JP2008198014A - Driving assistance device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a driving assistance device, in which a driver can easily acquire a driving method suitable for the traveling state of a vehicle. <P>SOLUTION: The driving assistance device 10 adapted to change vehicle characteristics according to a driving characteristic characterized by the driving method of the driver who drives the vehicle, includes a driving characteristic estimation part 16 which estimates a driving characteristic; a driving characteristic determination part 17 which determines whether the estimated driving characteristic is matched to the traveling state of the vehicle or not; a vehicle characteristic change instruction part 18 which changes the driving characteristic when the determination part 17 determines that the driving characteristic is not matched to the traveling state; and a driving method teaching part 19 which teaches, when the determination part 17 determines that the driving characteristic is not matched to the traveling state, a driving method to the driver so that the driving characteristic is matched to the traveling state. <P>COPYRIGHT: (C)2008,JPO&INPIT

Description

  The present invention relates to a driving support device that supports a driving operation of a vehicle.

2. Description of the Related Art Conventionally, there is known a driving support device that supports a driving operation of a driver by changing vehicle characteristics so as to be suitable for the driving state of the driver. For example, in Patent Document 1, a degree (prediction operation degree) that the driver is performing a steering operation in a predictive manner is calculated according to how much the driver's line of sight is looking forward, and the prediction operation degree is low Describes a steering control device for a vehicle that improves the responsiveness of a steering operation in a steering region having a high frequency and improves the stability of the steering operation in the steering region when the predicted operation degree is high. This vehicle steering control device is intended to realize that optimum steering characteristics in a steering region having a high frequency can be obtained for drivers having different degrees of predicted operation.
JP 2003-276623 A

  Generally, an unfamiliar driver tends to drive by looking at the vicinity of the vehicle (in a state where the predicted operation degree is low) during high-speed driving. For this reason, the vehicle is likely to wobble due to excessive steering with a delay in recognizing a change in the traveling direction. In this case, in the driving support device described in Patent Document 1, although the response to the steering operation is reduced during high-speed traveling (see FIG. 5 of Patent Document 1), the driving assist device described in Patent Document 1 is operated with a low predicted operation degree. On the other hand, since the responsiveness of the steering operation is improved, it becomes a steering characteristic that is difficult for an unfamiliar driver to promote driving of the vehicle instead of driving. Since the driver does his / her own driving in response to changes in vehicle characteristics such as responsiveness of the steering operation and is difficult to notice problems with his driving method, he / she has to choose a driving method suitable for the driving situation of the vehicle. It was difficult to obtain.

  The present invention has been made in view of the circumstances described above, and an object of the present invention is to provide a driving support device that enables a driver to easily grasp a driving method suitable for a traveling state of a vehicle.

  A driving support device according to the present invention is a driving support device that changes a vehicle characteristic according to a driving characteristic characterized by a driving method in which the driver drives the vehicle, a driving characteristic estimation unit that estimates the driving characteristic, Driving characteristic determining means for determining whether or not the estimated driving characteristic is suitable for the driving condition of the vehicle, and a vehicle for changing the vehicle characteristic when the driving characteristic determining means determines that the driving characteristic is not suitable for the driving condition A characteristic changing means, a driving method teaching means for teaching the driving method to the driver so that the driving characteristic is adapted to the driving situation when the driving characteristic judging means determines that the driving characteristic is not suitable for the driving situation; It is provided with.

  According to the driving support apparatus of the present invention, the driving characteristic when the driver drives the vehicle is estimated by the driving characteristic estimation unit, and if the estimated driving characteristic is not suitable for the driving situation of the vehicle, the driving characteristic determination unit When the determination is made, the vehicle characteristics are changed, and a driving method suitable for the traveling state of the vehicle is taught to the driver by the driving method teaching means. Therefore, the driver can easily grasp the driving method suitable for the traveling state of the vehicle without being confused by changes in vehicle characteristics.

  Here, the driving characteristic estimation means estimates the forward gaze distance at which the driver gazes forward as the driving characteristic, and the driving characteristic judgment means has the driving characteristic when the estimated forward gaze distance is equal to or less than the reference gaze distance. The vehicle characteristic changing means determines that the vehicle is not suitable for the driving situation, changes the vehicle characteristic so as to improve the driving stability of the vehicle when the estimated forward gaze distance is equal to or less than the reference gaze distance, and teaches the driving method. The means preferably teaches the driving method to increase the forward gaze distance to the driver when the estimated forward gaze distance is equal to or less than the reference gaze distance.

  In this way, when the driver's gaze distance at which the driver gazes ahead is estimated by the driving characteristic estimation unit, and the driving characteristic determination unit determines that the front gaze distance is equal to or less than the reference gaze distance, The driving method teaching means teaches a driving method in which the vehicle characteristics are changed so as to improve the stability and the forward gaze distance is increased with respect to the driver. Therefore, even when the driver is driving while looking at the vicinity of the vehicle, the driver can grasp the driving method at a larger forward gaze distance suitable for traveling of the vehicle.

  In addition, it is preferable that the driving support apparatus according to the present invention further includes vehicle speed detecting means for detecting the vehicle speed of the vehicle, and the driving characteristic determining means sets the reference gazing distance according to the vehicle speed.

  In this way, the reference gaze distance is set according to the vehicle speed. For example, when the vehicle speed is high, the reference gaze distance is set larger than that when the vehicle speed is low, so that the reference gaze distance more suitable for the driving situation can be set as compared with the above.

  The driving characteristic estimation means estimates a driving deviation indicating the degree of deviation between the lane direction of the road on which the vehicle runs and the traveling direction of the vehicle as driving characteristics, and the driving characteristic judgment means determines that the estimated driving deviation is When the driving deviation is larger than the reference deviation, it is determined that the driving characteristic is not suitable for the driving situation, and the vehicle characteristic changing means adjusts the vehicle characteristic so as to improve the driving stability of the vehicle when the estimated driving deviation is larger than the reference deviation. Preferably, the driving method teaching means teaches the driving method so as to reduce the driving deviation to the driver when the estimated driving deviation is larger than the reference deviation.

  In this manner, the driving deviation indicating the degree of deviation between the lane direction of the road on which the vehicle runs and the traveling direction of the vehicle is estimated by the driving characteristic estimating means, and if the running deviation is larger than the reference deviation, the driving characteristic judging means The driving method teaching means teaches a driving method in which the vehicle characteristics are changed so as to improve the driving stability of the vehicle and the driving deviation is reduced for the driver. Therefore, even when the driver is driving with a large travel deviation when looking at the vicinity of the vehicle, the driver can grasp a driving method with a smaller travel deviation suitable for traveling of the vehicle.

  Moreover, it is preferable that a driving | running characteristic estimation means estimates the standard deviation of the driving | running | working deviation sampled in predetermined time.

  In this way, the travel deviation is statistically calculated, and the suitability of the driving characteristics is determined based on the travel deviation with improved reliability. Thereby, since the teaching of the driving method by incorrect determination of suitability is reduced, the driver can easily grasp the driving method suitable for the traveling state of the vehicle.

  According to the driving support apparatus of the present invention, the driver can easily grasp the driving method suitable for the traveling state of the vehicle.

Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings. In the description of the drawings, the same elements are denoted by the same reference numerals, and redundant description is omitted. For the convenience of illustration, the dimensional ratios in the drawings do not necessarily match those described.
(First embodiment)

  First, with reference to FIG. 1 and FIG. 2, the structure of the driving assistance device which concerns on 1st embodiment is demonstrated. Here, FIG. 1 is a diagram illustrating an outline of the configuration of the driving support apparatus according to the first embodiment, and FIG. 2 is a diagram for explaining a forward gaze distance.

  Referring to FIG. 1, the driving support device 10 includes an ECU (Electronic Control Unit) 11, a line-of-sight detection unit 12, a vehicle speed sensor 13, a vehicle characteristic changing unit 14, and a teaching unit 15. .

  The line-of-sight detection unit 12 functions as line-of-sight detection means for detecting the direction of the line of sight of the driver who is gazing forward. Specifically, the line-of-sight detection unit 12 images a driver's face using, for example, a CMOS camera and extracts a face-oriented direction vector Ai (see FIG. 2) based on the facial features. During the operation of the driving support device 10, the line-of-sight detection unit 12 extracts a face direction vector Ai at a predetermined time interval, and a signal corresponding to an angle θi formed by the face direction vector Ai with respect to a horizontal plane will be described later. This is input to the operating characteristic estimation unit 16.

  Returning to FIG. 1 and continuing the description, the vehicle speed sensor 13 is a wheel speed sensor attached to each wheel of the vehicle. During operation of the driving support device 10, a pulse signal is generated at a cycle corresponding to the speed of the vehicle and input to a driving characteristic determination unit 17 described later.

  The vehicle characteristic changing unit 14 is a device that changes its own vehicle characteristic in response to a signal output from a vehicle characteristic change instructing unit 18 described later. More specifically, it is a device that varies the running stability of the vehicle by changing the vehicle characteristics. Specifically, a rear wheel steering device, a variable gear ratio steering device, a variable stabilizer device, and the like can be given.

  The rear wheel steering system increases the ratio of turning the rear wheels in the same direction in proportion to the steering angle, thereby reducing the turning sensitivity of the vehicle with respect to steering, making the vehicle lane-changed with a small amount of turning and making it unstable. Can be difficult. Further, the rear wheel steering device increases the ratio of turning the rear wheels in a direction to suppress the yaw rate generated in the vehicle, thereby reducing the turning sensitivity to steering and increasing the response and stability of the vehicle. .

  The variable gear ratio steering device increases the reduction ratio of the steering wheel angle and the front wheel angle, thereby reducing the tire turning angle with respect to steering, dulling the turning sensitivity of the vehicle, and increasing the stability of the vehicle.

  The variable stabilizer device increases the understeer characteristic in the cornering of the vehicle and increases the stability of the vehicle by increasing the roll rigidity ratio of the rear wheel.

  The teaching unit 15 is a device that receives a signal output from the driving method teaching unit 19 and transmits the driving method to the driver. Specifically, a speaker that transmits the driving method by voice and a monitor that displays the driving method as a message may be used.

  The ECU 11 includes a microprocessor that performs calculations, a ROM that stores programs for causing the microprocessor to execute each process, a RAM that stores various data such as calculation results, an input / output interface, and the like. The driving characteristic determination unit 17, the vehicle characteristic change instruction unit 18, and the driving method teaching unit 19 are configured. Each component in ECU11 may be comprised individually by hardware, or may be comprised by each software which operate | moves on common hardware. When these softwares are constituted by separate programs, subroutines, etc., some or most of the routines may be shared.

  Next, each component of the ECU 11 will be described.

  The driving characteristic estimation unit 16 has a function of estimating driving characteristics when the driver drives the vehicle.

More specifically, the driving characteristic estimation unit 16 uses the angle θi input from the line-of-sight detection unit 12 to calculate the forward gaze distance Li at which the driver gazes ahead by the following equation (1) (see FIG. 2). ).
Li = H1 / tanθi (1)
Here, H1 represents the eye height of the driver 1, and θi represents the angle formed by the face direction vector Ai with respect to the horizontal plane.

  The forward gaze distance Li is an amount indicating the driving characteristics characterized by the driving method of the driver 1. When the driver is driving while looking at the vicinity of the vehicle, the forward gaze distance Li is small, and when the driver is driving while looking at the distance, the forward gaze distance is Li increases.

During operation of the driving support device 10, the driving characteristic estimation unit 16 accumulates the forward gaze distance Li for a certain period of time, and outputs the average forward gaze distance L calculated by the following equation (2) to the driving characteristic determination unit 17. .
L = ΣLi / n (2)
Here, n indicates the number of samples of the forward gaze distance Li accumulated for a certain time.

  The driving characteristic determination unit 17 has a function of determining whether or not the driving characteristic estimated by the driving characteristic estimation unit 16 is suitable for the traveling state of the vehicle.

  More specifically, the driving characteristic determination unit 17 sets the reference gaze distance L0, and determines that the driving characteristic is not suitable for the driving situation when the average forward gaze distance L is equal to or less than the reference gaze distance L0.

  During operation of the driving support device 10, the driving characteristic determination unit 17 acquires the vehicle speed V from the vehicle speed sensor 13, sets the reference gaze distance L0 according to the acquired vehicle speed V, and sets the set reference gaze distance L0. The magnitude relationship with the average forward gaze distance L is determined, and the determination result is output to the vehicle characteristic change instruction unit 18 and the driving method teaching unit 19.

  For example, the reference gaze distance L0 is set to be larger as the vehicle speed V is higher. In this way, a reference gaze distance L0 suitable for the vehicle speed V of the vehicle 3 can be set.

  The driving characteristic change instructing unit 18 instructs the vehicle characteristic changing unit 14 to change the vehicle characteristic when the driving characteristic determining unit 17 determines that the driving characteristic is not suitable for the traveling state of the vehicle.

  More specifically, the driving characteristic changing unit 18 receives the determination result that the driving characteristic is not suitable for the driving state of the vehicle from the driving characteristic determining unit 17 so as to improve the vehicle stability. Is output to the vehicle characteristic changing unit 14.

  During operation of the driving support device 10, the driving characteristic changing unit 18 generates a setting signal according to the comparison result output by the driving characteristic determining unit 17, and outputs the generated signal to the vehicle characteristic changing unit 14. .

  The driving method teaching unit 19 teaches a driving method in which the driving characteristic is adapted to the traveling state of the vehicle when the driving characteristic determining unit 17 determines that the driving characteristic is not suitable for the traveling state of the vehicle.

  More specifically, the driving method teaching unit 19 increases the average forward gazing distance L when the driving characteristic determining unit 17 receives a determination result that the driving characteristic is not suitable for the traveling state of the vehicle. Is transmitted to the vehicle characteristic changing unit 14. For example, the instruction signal causes the teaching unit 15 to output a message such as “Let's drive a long distance”.

  During operation of the driving support device 10, the driving method teaching unit 19 generates an instruction signal according to the comparison result output by the driving characteristic determination unit 17 and outputs the generated instruction signal to the teaching unit 15.

  Next, the operation of the driving support device 10 will be described with reference to FIG. Here, FIG. 3 is a flowchart illustrating an example of a processing procedure of the driving support device 10. This process is repeatedly executed at a predetermined timing, for example, in the driving support device 10 from when the driving support device 10 is turned on until it is turned off.

  First, the angle θi detected by the line-of-sight detection unit 12 is acquired by the motion characteristic estimation unit 16 (S1).

  Next, the forward gaze distance Li is calculated by the motion characteristic estimation unit 16 using the angle θi acquired in S1 and the equation (1) (S3).

  Next, the average forward gaze distance L is calculated using Expression (2), and is output to the driving characteristic determination unit 17 (S5). Here, S5 is preferably performed after S1 and S3 are repeated for a certain period of time and the forward gaze distance Li is accumulated in the motion characteristic estimation unit 16.

  Next, the vehicle speed V detected by the vehicle speed sensor 13 is acquired by the motion characteristic determination unit 17 (S7).

  Next, the motion characteristic determination unit 17 sets the reference gaze distance L0 according to the acquired vehicle speed V, and determines whether or not the average forward gaze distance L is larger than the reference gaze distance L0. Thereafter, the determination result is output to the vehicle characteristic change instruction unit 18 and the driving method teaching unit 19. (S9).

  When the determination in S <b> 9 is negative, a signal for setting the vehicle characteristic of the vehicle characteristic change unit 14 to the first vehicle characteristic is generated in the vehicle characteristic change instruction unit 18 and is output to the vehicle characteristic change unit 14. Here, the first vehicle characteristic indicates a basic characteristic set at the time of industrial shipment. In the vehicle characteristic changing unit 14 that has received the signal, the first vehicle characteristic is set as the vehicle characteristic (S11).

  When the determination in S <b> 13 is affirmed, a signal for setting the vehicle characteristic of the vehicle characteristic change unit 14 to the second vehicle characteristic is generated in the vehicle characteristic change instruction unit 18 and is output to the vehicle characteristic change unit 14. Here, the second vehicle characteristic indicates a characteristic set so as to improve the running stability of the vehicle as compared with the first vehicle characteristic. The vehicle characteristic changing unit 14 that has received the signal sets the second vehicle characteristic as the vehicle characteristic (S13).

  Subsequent to S <b> 13, the driving method teaching unit 19 generates a signal for transmitting a driving method for increasing the average forward gazing distance L to the driver 1 and outputs the signal to the teaching unit 15. Upon receiving the instruction signal, the teaching unit 15 transmits a driving method suitable for the driving situation to the driver by voice or monitor display. Thereafter, this process is terminated.

  As described above, according to the driving support apparatus 10 according to the first embodiment, the driving characteristics that are characterized by the driving method when the driver drives the vehicle are estimated by the driving characteristics estimation unit 16 and the estimated driving is performed. When the driving characteristic determination unit 17 determines that the characteristic is not suitable for the vehicle driving situation, the vehicle characteristic of the vehicle characteristic changing unit 14 is changed by the vehicle characteristic changing instruction unit 14 and suitable for the driving situation of the vehicle 3. The driving method is taught to the driver by the driving method teaching unit 19. Therefore, the driver 1 can easily grasp a driving method suitable for the traveling state of the vehicle 3 without being confused by changes in vehicle characteristics.

  Further, when the average forward gaze distance L at which the driver 1 gazes ahead is estimated by the driving characteristic estimation unit 16, and the driving characteristic judgment unit 17 determines that the average forward gaze distance L is equal to or less than the reference gaze distance L0. Then, the vehicle characteristic of the vehicle characteristic changing unit 14 is set to the vehicle characteristic 2 for improving the running stability of the vehicle, and a message “Let's drive far away” is sent to the driver 1 by the driving method teaching unit 19. Generated. Therefore, even when the driver 1 is driving in the vicinity of the vehicle 3, the driver can grasp the driving method with a larger forward gaze distance Li suitable for traveling of the vehicle 1.

Further, the reference gaze distance L0 is set to be larger as the vehicle speed V is higher in the driving characteristic determination unit 17. Therefore, the reference gaze distance L0 suitable for the vehicle speed V of the vehicle 3 can be set.
(Second embodiment)

  Next, with reference to FIGS. 4-6, the structure of the driving assistance apparatus 20 which concerns on 2nd Embodiment is demonstrated. Here, FIG. 4 is a diagram showing an outline of the configuration of the driving support apparatus according to the second embodiment, FIG. 5 is a diagram for explaining an example of a detection method for detecting the vehicle position and direction, and FIG. It is a figure for demonstrating a driving | running | working deviation.

  Referring to FIGS. 1 and 4, the difference in configuration between the driving support device 20 and the driving support device 20 according to the first embodiment is that a vehicle position / direction detection unit instead of the line-of-sight detection unit 12 and the vehicle speed sensor 13. 22.

  The vehicle position / direction detection unit 22 functions as vehicle position / direction detection means for estimating the position and orientation of the vehicle in the road.

  More specifically, from a photographed image obtained by photographing a road ahead with a CMOS camera or the like (see FIG. 5A), the position di of the vehicle 3 on the road 2 and the traveling direction of the vehicle 3 in the model as shown in FIG. An angle αi formed by the vector Bi with respect to the lane direction is detected.

  During operation of the driving support device 20, the vehicle position / direction detection unit 22 extracts the position di and the angle αi at a predetermined time interval, and a driving characteristic estimation unit 26 described later with a signal corresponding to the position di and the angle αi. To enter.

  Here, an outline of a method for detecting the position di and the angle αi shown in FIG. 6 will be described with reference to FIG. FIG. 5A shows a photographed image obtained by photographing the road, and FIG. 5B is a plan view showing the relationship between the shape of the road 2 and the vehicle 3. 5 shows the vehicle 3 traveling parallel to the road boundary white lines P and Q, and the figure on the right side of FIG. 5 shows the position where the vehicle 3 deviates from the center of the road 2 with two road boundary white lines. When the vehicle is traveling with an inclination with respect to P and Q, respectively.

  Due to the difference in the arrangement of the camera reference point X and the two road boundary white lines P and Q in the photographed image pair shown in FIG. 5A, the shape of the road 2 as shown in FIG. The positional relationship of the vehicle 3 on the road 2 is estimated, and the position di and the angle αi of the vehicle 3 can be calculated.

  Returning to FIG. 4 and continuing the description, the driving characteristic estimation unit 26 has a function of estimating a driving characteristic when the driver drives the vehicle.

More specifically, using the position di and the angle αi input from the vehicle position / direction detection unit 22, a travel deviation ei indicating the degree of deviation between the lane direction of the road 2 and the traveling direction in which the vehicle 3 travels is expressed as follows: The calculation is performed according to equation (3) (see FIG. 6).
ei = di + D · tan (αi) (3)
Here, D indicates the distance traveled after a certain time.

  The travel deviation ei is an amount indicating the driving characteristics characterized by the driving method of the driver 1. When the driver takes a driving method of driving while looking at the vicinity of the vehicle, the travel deviation ei increases. When the driver takes a driving method of driving while looking at a distance, the driving deviation ei is Get smaller.

During operation of the driving support device 20, the driving characteristic estimation unit 26 samples the driving deviation ei for a predetermined time, and outputs the standard deviation E of the driving deviation calculated by the following equation (4) to the driving characteristic determination unit 27.
E = √ (Σei ² ) / n (4)
Here, n indicates the number of samples of the running deviation ei sampled in a certain time.

  The driving characteristic determination unit 27 has a function of determining whether or not the driving characteristic estimated by the driving characteristic estimation unit 26 is suitable for the traveling state of the vehicle.

  More specifically, the driving characteristic determination unit 27 sets the reference deviation E0, and determines that the driving characteristic is not suitable for the driving situation when the standard deviation E is larger than the reference deviation E0.

  During operation of the driving support device 10, the driving characteristic determination unit 27 sets the reference deviation E0, determines the magnitude relationship between the set reference deviation E0 and the standard deviation E of the running deviation ei, and the determination result is used as the vehicle characteristic. The data is output to the change instruction unit 18 and the operation method teaching unit 29.

  The driving method teaching unit 29 has a function of teaching a driving method in which the driving characteristic is adapted to the driving condition of the vehicle when the driving characteristic determining unit 27 determines that the driving characteristic is not appropriate for the driving condition of the vehicle. .

  More specifically, the driving method teaching unit 29 operates a driving method in which the standard deviation E is reduced when the driving characteristic determining unit 27 receives a determination result that the driving characteristic is not suitable for the driving state of the vehicle. An instruction signal to be transmitted to the person 1 is output to the teaching unit 15. For example, the instruction signal causes the teaching unit 15 to output a message such as “Let's drive a long distance”.

  During operation of the driving support device 10, the driving method teaching unit 29 generates an instruction signal according to the determination result output by the driving characteristic determination unit 27, and outputs the generated instruction signal to the teaching unit 15.

  Next, the operation of the driving support device 20 will be described with reference to FIG. Here, FIG. 7 is a flowchart illustrating an example of a processing procedure of the driving support device 20. This process is repeatedly executed at a predetermined timing in the driving support device 20 from when the power of the driving support device 20 is turned on to when it is turned off.

  First, the position di and the angle αi detected by the vehicle position / direction detection unit 22 are acquired by the motion characteristic estimation unit 26, and the travel deviation ei is calculated by the motion characteristic estimation unit 16 using equation (3) (S21). .

  Next, the standard deviation E of the running deviation ei is calculated using the equation (4), and is output to the driving characteristic determination unit 27 (S23). Here, S23 is preferably performed after S21 is repeated for a predetermined time and the running deviation ei is accumulated in the motion characteristic estimation unit 16.

  Next, the motion characteristic determination unit 27 sets a reference deviation E0, and determines whether or not the standard deviation E is larger than the reference deviation E0. Thereafter, the determination result is output to the vehicle characteristic change instruction unit 18 and the driving method teaching unit 29. (S25).

  If the determination in S25 is negative, a signal for setting the vehicle characteristic of the vehicle characteristic change unit 14 to the first vehicle characteristic is generated in the vehicle characteristic change instruction unit 18 and is output to the vehicle characteristic change unit 14. Here, the first vehicle characteristic indicates a basic characteristic set at the time of industrial shipment. In the vehicle characteristic changing unit 14 that has received the signal, the first vehicle characteristic is set as the vehicle characteristic (S27).

  When the determination in S25 is affirmed, a signal for setting the vehicle characteristic of the vehicle characteristic change unit 14 to the second vehicle characteristic is generated in the vehicle characteristic change instruction unit 18 and is output to the vehicle characteristic change unit 14. Here, the second vehicle characteristic indicates a characteristic set so as to improve the running stability of the vehicle as compared with the first vehicle characteristic. The vehicle characteristic changing unit 14 that has received the signal sets the second vehicle characteristic as the vehicle characteristic (S29).

  Subsequent to S <b> 29, the driving method teaching unit 29 generates a signal for transmitting a driving method for reducing the driving deviation ei to the driver 1 and outputs the signal to the teaching unit 15. Upon receiving the instruction signal, the teaching unit 15 transmits a driving method suitable for the driving situation to the driver by voice or monitor display (S31). Thereafter, this process is terminated.

  As described above, according to the driving support apparatus 20 according to the second embodiment, the driving deviation ei indicating the degree of deviation between the lane direction of the road 2 on which the vehicle 3 runs and the traveling direction in which the vehicle 3 travels is estimated as driving characteristics. When the driving characteristic determination unit 27 determines that the standard deviation E of the running deviation is larger than the reference deviation E0, the vehicle characteristic changing unit 14 changes the vehicle characteristic 2 to the vehicle characteristic 2 that improves the running stability of the vehicle 3. The vehicle characteristic is set, and a message “Let's drive a long distance” for the driver 1 is generated by the driving method teaching unit 29. Therefore, even when the driver 1 is driving with a large travel deviation ei when looking at the vicinity of the vehicle 3, the driver can grasp the driving method with a smaller travel deviation ei suitable for the travel of the vehicle 1.

  Further, the driving characteristic estimation unit 26 statistically calculates the traveling deviation ei, and the driving characteristic determination unit 27 determines whether the driving characteristic is appropriate based on the standard deviation E of the traveling deviation whose reliability is improved. As a result, the teaching of the driving method by incorrect determination of suitability is reduced, so that the driver 1 can easily grasp the driving method suitable for the traveling state of the vehicle 3.

  The driving support device according to the present invention is not limited to the above embodiment, and various other modifications are possible.

  For example, in the operation of the driving support device 10 of the first embodiment, the configuration in which the first and second vehicle characteristics are set according to the magnitude relationship with one reference gaze distance L0 has been shown. The configuration may be such that three or more vehicle characteristics are set according to the reference gaze distance.

It is a figure which shows the structure outline | summary of the driving assistance device which concerns on 1st Embodiment. It is a figure for demonstrating a front gaze distance. It is a flowchart which shows an example of the process sequence of the driving assistance device shown in FIG. It is a figure which shows the structure outline | summary of the driving assistance device which concerns on 2nd Embodiment. It is a figure for demonstrating an example of the detection method which detects a vehicle position and direction. It is a figure for demonstrating a driving | running | working deviation. It is a flowchart which shows an example of the process sequence of the driving assistance device shown in FIG.

Explanation of symbols

  DESCRIPTION OF SYMBOLS 1 ... Driver, 2 ... Road, 3 ... Vehicle, 10, 20 ... Driving support device, 11, 21 ... ECU, 12 ... Eye-gaze detection part, 13 ... Vehicle speed sensor (vehicle speed detection means), 14 ... Vehicle characteristic change part ( Vehicle characteristic changing means), 15 ... teaching part (driving method teaching means), 16, 26 ... driving characteristic estimating part (driving characteristic estimating means), 17, 27 ... driving characteristic judging part (driving characteristic judging means), 18 ... vehicle Characteristic change instruction section (vehicle characteristic changing means), 19, 29... Driving method teaching section (driving method teaching means), 22... Vehicle position / direction detecting section.

Claims (5)

A driving support device that changes a vehicle characteristic according to a driving characteristic characterized by a driving method in which the driver drives the vehicle,
Driving characteristic estimating means for estimating the driving characteristic;
Driving characteristic determination means for determining whether or not the estimated driving characteristic is suitable for the traveling state of the vehicle;
Vehicle characteristic changing means for changing the vehicle characteristic when the driving characteristic determining means determines that the driving characteristic is not suitable for the driving situation;
Driving method teaching means for teaching a driving method to the driver so that the driving characteristic is adapted to the driving situation when the driving characteristic judging unit determines that the driving characteristic is not suitable for the driving situation;
A driving support apparatus comprising:
The driving characteristic estimation means estimates a forward gaze distance at which the driver gazes forward as the driving characteristic,
The driving characteristic determination means determines that the driving characteristic is not suitable for the driving situation when the estimated forward gaze distance is equal to or less than a reference gaze distance,
The vehicle characteristic changing means changes the vehicle characteristic to improve the running stability of the vehicle when the estimated forward gaze distance is equal to or less than a reference gaze distance,
The driving method teaching means teaches the driving method to increase the forward gaze distance to the driver when the estimated forward gaze distance is equal to or less than a reference gaze distance;
The driving support apparatus according to claim 1, wherein:
Vehicle speed detecting means for detecting the vehicle speed of the vehicle,
The driving characteristic determination means sets the reference gaze distance according to the vehicle speed;
The driving support device according to claim 2, wherein:
The driving characteristic estimation means estimates a driving deviation indicating a degree of deviation between a lane direction of a road on which the vehicle runs and a traveling direction on which the vehicle travels as the driving characteristic,
The driving characteristic determining means determines that the driving characteristic is not suitable for the driving situation when the estimated driving deviation is larger than a reference deviation,
The vehicle characteristic changing means changes the vehicle characteristic so as to improve the running stability of the vehicle when the estimated running deviation is larger than a reference deviation.
The driving method teaching means teaches the driving method so as to reduce the driving deviation to the driver when the estimated driving deviation is larger than the reference deviation;
The driving support apparatus according to claim 1, wherein:
  The driving support apparatus according to claim 4, wherein the driving characteristic estimation unit estimates a standard deviation of the running deviation sampled at a predetermined time.

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