JP2008065380A - Drive support device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a drive support device supporting quick and exact recognition of an own situation, when a driver losing attention restores his or her attention. <P>SOLUTION: This drive support device S is provided with an attention determination means 11 for determining the attention of the driver, and a driving information notifying means 12 for notifying the driver of driving information when the attention is determined to be lost by the attention determination means 11. The drive support device S is provided also with an alert means 13 for alerting the driver, and the driving information may be notified by the driving information notifying means 12 when the driver is alerted by the alert means 13. The driving information notifying means 12 notifies the plurality of pieces of driving information sequentially based on a prescribed priority order, the driving information including information on the presence of a preceding vehicle, and including information on a distance between the preceding vehicle and one's own vehicle when the preceding vehicle exists. <P>COPYRIGHT: (C)2008,JPO&INPIT

Description

  TECHNICAL FIELD The present invention relates to a driving support device, and in particular, quickly and appropriately notifies a driver who lacks attention to information related to driving. The present invention relates to a driving support device that prevents confusion.

  Conventionally, in order to prevent the driver from falling asleep, it is determined whether the driver is falling asleep based on the opening degree of the driver's eyes, the frequency of blinking, and the time when the eyes are closed during blinking. A dozing operation alarm device that outputs an alarm when it is determined that the patient is dozing is known (for example, see Patent Document 1).

This doze driving alarm device captures the driver with a CCD (Charge Coupled Device) camera and continuously acquires the eye opening of the driver, the frequency of blinking, and the time when the eyes are closed during blinking, Since these average values are set as threshold values for doze determination, variations in detection accuracy due to individual differences can be reduced, and fluctuations in detection accuracy in a driver's doze determination during long driving can be reduced. it can.
Japanese Patent Laid-Open No. 6-266981

  However, the drowsy driving alarm device described in Patent Document 1 outputs any warning when a driver's drowsiness is detected, and only awakens the driver, and performs any driving assistance after waking the driver. It is not a thing.

  In view of the above, the present invention provides a driving assistance device that assists a driver who lacks attention to be able to quickly and appropriately recognize the situation in which he / she is placed when he / she recovers his / her attention. With the goal.

  In order to achieve the above-described object, the driving support device according to the first invention lacks the driver's attention due to the attention determination means for determining the driver's attention and the attention determination means. Driving information notifying means for notifying the driver of driving information when it is determined that.

  Further, the second invention is a driving support device according to the first invention, comprising an attention arousing means for alerting a driver's attention, and the driving information notifying means is driven by the attention determining means. When it is determined that the driver's attention is lacking, and the driver's attention is aroused by the attention-awareness means, the driver is notified of driving information.

  Further, the third invention is the driving support device according to the second invention, wherein the driving information notifying means is determined by the attention determining means to lack the driver's attention, and the attention The driver's attention is aroused by the force arousing means, and the driver is notified of driving information when it is determined by the attention determining means that the driver's attention has been recovered.

  The fourth invention is a driving support apparatus according to any one of the first to third inventions, wherein the driving information notification means sequentially notifies a plurality of driving information based on a predetermined priority order. It is characterized by.

  The fifth invention is a driving support device according to any one of the first to fourth inventions, wherein the driving information includes information on a distance between a preceding vehicle and the own vehicle. To do.

  The sixth invention is a driving support device according to any one of the first to fourth inventions, wherein the driving information is information on a next guidance schedule or a previous guidance among voice guidance by a car navigation system. It is characterized by being information.

  By the above-described means, the present invention can provide a driving assistance device that assists in quickly and appropriately recognizing the situation where the driver is placed when the driver who lacks attention recovers attention. it can.

  Hereinafter, the best mode for carrying out the present invention will be described with reference to the drawings.

  FIG. 1 is a block diagram illustrating a configuration example of a driving support apparatus according to the present invention. The driving support device S includes a driver monitor ECU (Electronic Control Unit) 10 and via a vehicle-mounted network such as a CAN (Controller Area Network) or a LIN (Local Interconnect Network), a driver monitor camera 20, a white line detection ECU 21, a steering wheel. Information is acquired from the sensor 22, the yaw rate sensor 23, the radar sensor 24, the car navigation system 25, the road-to-vehicle communication device 26, the brake ECU 27, and the inter-vehicle control ECU 28, and a control signal is output to the in-vehicle speaker 30 and the vibration output device 31.

  The driver monitor ECU 10 is a computer including a CPU (Central Processing Unit), a RAM (Random Access Memory), a ROM (Read Only Memory), an NVRAM (Non-Volatile Random Access Memory), and the like. Programs corresponding to the information notification means 12 and the attention awakening means 13 are stored in the NVRAM, and these programs are expanded on the RAM so that the corresponding processing is executed by the CPU.

  The driver monitor camera 20 is a device for photographing a driver, and is, for example, a CCD camera or a CMOS (Complementary Metal Oxide Semiconductor) camera, which is disposed in the vicinity of a room mirror, on a dashboard, in an instrument panel, or the like. The driver is photographed from the front, and the photographed image is output to the driver monitor ECU 10.

  The driver monitor camera 20 may be an infrared camera, and may include an infrared LED (Light Emitting Diode), and irradiate the driver with infrared light to photograph the driver. This is because it is possible to photograph the driver regardless of whether it is daytime or nighttime, and it is possible to stably acquire an image of the driver's eyes without hindering driving due to glare.

  The white line detection ECU 21 is an electronic control device for detecting road markings. For example, the white line detection ECU 21 obtains an image taken by a camera installed near the front grille, and images such as binarization processing, edge detection processing, and filter processing. A white line is extracted by processing, the lane position and the content of the road marking are detected, and the detection result is output to the driver monitor ECU 10.

  The steering sensor 22 is a sensor for detecting the rotation angle of the steering shaft. For example, the magnetic resistance of a magnet embedded in the steering shaft is read by an MR (Magnetic Resistance) element, and the rotation angle of the steering shaft is detected. The result is output to the driver monitor ECU 10.

  The yaw rate sensor 23 is a sensor that measures the rotational angular velocity (yaw rate) of a vehicle. For example, the yaw rate sensor 23 has a configuration in which piezoelectric ceramics are attached to a U-shaped metal plate. The piezoelectric ceramics affixed thereto are distorted to generate a voltage, and the rotational angular velocity of the vehicle is detected based on this voltage value, and information relating to the behavior of the vehicle is output to the driver monitor ECU 10.

  The radar sensor 24 is a sensor for detecting an object in the vicinity of the vehicle. For example, the radar sensor 24 is attached to the front, rear, left, and right of the vehicle body and uses millimeter waves or laser light to present objects (another vehicle, Pedestrians, etc.) position information, speed information, distance information from the vehicle, and the like are detected and output to the driver monitor ECU 10.

  The car navigation system 25 is a system for guiding a vehicle by indicating a route to a destination based on vehicle position information acquired by a GPS function and map information stored in a hard disk, a DVD, or the like. Information on route guidance is output to the driver monitor ECU 10.

  Further, the car navigation system 25 may receive VICS (Vehicle Information and Communication Service) traffic jam information and the like via a communication device, and output the traffic jam information, weather information and the like to the driver monitor ECU 10.

  The road-vehicle communication device 26 is a device for controlling communication between the vehicle and a communication device installed in the road infrastructure. For example, signal information is transmitted via a loop antenna or a magnetic nail embedded in the road. The position information or the road information is received, and the information is output to the driver monitor ECU 10.

  The brake ECU 27 is an electronic control device for controlling the braking force by the brake. For example, the brake ECU 27 detects a side slip state or a road surface state (for example, a road surface friction coefficient μ) based on measured values of an acceleration sensor or a wheel speed sensor. The braking force of each of the four wheels is controlled to an optimum state.

  Further, the brake ECU 27 outputs information on the detected skid condition and road surface condition to the driver monitor ECU 10.

  The acceleration sensor is a sensor that measures acceleration in the three axial directions of the vehicle in the front-rear direction, the up-down direction, and the left-right direction. For example, the acceleration sensor is a sensor using a semiconductor strain gauge. The MR element reads the change in the magnetic field caused by the magnet attached and rotates with each wheel as a magnetic resistance, and extracts this as a pulse signal proportional to the rotation speed, thereby detecting the rotation speed of the wheel.

  The inter-vehicle control ECU 28 is an electronic control device for maintaining the inter-vehicle distance in a predetermined state. For example, the distance between the preceding vehicle and the host vehicle is acquired by the radar sensor 24, and the throttle opening, shift position, brake It automatically controls the pressure and the like to adjust the traveling speed of the host vehicle and maintain the inter-vehicle distance in a predetermined state.

  The in-vehicle speaker 30 is a device for outputting voice, for example, outputting a predetermined voice message based on a control signal from the driver monitor ECU 10 in order to notify the driver of driving information, or An alarm sound is output to alert the driver's attention.

  The vibration output device 31 is a device for generating a vibration and alerting the driver's attention. For example, the vibration output device 31 is installed on the surface of a driver seat, a steering wheel, a shift lever, and the like, and receives a control signal from the driver monitor ECU 10. To generate vibration.

  The “driving information” is voice guidance information necessary for the driver to perform an appropriate driving operation. For example, the driver monitor ECU 10 is in the form of a short and concise voice message to quickly convey the contents in a limited time. This information is stored in the ROM for prompting the driver to perform predetermined steering, acceleration or deceleration.

  FIG. 2 is a diagram showing a configuration example of a driving information database stored in the ROM of the driver monitor ECU 10. The driving information database includes a driving information column 50, a condition column 51, and a priority column 52, and the driving information column When 50 indicates the content of the voice message output from the vehicle-mounted speaker 30, the condition column 51 indicates the trigger condition for outputting the voice message in the driving information column 50, and the priority column 52 outputs a plurality of driving information Indicates the output order. Note that the priority is set to “1”, which is the highest information related to the collision, and weather information, map information, route guidance, and the like are set lower.

  For example, when the distance between the host vehicle and the preceding vehicle is 4 meters, the trigger condition “the distance between the preceding vehicle is a predetermined value X1 (for example, 5 meters or less)” in the condition column 51 is satisfied. Therefore, the driver monitor ECU 10 causes the in-vehicle speaker 30 to output “Caution on the preceding vehicle”, which is a corresponding message in the driving information column 50.

  Further, when the distance between the host vehicle and the preceding vehicle is 9 meters), “the distance between the preceding vehicle is a predetermined value X1 (for example, 5 meters) or more and X4 (for example, 10 meters) in the condition column 51. Since the trigger condition “below” is satisfied, the driver monitor ECU 10 causes the in-vehicle speaker 30 to output “there is a preceding vehicle” that is a corresponding message in the driving information column 50.

  As described above, the driving support device S changes the content and priority of the voice message according to the distance from the preceding vehicle, and outputs a voice message suitable for the surrounding situation.

  Also, when the white line detection ECU 21 detects that the distance between the left white line road marking that marks the lane and the vehicle is close to 30 centimeters, the “distance to the left white line in the condition column 51 is Since the trigger condition “predetermined value X3 (for example, 50 centimeters) or less” is satisfied, the driver monitor ECU 10 outputs the corresponding message in the driving information column 50 “too much to the left” from the in-vehicle speaker 30. Let

  In addition, when the voice guidance by the car navigation system 25 is scheduled to be performed after 20 seconds, the trigger condition “There is a route guidance to be output within a predetermined time (for example, 30 seconds)” in the condition column 51 is satisfied. Therefore, the driver monitor ECU 10 outputs the voice guidance ahead of schedule. This is because voice guidance for the driver is provided at an early stage to prepare for driving operation. Note that the car navigation system 25 may output the voice guidance again at the original timing. This is so that the driver can reliably recognize the route guidance.

  Alternatively, when the voice guidance by the car navigation system 25 is performed within the past 15 seconds, the trigger condition “There is route guidance output within the past predetermined time (for example, 30 seconds)” in the condition column 51 is set. Since the condition is satisfied, the driver monitor ECU 10 outputs the voice guidance again. This is because the same voice guidance is given again to the driver who missed the voice guidance, and the route guidance is surely transmitted.

  The trigger condition in the condition column 51 is “there is a route guidance scheduled to be output within a predetermined distance (for example, 300 meters)” or “the route guidance is output within a predetermined distance (for example, 300 meters) that has passed. The movement distance may be used instead of time.

  Note that the driving support device S, when the distance to the preceding vehicle is less than a predetermined value (for example, 2 meters) and there is a high possibility that it will collide with the preceding vehicle, instead of driving information, the voice message “Collision attention” Such warning information may be output from the in-vehicle speaker 30 to automatically control the steering angle and the braking force in order to avoid a collision. As described above, the driving information may be information necessary for the driver to perform an appropriate driving operation, and may be information in which the content of the voice message and the trigger condition are different from the warning information.

  Next, various means of the driver monitor ECU 10 will be described with reference to FIG. 1 again.

  The attention determining means 11 is a means for determining the driver's attention, for example, by extracting an image of the driver's eyes from the driver's image taken by the driver monitor camera 20, Based on the open / closed state of eyes and the line of sight, it is determined whether the driver is asleep or whether the driver is looking aside.

  Further, the attention level determination means 11 also determines the presence or absence of the driver's attention based on the driver's brain wave, heart rate, blood pressure, and other biological data measured by an electroencephalograph, a pulse meter, a blood pressure monitor, or the like. Good.

  The driving information notifying unit 12 is a unit for notifying the driver of driving information. For example, the driving information notifying unit 11 lacks attention (for example, a state of being asleep or looking aside). ), The driving information satisfying the trigger condition in the condition column 51 is extracted with reference to the driving information database, and the driving information is sequentially supplied based on the priority set in the priority column 52. Output from.

  In addition, when the driving information notifying unit 12 notifies the driving information having the priority “1”, the driving information notifying unit 12 has the priority “1” even if the trigger condition of the driving information having the lower priority is satisfied. You may make it notify driving information repeatedly, or when the trigger condition of driving information with priority "1" and "2" meets the trigger condition of driving information with lower priority Even so, the operation information of the priorities “1” and “2” may be notified while repeatedly circulating. This is to ensure that important driving information is communicated to the driver.

  In case of repeated notifications, the volume may be gradually increased or the content of the message may be changed (for example, “Beware of the preceding car” is changed to “Previous car is approaching” or “Slow down. "Please do".) This is because the expressions that are easy for the driver to recognize are different from person to person, so that important driving information is surely conveyed to the driver.

  The attention arousing means 13 is a means for awakening the driver's attention. For example, the attention arousing means 13 outputs an alarm sound from an in-vehicle speaker 30 or a vibration output device 31 installed on a driver seat, a steering wheel or the like. Arouses driver's attention by generating vibration.

  When it is determined by the attention determining means 11 that the attention is lacking, the driving information notifying means 12 generates vibration with the vibration output device 31 on the steering wheel by the attention inducing means 13 and then the driving information. May be output from the in-vehicle speaker 30.

  Furthermore, when it is determined by the attention determining means 11 that the attention is lacking, the driving information notifying means 12 sounds an alarm from the in-vehicle speaker 30 by the attention arousing means 13 and the driving power is notified by the attention determining means 11. The driving information may be output from the in-vehicle speaker 30 after confirming that the attention of the person has been recovered (refers to a state in which he / she does not fall asleep or looks aside and concentrates on driving).

  This is to output driving information when the driver's attention is restored and driving information can be recognized more reliably. Driving even when driving information is output in the state where the driver's attention is lacking. This is because the user may not be able to recognize the content of the driving information.

  Further, the driving information notifying means 12 may change the timing for notifying the driving order according to the priority order of the driving information.

  For example, when the trigger condition of the driving information with the priority “1” is satisfied, the driving information notifying unit 12 immediately notifies the driving information when the attention determining unit 11 determines that attention is lacking. Like that. By outputting driving information instead of warning information, the driver's attention is drawn by the driving information itself, and important driving information is transmitted to the driver at an early stage.

  On the other hand, when only the trigger condition of driving information having a lower priority is satisfied, the driving information notifying unit 12 is determined to be lacking attention by the attention determining unit 11, and the in-vehicle speaker 30 is determined by the attention drawing unit 13. The alarm is sounded from the vehicle and the driver's attention is recovered by the attention determination unit 11 so that the driving information is notified. This is to make the driver recognize the driving information more reliably.

  Next, a flow of processing in which the driving support device S notifies the driver of driving information will be described with reference to FIG. Here, FIG. 3 is a flowchart showing an example of processing for notifying the driver of driving information.

  First, the driver monitor ECU 10 of the driving support device S acquires an image of the driver photographed by the driver monitor camera 20, performs image processing, and sets the open / closed state of the driver's eyes for a predetermined time (for example, 0.1 second). Determination is made in increments (step S1).

  The driver monitor ECU 10 continues to determine the open / closed state of the driver's eyes until the driver's eyes are in Ta [seconds] (for example, 1 second) until the eyes are closed (NO in step S1).

  When it is detected that the driver's eyes are continuously closed for Ta [seconds] (for example, 1 second) (YES in step S1), the driver monitor ECU 10 has the driver's eyes closed. (Step S2).

  When it is determined that the driver's eyes are closed, the driver monitor ECU 10 opens the driver's eyes and restores the attention by causing an alarm to sound from the vehicle-mounted speaker 30 by the attention-inducing means 13. It may be.

  Thereafter, the driver monitor ECU 10 again determines the open / closed state of the driver's eyes in increments of a predetermined time (for example, 0.1 seconds) (step S3).

  The driver monitor ECU 10 continues to determine the open / closed state of the driver's eyes until the driver's eyes are in an open eye state for Tb [seconds] (for example, 1 second) (NO in step S3).

  When it is detected that the driver's eyes are continuously open for Tb [seconds] (for example, 1 second) (YES in step S3), the driver monitor ECU 10 opens the eyes of the driver from the closed state. It is determined that the state has been changed (step S4).

  Thereafter, the driver monitor ECU 10 extracts driving information that satisfies the trigger condition in the condition column 51 with reference to the driving information database by the driving information notification unit 12, and the vehicle-mounted speaker 30 based on the priority set in the priority column 52. Operation information is sequentially output (step S5), and the process is terminated.

  Thus, even if the driver is likely to fall asleep, the driving support device S outputs driving information from the in-vehicle speaker 30 when the driver's attention is recovered, and the driver is placed. The situation can be recognized quickly.

  In addition, since the driving support device S outputs a plurality of driving information in descending order of priority, it can quickly and surely convey important driving information related to the collision to the driver.

  In addition, since the driving support device S outputs a plurality of driving information in descending order of priority, the driver assisting driver S who has just recovered from the drowsiness and has recovered attention, and has difficulty in recognizing information around the vehicle at once. In addition, necessary and sufficient driving information can be transmitted quickly, and accidents due to delayed information recognition can be prevented.

  The preferred embodiments of the present invention have been described in detail above. However, the present invention is not limited to the above-described embodiments, and various modifications and substitutions can be made to the above-described embodiments without departing from the scope of the present invention. Can be added.

  For example, in the above-described embodiment, the timing when the driving information notification means 12 notifies the driving information, when it is determined that the driver's attention is lacking, when the driver is alerted, and after that, the driver The case where it is determined that the attentiveness has recovered has been cited, but these three timings may be used in accordance with the time zone and the frequency of notification of driving information.

  For example, in the midnight hours, if it is determined that the driver's attention is lacking, the driving information is notified immediately, or the lack of attention once recovered at the beginning of driving. When notification of driving information is made only when it is judged, after that, as the frequency of notification increases, alerting is performed, and further, when it is determined that the driver's attention is lacking, and timing of notification You may make it quicker.

It is a block diagram which shows the structural example of a driving assistance device. It is a figure which shows the structural example of an operation information database. It is a flowchart which shows the flow of the process which a driving assistance device notifies a driving information to a driver | operator.

Explanation of symbols

10 Driver monitor ECU
DESCRIPTION OF SYMBOLS 11 Attention power determination means 12 Driving information notification means 13 Attention-awareness means 20 Driver monitor camera 21 White line detection ECU
22 Steering sensor 23 Yaw rate sensor 24 Radar sensor 25 Car navigation system 26 Road-to-vehicle communication device 27 Brake ECU
28 Inter-vehicle control ECU
30 Vehicle-mounted speaker 31 Vibration output device 50 Driving information column 51 Condition column 52 Priority column S Driving support device

Claims (6)

Attention determination means for determining the driver's attention;
Driving information notifying means for notifying the driver of driving information when it is determined by the attention determining means that the driver's attention is lacking;
A driving support apparatus comprising: Equipped with a means of alerting the driver's attention,
The driving information notifying means drives the driver when the attention determining means determines that the driver's attention is lacking, and the driver's attention is aroused by the attention inducing means. Notify information,
The driving support device according to claim 1, wherein The driving information notification means is determined by the attention determining means that the driver's attention is lacking, the driver's attention is aroused by the attention inducing means, and the attention determining means Notifying the driver of driving information when it is determined that the driver's attention has been restored,
The driving support device according to claim 2, wherein The driving information notification means sequentially notifies a plurality of driving information based on a predetermined priority.
The driving support device according to any one of claims 1 to 3, wherein The driving information includes information on the distance between the preceding vehicle and the own vehicle.
The driving support device according to any one of claims 1 to 4, wherein the driving support device is provided. The driving information is information on a next guidance schedule or information that was previously guided in voice guidance by a car navigation system.
The driving support device according to any one of claims 1 to 4, wherein the driving support device is provided.

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