by a minute amount, and an information presentation device 5 for providing the driver with appropriate value guidance information generated by the controller 10 are provided. .
This information presentation device 5 provides appropriate value guidance information by visual stimulation by a display device for displaying information, auditory stimulation by buzzer sound or voice, tactile stimulation by pedal or steering reaction force and vibration, for example. Notice.

FIG. 2 is a block diagram illustrating a functional configuration of the driving support device 100.
As shown in FIG. 2, the driving support device 100 corresponds to the navigation device 1 and outputs road map information around the host vehicle. The road alignment detection unit 11 outputs the road map information of the host vehicle detected by the road alignment detection unit 11. Based on the curve, the curve traveling prediction means 12 for predicting whether there is a curve that needs to be decelerated on the course of the host vehicle, or a curved road such as a right turn or a left turn, driving by the driver when traveling on the curved road Tracks having substantially the same behavior pattern are defined as the same course group, and the course classification unit 13 that holds group information indicating the characteristics of the driving behavior pattern of each course group, and the course of the host vehicle in the course traveling prediction unit 12 When it is predicted that there is a curved road that needs to be decelerated, it is determined based on the group information of the curved line classification unit 13 to which curved road group the curved road on the course is classified. Upper curve Curve driving action feature point extracting means 14 for extracting group information representing characteristics of the driving action pattern of the group information of the road group to which it belongs. Actually, the driving action pattern of the driver when moving from straight driving to curve driving Of the road group to which the road on the course belongs, extracted by the driving history storage unit 15 that collects characteristic information representing the characteristics of the road, and stores this information for each road group, and the road driving action feature point extraction means 14 Based on the information and the driving history collected by the driving history storage unit 15, the curved driving behavior appropriate value estimation unit 16 that estimates an appropriate value of the driving behavior that the driver should take when traveling on the curved road on the course, and The driving behavior of the driver is guided based on the appropriate value of the curved driving behavior estimated by the curved driving behavior appropriate value estimation unit 16 so that the actual driving behavior of the driver becomes the appropriate value of the driving behavior. To do It generates appropriate value derived information and a proper value derived information generating means 17 for outputting it to the information presentation device 5.

FIG. 3 is a flowchart illustrating an example of a processing procedure of an information presentation process for notifying the driver of appropriate value guidance information by the information presentation device 5 executed by the controller 10. The controller 10 executes this calculation process every predetermined time.
First, the controller 10 determines whether or not the driver is in a situation where the driver can perform the driving action in the normal driving action pattern. That is, as described later, since the information presentation of the appropriate value guidance information is performed based on the driver's normal driving behavior pattern, for example, when there is a preceding vehicle ahead of the host vehicle, the driving When the driver is in a situation where the driver cannot clearly perform the driving behavior according to the normal driving behavior pattern, it is not possible to present effective information to the driver. Exit.

  On the other hand, when the driver can perform the driving action in the normal driving action pattern, the process proceeds from step S1 to step S2, and the current position of the own vehicle from the navigation device 1 and the road map around the current position. Based on the information, it is determined whether the road on which the host vehicle is currently traveling is substantially straight. If the road on which the host vehicle is currently traveling is not a substantially straight line, the host vehicle is already in a curve, right turn, or left turn, and the process is terminated as it is not necessary to decelerate.

  On the other hand, when the road on which the host vehicle is currently traveling is a substantially straight line, the process proceeds to step S3, and then a curve or a road on the course of the host vehicle, that is, on the front of the host vehicle or on the planned driving route. It is determined whether there is a turn such as a right turn or a left turn, and whether or not the turn passes within a certain time (for example, within 10 seconds). Then, if it is not predicted that the vehicle will travel on a curved road within a certain time, it is determined that there is no need to decelerate and the process is terminated. On the other hand, when it is predicted that the vehicle will travel on a curved road within a predetermined time, the process proceeds to step S4, and it is determined whether or not it is necessary to decelerate as the vehicle enters the curved road.

  This determination is made based on, for example, the vehicle speed from the vehicle speed sensor 2 and the stable traveling vehicle speed capable of realizing stable traveling when traveling on the curved road. For example, when the vehicle speed is higher than the stable traveling vehicle speed, the vehicle is decelerated. Is deemed necessary. The curved road traveling vehicle speed may be set in advance in association with the curved road in the road map information of the navigation device 1, for example, and may be acquired together with the road map information. The stable traveling vehicle speed may be calculated on the basis of the curve specifications such as the turning radius of the vehicle.

Then, when it is determined in step S4 that it is not necessary to decelerate when entering the curved road, the process ends as it is, and when it is determined that deceleration is necessary, the process proceeds to step S5. In other words, it is predicted that the driver is traveling straight ahead (step S2) in a state in which the driver can drive with a normal driving behavior pattern (step S1) and passes the curved road within a predetermined time (step S3). ) When it is determined that the vehicle needs to be decelerated when passing through the curved path (step S4), the process proceeds to step S5.
In this step S5, groups that are preset and stored in a predetermined storage area and that represent the characteristics of each of the road groups when the driving behavior patterns of the driver are substantially the same are used as the same road group. Based on the information, it is determined to which course group the course on the course is classified.

  Here, the driving behavior pattern will be described. Normally, when driving on a curved road, the driver starts a brake operation at a specific point before the curved road, and the vehicle speed is constant at a specific point before starting the steering operation when entering the curved road after deceleration. Since there is a tendency to perform driving operations so as to be in a state, this series of driving operations is used as a driving action pattern. Then, the brake operation start point for starting the brake operation before the curve and the point where the vehicle speed becomes constant after deceleration are set as the constant speed before the curve after deceleration, and the curves are compared for these two points. At this time, the curved roads that are substantially the same are classified as the curved roads of the same group. And the standard value of the positional information of the said brake operation start point and the post-deceleration curve front speed fixed point of the curve which belongs to each curve group is made into the said group information.

Therefore, in order to specify the path group to which the curved path on the path belongs, first, position information of the brake operation start point and the speed before the decelerating curve is obtained on the curved path on the path. The position information of the brake operation start point and the fixed speed before the decelerating curve is set in advance in accordance with the shape of the curve, for example, and the road map information of the navigation device 1 is displayed on the curve. When the road map information around the host vehicle is acquired from the navigation device 1, the road map information may be included and acquired. Further, the information may be stored in the road map information by classifying in advance into the road group and associating the information indicating the road group with the road.
Then, with reference to the group information stored in the predetermined storage area, the position information at the point where the brake operation is started on the course and the speed before the decelerating curve is fixed and the group information is equivalent to the group information. A road group is selected, and this is set as a curved road group to which a curved road on the course belongs.

Here, although the description has been given of the case where the curve group is classified based on the curve information including the position information of the brake operation start point and the post-deceleration curve-previous speed constant point, the present invention is not limited to this. Since the positions of the brake operation start point and the constant speed before the curve after the deceleration are determined by the turning radius R, the lane width, etc., as shown in FIG. 4, depending on the turning radius R, the lane width, etc. You may make it classify into a curve group, and also consider factors that are expected to affect the position of the brake operation start point and the constant speed before the curve after deceleration, such as the presence of traffic lights and the presence of intersections. Then, it may be classified. In this case, as the road map information of the navigation device 1, the turning radius R of the curved road, the lane width, and the curved road information including the presence / absence of traffic lights and intersections are set in association with the curved road. Good.
In this way, when the curved path pattern to which the curved path on the route belongs is specified, the process proceeds to step S6, where the brake operation start point set as the group information of the curved pattern to which the curved path on the path belongs and The standard value at a constant speed before the curve after deceleration is extracted as a group standard value.

  Next, the process proceeds to step S7, collected by the operation data collection process described later, and stored in a predetermined storage area for each track group. From the history information representing the characteristics of the driving behavior pattern, the history information of the track group to which the track on the route belongs is extracted. Specifically, the history information includes the position information of the brake operation start point that is the point where the brake operation is actually started, and the time when the host vehicle actually arrives at a constant speed before the decelerating curve before-mentioned later. It is vehicle speed information. It is assumed that the history information of the driving driver is collected as the history information.

  Then, among the extracted history information of the track group to which the curved track on the route belongs, for the brake operation start point, the deviation amount from the group standard value of the brake operation start point is calculated, and the frequency distribution of the deviation amount Is calculated. In other words, with respect to the group standard value set as a general brake operation start point, how much is the brake operation start point when the actual driving operation is performed, and how does the deviation vary? Is calculated.

On the other hand, the frequency distribution of the vehicle speed is calculated for the vehicle speed at the fixed speed before the curved road.
Next, the process proceeds to step S8, and an average value and a mode value are calculated for each of the deviation amount frequency distribution and the vehicle speed actual value frequency distribution calculated in step S7.
Next, the process proceeds to step S9, and the driving skill level of the driver is determined from the degree of variation in the frequency distribution of the deviation amount and the frequency distribution of the actual value of the vehicle speed.

  Here, the frequency distribution of the amount of deviation at the brake operation start point and the frequency distribution of the vehicle speed at the constant speed before the curve after the deceleration generally have less variation as the trainee becomes more skilled. After that, the driving action pattern drops to a certain speed at a certain point. For this reason, as shown in FIG. 5A, the frequency distribution of the deviation amount at the brake operation start point is a distribution with high kurtosis centering on the point where the deviation amount becomes zero. On the other hand, as the skill level decreases, the kurtosis decreases as shown in FIG. Further, at the beginner level, it becomes a driving behavior with no target at the brake operation start point at all, and as shown in FIG. 5 (c), it has a distribution with almost no peak like a uniform distribution. .

The frequency distribution of the vehicle speed at a constant speed before the curved road after deceleration is the same, and the variation in the vehicle speed becomes smaller as the person becomes more skilled. Variations in vehicle speed will increase.
Therefore, average values X0 and V0 are calculated for the frequency distribution of the deviation amount at the brake operation start point and the frequency distribution of the vehicle speed at the constant speed before the curved road after deceleration, respectively. Then, as shown in FIG. 6, a ratio representing how much distribution value is within a specified range set in advance with respect to the average value X0, for example, a range of ± X1, is calculated. Similarly, with regard to the frequency distribution of the vehicle speed at a constant speed before the curved road after deceleration, how much the distribution value is within a predetermined range, for example, ± V1, set in advance with the average value V0 as a reference. Calculate the ratio to represent.

When the ratio of the distribution values existing within the specified range based on the average values X0 and V0 is 90% or more, the driver is determined to be an expert. Similarly, the driver determines that the driver is a beginner when the ratio of the distribution values existing within the specified range based on the average values X0 and V0 is 50% or less, and otherwise, Determine that you are an intermediate.
Here, the case where the driving skill level is determined based on both the frequency distribution of the deviation amount at the brake operation start point and the frequency distribution of the vehicle speed at the constant speed before the curve after the deceleration has been described. Instead, the driving skill level is determined in the same procedure based on only one of the frequency distribution of the deviation amount at the brake operation start point and the frequency distribution of the vehicle speed at the constant speed before the curve after the deceleration. May be.

  Then, if the driver's driving skill level is determined in this way, the process proceeds to step S10, and an appropriate value of the driving action pattern when decelerating when traveling on a curved road, specifically, a brake Based on the driving skill level determined in step S9, an appropriate value of the brake operation start point at which the operation is started and an appropriate value of the vehicle speed at the constant speed before the curve after the deceleration are set.

  For example, when the driving skill level is determined to be a beginner, the average value of the deviation amount in the frequency distribution of the deviation amount at the brake operation start point is used, and the average value of the deviation amount and the group standard value at the brake operation start point are Is determined as the appropriate value for the brake operation start point, and the average value of the vehicle speed in the frequency distribution of the vehicle speed at the constant speed before the curve after deceleration is the vehicle speed at the constant speed before the curve after deceleration. Set as an appropriate value. When the driving skill level is determined to be intermediate or skilled, the mode value of each frequency distribution is used, and an appropriate value is set based on the mode value.

  In this case, the frequency distribution of the deviation amount at the brake operation start point, the average value or the mode value of the vehicle speed frequency distribution at the constant speed before the curved road after deceleration is used for setting each appropriate value. However, the present invention is not limited to this. For example, the driving skill level of the driver is set according to the driving characteristics of the driver estimated from historical information such as the degree of vehicle wobbling (lateral displacement) and the smoothness of steering and pedal changes. Any value can be set as long as it is in accordance with the above.

  In addition, here, the driving skill level is classified into two, a person with a high driving skill level and a person with no driving skill level, and an appropriate value for a person with a high driving skill level and an appropriate value for a person with no driving skill level are set. Although the case has been described, the present invention is not limited to this, and an appropriate value may be set for each of the driving skill levels classified into three stages. The driving skill level is not limited to three stages, It is possible to classify into further stages and set appropriate values for each level.

Here, as shown in FIG. 6, the method for setting an appropriate value when there is one peak value has been described. For example, when there are two peak values, an appropriate value is set by the following procedure. do it.
For example, a person who does not have a high driving skill level or a person who has a wave of driving attitude may have a distribution with two peaks. In other words, when you have two driving behavior patterns, such as when you enter a curved road without sufficiently slowing down before the curved road and when you travel slowly on the curved road after slowing down sufficiently before the curved road, A value closer to the skilled peak value, which is a peak value common to the skilled drivers, is selected and set as an appropriate value. The skill peak value may be determined based on the skill peak value of the track group to which the track on the course belongs in advance, by setting the skill peak value for each track group in advance. In this way, by setting the value closer to the skilled peak value, which is the peak value common to many skilled drivers, to an appropriate value, for example, as described above, the vehicle enters the curved road without sufficiently decelerating before the curved road. It is possible to avoid setting an appropriate value on the basis of a driving history that is not a preferable driving behavior pattern, such as a bad habit of the driver such as, or when driving behavior is impatient.

  In this way, if an appropriate value is set, the process proceeds to step S11, and based on the current position information of the host vehicle from the navigation device 1, the host vehicle determines the brake operation start point from the curved road. It is determined whether or not the point just before the appropriate value has been reached. Then, when the vehicle reaches the point just before the brake operation start point, the process proceeds to step S12, and the driving behavior of the driver is set so that the actual driving behavior of the driver becomes the appropriate value of the estimated driving behavior pattern. The appropriate value guidance information for guiding is generated and output to the information presentation device 5. Then, the process ends.

  The appropriate value guidance information is between vehicle speed change status presentation information for allowing the driver to recognize a decrease in the vehicle speed caused by the brake operation, and between the appropriate value of the brake operation start point and the constant speed before the curve after the deceleration. It is composed of the current position of the host vehicle and position change state presentation information for recognizing the distance from the current position to the fixed speed before the curved road before the deceleration. The fixed point before the decelerating curve is set according to the group standard value of the position information of the fixed point before the decelerating curve specified by the group information of the curve group to which the curve on the course belongs. .

  That is, as shown in FIG. 7, as the vehicle speed change state presentation information, when the host vehicle reaches a point corresponding to an appropriate value of the brake operation start point, the vehicle speed change state presentation information is presented so as to start the brake operation. As the vehicle speed decreases, the presentation form changes according to the degree of change, and the driver's feeling is insensitive to the driver when the vehicle speed becomes the appropriate value of the vehicle speed at a constant speed before the curved road after deceleration. Generate information to be a band. Further, as the position change status presentation information, information is generated in which the position of the host vehicle changes between the appropriate value of the brake operation start point and the fixed speed before the decelerating curve in accordance with the actual position change.

The information presentation device 5 includes vehicle speed change status presentation means for providing vehicle speed change status presentation information, and position change status presentation means for presenting position change status presentation information.
For example, the information presenting device 5 applies a sound generating means for generating a buzzer sound as the vehicle speed change status presentation means, provides information by auditory stimulation, and uses the HUD (head-up display) as the position change status presentation means. ) To provide information by visual display.

  In this case, the vehicle speed change status presentation information is buzzer sound adjustment information for changing the buzzer sound, and generates a buzzer sound when the host vehicle reaches an appropriate value at the brake operation start point. Starting from the vehicle speed of the host vehicle at a point corresponding to the appropriate value of the starting point, the buzzer sound is reduced according to the decrease in the vehicle speed, and the degree of decrease in the buzzer sound is changed according to the deceleration rate. Buzzer sound adjustment information is generated so that the buzzer sound disappears when the calculated vehicle speed matches the appropriate value at a fixed speed before the curve.

In other words, the buzzer sound disappears when the vehicle speed matches the appropriate value of the vehicle speed at a constant speed before the curved road after deceleration, and by reducing the buzzer sound according to the decrease in the vehicle speed, By recognizing from the volume of the buzzer sound the degree of difference between the appropriate value of the vehicle speed at the fixed speed before the curved road after deceleration and the current vehicle speed, and performing the brake operation according to the speed difference The brake operation is guided until the vehicle speed reaches the appropriate value.
Here, the degree of deceleration is notified by changing the volume of the buzzer sound, but the degree of deceleration can also be notified by changing the frequency of the buzzer sound, for example.

  Further, as the position change status presentation information, when the host vehicle reaches the brake operation start point, as shown in FIG. The point of the group standard value, the end of the arrow opposite the arrow is the brake operation start point, the length of the arrow, the point corresponding to the appropriate value of the brake operation start point, the appropriate value of the brake operation start point An arrow indicating a distance between a corresponding point and a point corresponding to the standard value of the constant speed point, which is a point corresponding to the group standard value of the constant speed point before the curved road after deceleration, is displayed. Furthermore, at the position of the refracting portion in the entire arrow, it represents an intermediate point between a point corresponding to the appropriate value of the brake operation start point and a point corresponding to the standard value of the constant speed point, and the brake operation start point As the travel distance of the host vehicle from the point corresponding to the appropriate value increases, the display color of the arrow is changed from the end side opposite to the arrow corresponding to the point corresponding to the appropriate value of the brake operation start point. And the display color is changed so that the display color of the entire arrow changes when the host vehicle reaches a point equivalent to the standard point of the constant speed point, and further, according to the increasing degree of the moving distance. Information that changes the amount of change in the display color is generated as one change status presentation information.

In other words, the position change status presentation information allows the driver to recognize how far the vehicle is located from the display color change status to a point equivalent to the standard point of the constant speed point. ing.
Therefore, the driver refers to both the deceleration change situation presentation information and the position change situation presentation information, so that the speed difference between the appropriate value of the vehicle speed at the constant speed before the curved road before the deceleration and the current vehicle speed of the host vehicle is obtained. And it is possible to recognize how much distance remains until the host vehicle reaches a point corresponding to the standard value of the constant speed point, so that the host vehicle becomes a point corresponding to the standard value of the constant speed point. Before reaching the vehicle speed, it is possible to recognize how much braking operation should be performed to decelerate the current vehicle speed to the appropriate value.

FIG. 9 is a flowchart illustrating an example of a processing procedure of an operation data collection process for collecting the history information. This operation data collection process is executed at a cycle set in advance by the controller 10.
First, in step S21, it is determined whether or not an appropriate value for the brake operation start point is set for the curved road on the course by the information presentation process of FIG. For this determination, for example, when an appropriate value of the brake operation start point is set by the information presentation process, the appropriate value of the brake operation start point is stored in a predetermined storage area, and this storage area is referred to. Judgment by

  Then, when the appropriate value for the brake operation start point is not set, the process is terminated as it is, but when it is set, the process proceeds to step S22. In this step S22, it is determined whether or not the host vehicle has arrived in the vicinity of a point corresponding to an appropriate value of the brake operation start point set by the information presentation process. Specifically, a point before the point corresponding to the appropriate value of the brake operation start point is set as the data collection target point by an error equivalent value corresponding to the variation in the brake operation start timing of the driver, and the own vehicle Based on the current position information, it is determined whether the host vehicle has reached the data collection target point.

  When it is determined that the host vehicle has reached the data collection target point and has reached the vicinity of the appropriate value of the brake operation start point, the process proceeds to step S23, and then based on the detection information of the deceleration operation detection means 3 To determine whether a deceleration operation has been performed. For example, a brake sensor is applied as the deceleration operation detecting means 3, and a threshold that can be regarded as a brake pedal depression amount sufficient for performing deceleration as the vehicle enters the curved road. When it exceeds, it may be determined that the deceleration operation has been performed. In addition, for example, the vehicle speed reduction rate is detected, and it is determined that the deceleration operation has been performed when the deceleration rate exceeds a threshold that can be regarded as a deceleration accompanying entry into a curved road. May be. Further, for example, it may be determined whether or not the deceleration operation has been performed in consideration of an accelerator pedal opened state, a change state of a transmission gear ratio (not shown), and the like.

  When the deceleration operation detecting means 3 detects that the deceleration operation has been performed, the process proceeds to step S24, and the current position information of the host vehicle detected at this time detected by the navigation device 1 and the road map information are acquired. From the position information of the starting point of the curved road, the position information of the point where the deceleration operation is started based on the starting point of the curved road is calculated, and this is set as the actual value of the brake operation starting point.

Subsequently, the process proceeds to step S25, and based on the group information of the track group to which the track on the track belongs detected by the information presentation process, the host vehicle Then, it is determined whether or not the vehicle has reached a point corresponding to the group standard value of the fixed speed before the curve after deceleration. When the host vehicle reaches a point corresponding to the group standard value, the process proceeds to step S26, and the vehicle speed of the host vehicle at this time point is detected based on the detection information of the vehicle speed sensor 2.
Then, the process proceeds to step S27, where the actual value of the brake operation start point collected in step S24 and the vehicle speed at the fixed speed before the decelerating curve collected in step S26 are used as history information, and the curve on the course is determined. It is stored in a predetermined storage area in association with the track group to which it belongs. Then, the process ends.

Next, the operation of the above embodiment will be described.
In the controller 10, when the information presentation process shown in FIG. 3 is executed in a predetermined cycle and the driving action pattern of the driver cannot be performed, or when the own vehicle is not running substantially straight ahead. Alternatively, when it is not predicted that the vehicle travels on a curve such as a curve, a left turn, or a right turn within a certain period of time, the processing is terminated as it is, but as shown in FIG. When the driving behavior pattern of the person is in a situation where the driving behavior can be performed and the vehicle is traveling substantially straight and is expected to travel on a curved road within a certain time, steps S1 to S2 and S3 in FIG. 3 are performed. Then, the process proceeds to step S4. At this point, when it is predicted that the vehicle speed has sufficiently decreased and it is possible to travel stably on the forward curve, the processing is terminated and no information is presented, but the vehicle is traveling at a relatively high speed. If it is determined that the vehicle needs to be decelerated in order to stably travel on the road, the process proceeds from step S4 to step S5, and the curved road group to which the forward curved road belongs is specified.

Then, based on the history information representing the driving behavior pattern when traveling on a track equivalent to the curved track on the course, the appropriate value of the brake operation start point and the curved track after deceleration according to the driving skill level of the driver An appropriate value of the vehicle speed at the fixed front speed point is set (steps S6 to S10), and information is presented accordingly (steps S11 and S12).
That is, when the host vehicle reaches a point corresponding to the appropriate value of the brake operation start point, a buzzer sound is generated. Therefore, the driver determines that it is necessary to decelerate at this point, and applies the brake operation. Start. When the vehicle speed decreases as a result of this braking operation, the buzzer sound decreases according to the state of the decrease.For example, when it is necessary to decelerate relatively large, the reduction degree of the buzzer sound with respect to the brake operation is small. The person can recognize that it is necessary to decelerate more, and conversely, when the reduction degree of the buzzer sound with respect to the brake operation is large, it can be recognized that the brake operation is not necessary. Recognize that no further braking operation is required because the buzzer sound becomes smaller as the vehicle speed approaches the appropriate value of the vehicle speed at the fixed speed before the curve after the deceleration as the vehicle speed decreases. When the vehicle speed reaches an appropriate value for the vehicle speed at a constant speed before the curved road after deceleration, the brake sound disappears, so that it can be recognized that further deceleration is unnecessary.

  At this time, as shown in FIG. 8, the head-up display has a point corresponding to an appropriate value of the brake operation start point (a point corresponding to an appropriate value of the brake operation start point) and a constant speed before the curved road after deceleration. Since the current position of the vehicle between the point corresponding to the group standard value of the point (the point corresponding to the standard value of the constant speed point) is displayed, for example, the own vehicle corresponds to the appropriate value of the brake operation start point. When the brake sound is relatively low in a state where the brake sound is relatively low between the point and a point corresponding to the standard value of the constant speed point, it can be determined that a large brake operation is not necessary. On the contrary, if the buzzer sound is relatively loud even though the vehicle is relatively close to the point corresponding to the standard value at the constant speed point, until the vehicle reaches the point corresponding to the standard value at the constant speed point. However, since the buzzer sound is relatively large and the speed difference from the appropriate value is large, it can be determined that the deceleration needs to be relatively large.

  In this way, the driver can recognize that it is necessary to decelerate when the buzzer sound is generated, and furthermore, by referring to the buzzer sound and the display of the head-up display, how much braking operation is performed. It is possible to recognize whether it should be done. Therefore, even a driver with a low driving skill level can easily and accurately guide the host vehicle to a traveling state in which the driver can stably travel on a curved road.

  Also, based on the driver's driving history, an appropriate value for the brake operation start point and an appropriate value for the vehicle speed at a constant speed before the curved road after deceleration are set. Since the position change situation is presented by the head-up display, the driver is based on the vehicle speed change situation and the position change situation. By operating the brake so as to match the appropriate value of the vehicle speed, the brake operation start point is notified at a timing according to the driving behavior pattern of the driver, and a point corresponding to a constant speed before the curved road after deceleration is reached. The vehicle speed can be set, that is, the driver's braking operation can be guided along the driving behavior pattern of the driver.

  Here, the brake operation start point and the vehicle speed at the constant speed before the curved road after deceleration differ depending on the driver due to the difference in driving skill level, etc., and the driving characteristics of the driver, etc. If the appropriate value of the point and the appropriate value of the vehicle speed at the constant speed before the curve after deceleration are common to multiple drivers, some drivers may feel uncomfortable because they do not match the driving behavior pattern themselves However, as described above, since the appropriate value of the brake operation start point and the appropriate value of the vehicle speed at the constant speed before the curve after the deceleration are set based on the history information of the driving behavior pattern of the driver, It is possible to avoid giving a sense of incongruity to information provision, and to effectively utilize information provision.

  In addition, at this time, based on the history information of the driver's driving behavior pattern, the driving skill level is determined, the driving skill level is taken into consideration, and an appropriate value for the brake operation starting point and a constant speed before the curve after the deceleration Since the appropriate value of the vehicle speed at is set, it is possible to determine the driving skill level of the driver with high accuracy that is not affected by changes in the driver's temporary driving behavior pattern, etc. Since various appropriate values of the driving behavior pattern are set based on the driving skill level calculated based on the past history information, the driving behavior pattern of the driver is derived in consideration of the driving skill level of the driver. be able to.

  In addition, the roads are classified into track groups whose driving behavior patterns are equivalent, the track group to which the track on the route belongs is specified, and based on the history information when this track group is run, Appropriate values depending on the shape of the curve, such as a relatively steep curve or a relatively gentle curve, since the appropriate value for the brake operation start point and the appropriate vehicle speed at the fixed speed before the curve after deceleration are set. It is possible to present appropriate value guidance information at a proper timing, guide the driver's driving behavior so that the driving behavior pattern according to the shape of the road, and comply with the driving behavior pattern of the driver Thus, it is possible to present appropriate value guidance information.

  In addition, as described above, information is not presented when the driver cannot perform a driving action with a normal driving action pattern, such as when a preceding vehicle is present in front of the host vehicle. Therefore, it is possible to avoid bothering and discomforting the driver by presenting information despite the situation in which the driving action with the normal driving action pattern cannot be performed.

  In the above embodiment, the means for presenting the position change status is not limited to the arrow display as shown in FIG. 8, but a column display indicating the distance from the brake operation start point to the fixed speed before the curve after the deceleration. The display color of the column display may be gradually changed according to the moving distance from the brake operation start point. In short, any display form may be used as long as the current position of the host vehicle can be recognized between the brake operation start point and the constant speed point.

  Further, the vehicle speed change status presentation means is not limited to the buzzer sound, and may be performed by displaying on a head-up display. For example, a column indicating the difference between the vehicle speed of the host vehicle at the brake operation start point and the appropriate value of the vehicle speed at the fixed speed before the curve after deceleration is displayed, and the vehicle speed when the vehicle passes the brake operation start point is displayed. By gradually changing the display color in the column display according to the change as the starting point and changing the display color according to the degree of change, the current vehicle speed and the vehicle speed at the constant speed before the curve after the deceleration are changed. Information on the difference from the appropriate value may be provided by display, or information on the vehicle speed change status may be provided by display together with a buzzer sound.

  In addition, for example, a brake reaction force adjusting means for adjusting a reaction force of the brake pedal force is provided, and the vehicle speed change state and the vehicle speed from the brake operation start point to the appropriate value of the vehicle speed at a constant speed before the curve after the deceleration By adjusting the reaction force of the brake pedaling force according to the degree of change of the vehicle and changing the pedaling force so that the reaction force increases as the vehicle speed decreases, smooth deceleration action is realized and the change of the vehicle speed is indicated to the driver You may make it recognize. Also, at this time, if the brake reaction force is increased at the brake operation start point and the driver suddenly decelerates and suddenly depresses the brake pedal in response to the information indicating that the brake operation start point is present, Thus, it is possible to avoid the occurrence of a large deceleration.

  In addition, for a driver with a high driving skill level, it may feel that providing information is unnecessary, and it may be felt that presenting information is easy, so when it is determined that it is an expert when determining the driving skill level, Normally, information is not presented, and the vehicle is set to a point corresponding to the appropriate value of the brake operation start point in relation to the appropriate value of the brake operation start point before the curve according to the driving behavior pattern of the driver. If the vehicle reaches the point corresponding to the appropriate value of the branch where the brake operation is started, the travel distance after the vehicle reaches the point corresponding to the appropriate value of the branch where the brake operation is started is greater than the preset limit distance. Information may be presented only when it is determined that the brake operation is not performed even when the vehicle travels to some extent from the point corresponding to the value. That is, after the host vehicle reaches a point corresponding to the appropriate value of the brake operation start point, a deceleration start detecting means is provided for detecting whether the deceleration operation is started, and the host vehicle is set to an appropriate value of the brake operation start point. Information is presented only when the moving distance from the time when the corresponding point is reached is greater than a preset limit distance and the deceleration start detecting means does not detect that the deceleration operation has been performed.

  In this way, information is presented to the driver at a relatively early stage where the driving skill level is relatively high and a relatively large brake operation is performed at a relatively early stage before or after entering a curve or the like. By prompting and decelerating, it is possible to accurately present information when necessary while improving the safety, while avoiding giving a sense of humility.

  Further, in the above embodiment, based on the driver's past driving behavior pattern, the appropriate value of the brake operation start point and the appropriate value of the vehicle speed at the constant speed before the curve after the deceleration are set. Depending on the environmental conditions, the driving conditions, etc., the driving condition may be affected. For example, the driving environment detecting means for detecting whether the driving condition is predicted to be in an environmental condition or driving condition, etc. When the driving environment detection means is in an environmental condition or a driving condition that is predicted to affect the driving state of the host vehicle, an appropriate brake operation start point is determined according to the detection result detected by the driving environment detection means. Information is prohibited when it is determined that it is impossible to correct the value or the appropriate value of the vehicle speed at a constant speed before the curved road after deceleration, or to perform the driving action in the normal driving action pattern And adjusting means, provided by the adjustment means corrects each appropriate value, or perform information presentation on the basis of the appropriate value after the correction, or information presented may be prohibited.

  For example, under conditions where the road surface is wet and slippery, the appropriate value of the vehicle speed at a constant speed before the curved road after deceleration is reduced by a predetermined amount, and under slippery driving conditions, before entering the curved road, the dry road It is possible to improve safety by lowering the vehicle speed and guiding the vehicle to enter a curved road with a sufficiently slow speed than when driving on the road. When it is predicted that it is impossible to perform driving, it is possible to avoid presenting incorrect guidance information in a state where the driving behavior of the driver cannot be accurately guided by prohibiting information presentation.

  In the above embodiment, the case where the history information of the driving driver is collected and stored in a predetermined storage area has been described. However, the history information may be collected for each driver. Good. In this case, for example, there is provided a driver identification information input means for inputting identification information for identifying the driving driver, and the driver is operating based on the identification information input by the driver identification information input means. Various types of data collected as history information, identifying the driver, and the driver's identification information at the time of data collection are also associated with each other and stored as history information in a predetermined storage area. The predetermined history information may be extracted from the history information to which the identification information is added. In addition, for example, information may be presented only for a specific driver who needs to present information for driving support. In this case, it corresponds to the identification information input by the driver identification information input means. Only the history information to be extracted may be extracted.

  Further, in the above embodiment, the case where driving assistance is performed when traveling on the curved road based on the driving behavior pattern when entering the curved road from substantially straight traveling is not limited to this. For example, Similar to the above, by predicting the driving behavior pattern if the driving behavior pattern can be specified to some extent, such as when entering a sloped road from a flat road or entering a tunnel, etc. , Driving assistance in accordance with the driving behavior pattern of the driver can be performed.

  Further, in the above embodiment, the case where information is simply presented in the driving support apparatus has been described, but further known deceleration control means for decelerating the vehicle regardless of the driving operation of the driver is provided to present the information. In spite of having performed, when it was not able to decelerate sufficiently before a curve, it is also possible to forcibly decelerate by the said deceleration control means by a well-known procedure.

Here, the operation data collection process in FIG. 9 corresponds to the operation data collection means, the process in step S3 in FIG. 3 corresponds to the curve detection means, and the processes in steps S5 to S10 correspond to the target value setting means. The process of step S12 and the information presentation device 5 correspond to information presentation means.
2 corresponds to the classification information holding unit, and the process of step S9 in FIG. 3 corresponds to the driving skill level determination unit.

It is a block diagram which shows an example of the driving assistance apparatus of this invention. It is a block diagram which shows the function structure of the driving assistance device of FIG. It is a flowchart which shows an example of the process sequence of the information presentation process performed with the controller of FIG. It is explanatory drawing for demonstrating the classification method of a curve group. It is a distribution map for demonstrating the determination method of a driving skill level. It is a distribution map for demonstrating the determination method of a driving skill level. It is explanatory drawing for demonstrating the information presentation method in a vehicle speed change condition presentation means and a position change condition presentation means. It is an example of the presentation method at the time of applying a display apparatus as a position change condition presentation means. It is a flowchart which shows an example of the process sequence of the driving | operation data collection process performed with the controller of FIG. It is explanatory drawing with which it uses for operation | movement description of this invention.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Navigation apparatus 2 Vehicle speed sensor 3 Deceleration operation detection means 5 Information presentation apparatus 10 Controller

Claims (14)

Driving data collection means for collecting the actual driving operation situation when the driving driver passes the curved road and holding this as history information;
A turn detection means for detecting a turn on the course of the host vehicle;
Based on the history information held by the driving data collecting means when the curved road detecting means detects that there is a curved road on the course of the host vehicle, it follows the actual driving operation status of the driver. , Target value setting means for setting a target value of the driving operation of the driver for stably traveling on the curved path on the route;
Information presenting the driver with guidance information for guiding the driver's driving operation so that the actual driving operation of the driver matches the target value of the driving operation set by the target value setting means A driving support device comprising: a presenting unit; Classification information holding means for classifying the road into a road group in which the driving behavior pattern of the driver when passing through the road is equivalent, and holding group information for specifying the driving behavior pattern for each of the road groups With
The target value setting means is the driving operation situation when traveling on a track belonging to the same track group as the track group to which the track on the route belongs among the history information held by the driving data collecting means. The driving support device according to claim 1, wherein a target value for the driving operation is set based on   The target value setting means includes a target value of a deceleration start point that identifies a point that is before the start point of the curved path on the route and that starts deceleration when entering the curved path, and a curve on the track. A target value of the vehicle speed at a preset constant speed point, which is a point before the start point of the road and where the vehicle speed is maintained at a constant value after the start of deceleration, is set as the target value for the driving operation. The driving support device according to claim 1 or 2, wherein The driving data collection means collects at least an actual value of the deceleration start point and an actual value of the vehicle speed at the constant speed point,
The target value setting means is based on the distribution of the actual value at the deceleration start point and the distribution of the actual value of the vehicle speed at the constant speed point, and the target value of the deceleration start point and the target value of the vehicle speed at the constant speed point. The driving support device according to claim 3, wherein: The target value setting means includes a standard value of the deceleration start point and the driving data collection means that are preset as the driving behavior pattern when traveling on a curved road of a curved road group to which the curved road on the course belongs. The frequency distribution of the deviation amount from the collected actual value of the deceleration start point and the frequency distribution of the actual value of the vehicle speed at the fixed speed point collected by the driving data collecting means are calculated,
A point specified from the average value or mode value of the deviation amount of the deceleration start point is set as a target value of the deceleration start point, and the average value or mode value of the actual value of the vehicle speed at the constant speed point is set. The driving support device according to claim 4, wherein the driving support device is set as a target value of the vehicle speed at the constant speed point. When the frequency distribution of the deviation amount at the deceleration start point or the frequency distribution of the actual value of the vehicle speed at the constant speed point is a distribution having two peak values, the target value setting means is a preset reference value The vehicle speed at the deceleration start point or the constant speed point specified by the selected peak value is selected as the target value at the deceleration start point or the vehicle speed target value at the constant speed point. Set as
The reference value is a mode value of a deviation amount of the deceleration start point of the skilled person and an actual vehicle speed at the constant speed point when passing through a curve of the same curve group as the curve on the path. The driving support device according to claim 5, wherein the driving support device is set according to a mode value. Based on the history information, provided with a driving skill level determination means for determining the driving skill level of the driver from the variation of the driving operation situation when traveling on a track belonging to the same track group,
The driving according to any one of claims 1 to 6, wherein the target value setting means sets a target value for the driving operation in accordance with a determination result by the driving skill level determination means. Support device. The driving data collection means collects at least an actual value of the deceleration start point and an actual value of the vehicle speed at the constant speed point,
The driving skill level determination means is a standard value of the deceleration start point set in advance as the driving action pattern when traveling on a curved path of the curved road group, for a curved road group to which the curved road on the course belongs. And the frequency distribution of the deviation amount between the actual value of the deceleration start point collected by the driving data collecting means and the frequency distribution of the actual value of the vehicle speed at the constant speed point collected by the driving data collecting means,
8. The driving assistance device according to claim 7, wherein the driving skill level is determined based on a variation in an actual value of the vehicle speed at the constant speed and the deviation amount at the deceleration start point. The driving skill level determination means calculates an average value for each of the frequency distribution of the deviation amount at the deceleration start point and the frequency distribution of the actual value of the vehicle speed at the constant speed point,
In the frequency distribution of the deviation amount at the deceleration start point and the frequency distribution of the actual value of the vehicle speed at the constant speed point, the ratios of the distribution values included in the predetermined range preset from the average value are both the first When the value is equal to or greater than the threshold value, the driver is determined to be an expert and the ratio of the distribution values included in the specified range is equal to or less than the second threshold value, both being smaller than the first threshold value. 9. The driving support apparatus according to claim 8, wherein the driver is determined to be a beginner when the vehicle is a driver, and the driver is determined to be an intermediate player at other times. The information presenting means; a deceleration start detecting means for detecting whether or not a deceleration operation has been started after the host vehicle has reached a point corresponding to the target value of the deceleration operation start point set by the target value setting means;
Based on the detection information of the deceleration start detection means, after the host vehicle reaches a point corresponding to the target value of the deceleration start point, the deceleration start detection means performs the deceleration until the vehicle travels by a preset limit distance. The driving support apparatus according to any one of claims 1 to 9, wherein the guidance information is presented only when an operation start is not detected.   The driving assistance according to any one of claims 1 to 10, wherein the information presentation unit presents the guidance information by at least one of a visual stimulus, an auditory stimulus, and a tactile stimulus. apparatus. The information presenting means includes
This is presented when the vehicle reaches a point corresponding to the target value of the deceleration start point, and the vehicle speed decreases from this point until the vehicle speed matches the target value of the vehicle speed at the constant speed point. Vehicle speed change status presenting means for presenting the situation and presenting the vehicle speed when the vehicle speed matches the target value of the vehicle speed at the constant speed point;
The current position of the host vehicle between the point corresponding to the target value of the deceleration start point and the point corresponding to the standard value of the constant speed point set in advance for the curve group to which the curve on the route belongs. The driving support device according to claim 11, further comprising: a position change situation presentation unit that presents a change situation. The vehicle speed change status presentation means is a sound generation means for generating a sound,
When the host vehicle reaches a point corresponding to the target value of the deceleration start point, sound generation is started, the volume decreases with a decrease in the vehicle speed, and the vehicle speed is the vehicle speed at the constant speed point. 13. The driving support device according to claim 12, wherein the sound is generated so that the sound disappears when the target value is matched. Driving environment detection means for detecting whether or not the driving environment pattern affects at least one of the driving behavior pattern and the driving situation of the vehicle;
Based on the detection result of the travel environment detection means, it is determined whether or not the presentation of the guidance information by the information presentation means is valid. When it is judged that the presentation of the guidance information is valid, the target value setting means Adjustment means for correcting the set target value of the driving operation and prohibiting the presentation of the guidance information by the information presentation means when it is determined that the presentation of the guidance information is not valid. The driving support apparatus according to any one of claims 1 to 13.

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