JP2008140332A - Driving support device and program - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To exactly perform operation support for accident prevention. <P>SOLUTION: This driving support device comprises a position detection section 1 for measuring the position of a vehicle, a map information storage section 2 for storing map information and outputting road information relevant to the position of the vehicle detected by the position detection section 1, an environment adaptation support data storage section 3 and support method determination section 6 for determining at least one element possible as an accident factor from cognition, determination, and operation of a driver based on the road information, and a driving support section 7 for supporting the element determined by the support method determination section 6. <P>COPYRIGHT: (C)2008,JPO&INPIT

Description

  The present invention relates to a driving support device and a program.

  Many car accidents occur due to driver perceptions of risk factors, judgments, or operational delays. However, the main cause of the accident is the delay in which stage depends on the road environment and driver characteristics.

  Here, cognition means noticing the appearance of a dangerous object. Judgment includes (1) Estimating the danger level of the dangerous object, (2) Selecting an action to avoid the dangerous object, (3) Even if sudden braking is applied, it will not collide with another car even if it flies left and right Judgment of situation such as not touching, (4) Action plan that determines the degree of braking, the degree of steering, etc. The operation means a brake, a handle operation, etc. for avoiding a (collision) target. Although these are continuous movements, they are different functions, and if the support information is not appropriate, it is not useful just to think that the driver is troublesome.

  For example, it is not effective to provide information that “a dangerous object has appeared” to a driver who has been surprised by the sudden jump-out and is confused. Instead, provision of information such as “Decelerate immediately” or “Depress the brake” and emergency brake control are effective.

  Therefore, Patent Document 1 discloses a driving support system that finely adapts and supports a driver in consideration of individual differences of drivers and differences depending on circumstances. This driving support system includes a car navigation unit 1 that guides a driving route to a driver, a driver monitoring unit 2 that monitors the operation of the driver, an external environment detection unit 3 that detects an external environment of the vehicle, and a state of the vehicle. Based on information from the vehicle state detection unit 4, the car navigation unit 1, the driver monitoring unit 2, the external environment detection unit 3 and the vehicle state detection unit 4. An information processing means 5 that outputs S and an information transmission unit 6 that operates based on the command signal S and transmits the command to the driver are provided.

  And when the said driving assistance system receives temporary stop position information, the obstacle information ahead of a vehicle, and the distance information to a preceding vehicle, the information provision line which determines the timing which provides the information that this future deceleration is required Since the driver is instructed based on the above, the instruction can be issued at an appropriate timing.

In addition, the driving support system generates an information providing line L1, a deceleration warning instruction line L2, a brake warning line L3, and a brake control support line L4 as the vehicle approaches a temporary stop position, an obstacle, or a preceding vehicle. Since it did in this way, the content of an instruction | command changes sequentially according to a driving | running condition, and driving | operation assistance can be made still more exact. Furthermore, since the deceleration caution instruction line L2 is generated according to the information on whether or not the driver is placing his / her foot on the brake pedal, the driving operation characteristics of the driver are taken into consideration, and therefore, the driving assistance is more finely and accurately determined. Can be.
JP 2005-209073 A

  However, although the driving support system of Patent Document 1 considers the difference in the situation and the characteristics of the driver, it cannot determine which stage of recognition, judgment or operation is supported, so driving assistance for the purpose of accident prevention Has problems that are not enough.

  The present invention has been proposed to solve the above-described problems, and an object thereof is to provide a driving support device and a program that can accurately perform driving support for accident prevention.

  The driving support device according to the present invention includes a measuring means for measuring the position of the vehicle, map information storing means for storing map information, and outputting road information related to the position of the vehicle measured by the measuring means, Based on the road information output by the map information storage means, a determination means for determining at least one element that may be an accident factor from among the driver's recognition, determination, and operation, and the element determined by the determination means Driving support means for supporting the vehicle.

  The driving support program uses a computer to determine, based on road information related to the position of the vehicle, determination means for determining at least one element that may be an accident factor from among recognition, determination, and operation of the driver, the determination means It is made to function as a driving support means for supporting the element determined by the above.

  With such a configuration, the above-described invention determines, based on road information related to the position of the vehicle, at least one element that may be an accident factor from among the driver's recognition, determination, and operation. Support elements. Thereby, the occurrence of an accident can be prevented in advance.

  The present invention accurately provides driving support for accident prevention.

  Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the drawings.

  FIG. 1 is a block diagram showing a configuration of a driving support apparatus according to an embodiment of the present invention. The driving support device is mounted on a vehicle and supports driving of the driver.

  The driving support device includes a position detection unit 1 that detects position information of the host vehicle, a map information storage unit 2 that stores map information, an environment suitability support data storage unit 3 that stores environment suitability support data, An external environment detection unit 4 that detects an external environment, a driver information storage unit 5 that stores driver information of the host vehicle, a driving support method determination unit 6 that determines how to support driving, and information transmission or vehicle control are performed. And a driving support unit 7 that supports driving.

  The position detection unit 1 detects position information indicating the position of a vehicle (hereinafter referred to as “own vehicle”) on which the driving support device is mounted. The position detector 1 only needs to be able to detect the position information of the host vehicle, and may be a GPS sensor, a gyro sensor, or the like, for example.

  The map information storage unit 2 stores high-precision map information including road topography, traffic sign information, traffic regulation information, crossing information, and the like. The map information storage unit 2 tracks the current position as needed based on the position information of the host vehicle detected by the position detection unit 1, and supplies the map information related to the current position to the environmental suitability support data storage unit 3.

  The environment suitability support data storage unit 3 stores environment suitability support data indicating support weight coefficients for recognition, judgment, and operation. Here, the optimum scene for using the environmental suitability support data will be described.

  FIG. 2 is a diagram showing measurement results of the driver's reaction delay in various dangerous scenes using the driving simulation device. Here, for each scene, the driver's recognition, judgment, and operation in the case of an accident (for example, when colliding with a pedestrian) and in the case of no accident (for example, when avoiding a dangerous object such as a jumping out bicycle) Delays are shown.

  FIG. 6A is a diagram showing measurement results of a scene of a sudden pedestrian jumping out at a crowded intersection (hereinafter referred to as “scene 1”). FIG. 5B is a diagram showing measurement results of a scene of a pedestrian crossing forward (hereinafter referred to as “scene 2”) on a straight path in an area where there are few pedestrians.

  According to these measurement results, in the scene 1, when an accident occurs, the delay in operation is particularly large compared to when there is no accident. This shows the following. Scene 1 is a crowded intersection and there are many dangerous objects in the surrounding area, so the driver has already paid attention to the surrounding area. Furthermore, even when an accident occurs, the delay in recognition of a dangerous object (notices popping out) and determination (determining that there is a risk of colliding with a dangerous object that has popped out) is not relatively large. However, the driver was surprised at the sudden jumping out, and the operation of stepping on the brake was considered delayed. Therefore, in such a case, support for prompting an operation such as stepping on the brake is more important than support for notifying the existence of a dangerous object.

  On the other hand, in scene 2, when an accident occurs, the delay in recognition and determination is greater than when there is no accident. This shows the following. Since Scene 2 is a straight road with few traffic, the driver lacks attention to the surroundings (blurred state), and therefore recognition (be aware of the crossing) and judgment (judgment of collision risk) are delayed. Yes. Therefore, in such a case, support for prompting an operation such as stepping on a brake may not be effective because the driver is not aware of what is happening.

  Therefore, the environmental suitability support data storage unit 3 indicates which one of recognition, judgment and operation is important for each of various traffic scenes, in other words, which element is most likely as an accident factor. Stores environmental compatibility support data.

  FIG. 3 is a diagram showing environmental compatibility support data. The environmental suitability support data is data representing support weight coefficients for each of recognition, judgment, and operation corresponding to the external environment. Here, the external environment represents various traffic scenes. In the present embodiment, a traffic scene based on a combination of road topography (intersection, single road, etc.), good road visibility (good, medium, bad), and congestion (large, medium, small) is used as the external environment. The support weighting coefficient is a coefficient indicating the weighting of importance of recognition, determination, and operation. Therefore, the sum of the support weight coefficients for recognition, judgment, and operation is 1.

  For example, in a traffic scene of an intersection that is congested (congestion level: large) and has a good view, an operation delay may lead to an accident. Therefore, as shown in FIG. 3, the operation support weighting factor (0.8) is set higher than the recognition and judgment support weighting factors (both 0.1).

  On the other hand, in a traffic scene with a good line of sight, such as a straight road and a low degree of congestion (congestion level: small), there is a high possibility that a delay in recognition and judgment will lead to an accident. Accordingly, as shown in FIG. 3, the recognition weighting support weight coefficients (0.55, 0.45) are set higher than the operation support weight coefficient (0.0).

  The environmental suitability support data storage unit 3 supports the recognition weights of each of recognition, judgment, and operation as an environmental suitability support signal from the current location from the map information storage unit 2, the topography of the current location, traffic regulation information, etc. The result is output to the law determination unit 6.

  The external environment detection unit 4 corresponds to one or more of a laser radar, a millimeter wave radar, a CCD camera, a scanning radar, a brightness sensor, and the like. The external environment detection unit 4 detects the environment outside the host vehicle, for example, the external environment such as the outside air temperature and weather, and the presence or absence of an obstacle (the position and speed of the obstacle if any).

  The driver information storage unit 5 stores information related to the driver such as the age, visual acuity, and driving experience of the driver. These pieces of information are input in advance by a driver or another person.

  The support method determination unit 6 corresponds to a CPU that is operated by software, for example. Based on the information supplied from the environmental suitability support data storage unit 3, the external environment detection unit 4, and the driver information storage unit 5, the support method determination unit 6 focuses on any of recognition, determination, and operation. Determine whether to do it. The support method determination unit 6 is functionally configured as follows.

  FIG. 4 is a block diagram illustrating a functional configuration of the support method determination unit 6. The support method determination unit 6 includes a support type determination unit 11 that determines the type of driving support, a support time determination unit 12 that determines the time of driving support, and a collision time determination that determines a collision time between the host vehicle and an obstacle. Unit 13 and support determination unit 14.

  The support type determination unit 11 compares the support weight coefficients of recognition, determination, and operation input from the environmental suitability support data storage unit 3 and supports the type corresponding to the maximum support weight coefficient. Determine. For example, when the support weight coefficients of recognition, determination, and operation are 0.1, 0.1, and 0.8, the support type determination unit 11 performs “operation” corresponding to the maximum support weight coefficient 0.8. It is determined to support. As a method for supporting a plurality of elements, the support type determination unit 11 may support elements whose support weighting factors for recognition, determination, and operation are each 0.3 or more, for example.

  The support time determination unit 12 executes the support several seconds before the collision time based on the type of support determined by the support type determination unit 11 and the age and visual acuity of the driver input from the driver information storage unit 5. That is, the support time is determined.

  FIG. 5 is a diagram illustrating times when support of recognition, determination, and operation is performed based on the estimated collision time. That is, the recognition support time, the determination support time, and the operation support time are set to 2.0 seconds, 1.5 seconds, and 1.0 seconds before, respectively, based on the estimated collision time. These times are general support times determined so as not to reach the state at the time of the accident based on the measurement results using the driving simulation device of FIG. For this reason, the assistance time determination unit 12 shown in FIG. 4 corrects each assistance time according to the characteristics of the driver.

  FIG. 6 is a diagram showing an age correction table representing correction values of the respective support times with respect to the driver's age. According to FIG. 6, the age correction table indicates that when the driver's age is 40 years or older, the support time becomes earlier as the driver gets older.

  The support time determination unit 12 refers to the age correction table configured as described above, and adds a correction value corresponding to the age of the driver input from the driver information storage unit 5 to each support time. For example, when the driver age is 55, the recognition, judgment, and operation support times are 0.2 seconds earlier, 2.2 seconds before the estimated collision time, 1.7 seconds before, and 1.2 Corrected seconds ago.

  FIG. 7 is a diagram illustrating a visual acuity correction table that represents a correction value of the recognition support time for the visual acuity of the driver. The visual acuity correction table indicates that when the visual acuity becomes 1.0 or more, the recognition support time becomes earlier as the visual acuity improves. This is because a driver with good vision tends to recognize early.

  The support time determination unit 12 refers to the visual acuity correction table configured as described above, and adds a correction value corresponding to the visual acuity of the driver input from the driver information storage unit 5 to only the recognition support time. For example, when the driver's eyesight is 1.2 years old, the recognition support time is 0.1 seconds earlier.

  The collision time determination unit 13 determines the possibility of collision between the host vehicle and the obstacle based on the position and speed of the obstacle input from the external environment detection unit 4, and when there is a possibility of collision, the collision time Is estimated.

  The assistance determination unit 14 determines the three assistance times determined by the assistance time determination unit 12 by back-calculating on the basis of the collision time determined by the collision time determination unit 13. Then, when the support time of the support type determined by the support type determination unit 11 is reached, the support determination unit 14 outputs a driving support signal that instructs the support of the support type.

  When the driving support signal is input from the support determination unit 14, the driving support unit 7 performs driving support. Here, the driving support unit 7 corresponds to, for example, a speaker, a display, a brake control device, and the like. When there is a delay in recognition, a speaker or a display provides the driver with road information (for example, a stop line ahead). When there is a delay in the determination, a speaker or a display provides determination information (for example, a brake is applied). When there is a delay in operation, the brake controller applies an emergency brake. Thereby, driving assistance is performed according to the situation so that any of recognition, judgment, and operation is not delayed.

  FIG. 8 is a diagram showing a flow of driving assistance by the driving assistance device configured as described above.

  As described above, the driving support device according to the present embodiment can be used as a type of driver's reaction delay, that is, an accident factor, based on the map information related to the current position of the vehicle. Determine at least one characteristic element. The driving support device provides information when there is a cognitive delay, supports the judgment when there is a delay in judgment, and applies emergency braking when there is a delay in operation. Thereby, the delay of recognition, judgment, and operation can be eliminated and the occurrence of an accident can be prevented.

  The driving support device may further include a driver monitor that detects the state of the driver. The driver monitor uses, for example, a biological sensor, a CCD camera, a laser sensor, a pressure sensor, etc., the position of the driver's foot (whether on the accelerator pedal or the brake pedal), the position of the hand, the line of sight, the blinking frequency, The steering wheel angle and the brake pedal operation amount may be detected. Then, the support type determination unit 11 in FIG. 6 corrects each support weight coefficient of recognition, determination, and operation using the detection result of the driver monitor, and determines the support type based on the corrected support weight coefficient. You may decide. Thereby, it is possible to perform optimal driving support in consideration of the driver state.

  Note that the driving support unit 7 may apply an emergency brake when the driver does not perform vehicle control or the obstacle avoidance action is not sufficient even after a predetermined time has elapsed from the delay support time in the delay support. Good. This can prevent an accident from actually occurring.

  Note that the present invention is not limited to the above-described embodiment, and it is needless to say that the present invention can also be applied to a design modified within the scope of the claims.

It is a block diagram which shows the structure of the driving assistance device which concerns on embodiment of this invention. It is a figure which shows the measurement result of the driver's reaction delay in the various dangerous scenes using the driving simulation device. It is a figure which shows environmental adaptation support data. 4 is a block diagram illustrating a functional configuration of a support method determination unit 6. FIG. It is a figure which shows the time which performs each support of recognition, judgment, and operation on the basis of the estimated collision time. It is a figure which shows the age correction table showing the correction value of each assistance time with respect to the age of a driver. It is a figure which shows the visual acuity correction table showing the correction value of the recognition assistance time with respect to the visual acuity of a driver. It is a figure which shows the flow of the driving assistance by a driving assistance device.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Position detection part 2 Map information storage part 3 Environmental compatibility support data storage part 4 External environment detection part 5 Driver information storage part 6 Support method determination part 7 Driving support part

Claims (7)

Measuring means for measuring the position of the vehicle;
Map information storing means for storing map information and outputting road information related to the position of the vehicle measured by the measuring means;
A determination means for determining at least one element that may be an accident factor from the driver's recognition, determination, and operation based on the road information output by the map information storage means;
Driving support means for supporting the elements determined by the determination means;
A driving assistance device comprising: An external environment detecting means for detecting an external environment of the vehicle;
The determination means further determines the support time of the element based on the collision time between the vehicle and the obstacle based on the external environment detected by the external environment detection means,
The driving support apparatus according to claim 1, wherein the driving support unit starts supporting the element at the support time of the element determined by the determination unit. Driver information storage means for storing driver information;
The driving support device according to claim 2, wherein the determination unit further corrects the recognition, determination, and operation support time based on the driver information stored in the driver information storage unit. The driving support means outputs road information for cognitive assistance, outputs driving judgment information for judgment assistance, and brakes the vehicle for operation assistance. Item 4. The driving assistance device according to any one of item 3. A driver state detecting means for detecting a driver state;
The driving support device according to any one of claims 1 to 4, wherein the determination unit determines the element by further using driver information detected by the driver state detection unit. The driving support device according to any one of claims 2 to 5, wherein the driving support means performs automatic braking control when there is no driver's vehicle operation even after a predetermined time has elapsed from the operation support time. Computer
A determination means for determining at least one element as a possible accident factor from among the driver's recognition, determination, and operation based on road information related to the position of the vehicle;
Driving support means for supporting the elements determined by the determination means;
Driving support program to function as.

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