JP2008302741A - Driving support device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a driving support device capable of performing safe driving support even with respect to a driver with a low degree of awakening. <P>SOLUTION: A drinking detection device 3, a camera sensor 4 and a distance detection sensor 5 are connected to an ECU 2 of a parking support device 1. Based on a drinking determination result signal transmitted from the drinking detection device 3, an image transmitted from the camera 4 and distance information transmitted from the distance detection sensor 5, the ECU 2 prepares driving support information and outputs it to a display 6 and a speaker 7. The ECU 2 is provided with a drinking determination part 8, a parking frame recognition part 9, an obstacle recognition part 10, an obstacle distance recognition part 11, a drawing image processing part 12, and a warning sound generation part 13. When a parking frame is displayed as parking support information, in the case where it is determined that a driver is drinking, the drawing image processing part 12 reduces the size of the parking frame and displays it, compared to the case where it is determined that the driver is not drinking. <P>COPYRIGHT: (C)2009,JPO&INPIT

Description

  The present invention relates to a driving support device that outputs driving support information.

2. Description of the Related Art Conventionally, driving assistance devices that perform driving assistance by guiding a vehicle when parking in a parking lot behind the vehicle are known. This driving assistance device images the rear of the vehicle with a camera mounted on the vehicle, and generates a guide line on which the vehicle should travel from the captured image. And the driving assistance image which superimposed the guide cent on the image imaged with the camera is displayed on the display installed in the vehicle interior. Furthermore, this driving assistance apparatus displays a guide line at a position separated from the other vehicle by a predetermined distance in order to improve safety against contact with the other vehicle (see, for example, Patent Document 1).
JP 2003-291759 A

  By the way, in the above-described driving support device, the guide line is always displayed at a predetermined distance from the other vehicle as the driving support image, so the driver displays the guide line with a margin in the distance from the other vehicle. It will be recognized that.

  For this reason, if the driver uses the above driving assistance device while drinking, it is determined that the vehicle will not come into contact with other vehicles even if the vehicle is driven somewhat rough, even though the determination ability is reduced. As a result, there is a problem in that there is a possibility of contact with another vehicle.

  SUMMARY OF THE INVENTION An object of the present invention is to provide a driving assistance device that can provide safe driving assistance to a driver with a low arousal level.

  The driving support device of the present invention outputs peripheral information acquisition means for acquiring peripheral information of a vehicle, driving support information generation means for generating driving support information for supporting driving based on the peripheral information, and driving support information Driving support information output means, and arousal level determination means for determining the driver's arousal level, and the driving support information output means makes the driving support information safer as the awakening level determined by the awakening level determination means decreases. The output is characterized by having a large margin on the side.

  According to the driving support apparatus of the present invention, the driving support information generated based on the surrounding information of the vehicle is output with a large margin on the safe side as the awakening level determined by the awakening level determination unit is lower. This makes it possible for a driver with a low arousal level to feel that the range for safe driving is narrow. For this reason, the concentration of a driver with a low arousal level can be increased, and safe driving assistance can be performed.

  In this case, the driving support information is a display frame of an area where the vehicle is about to enter, and the driving support information generating unit preferably displays the display frame smaller as the awakening level determined by the awakening level determination unit is lower. . According to this driving support apparatus, the lower the awakening level determined by the awakening level determination means, the smaller the display frame of the area where the vehicle is going to enter, so that the driver with a low awakening level can enter Possible areas can be felt small. For this reason, the concentration of a driver with a low arousal level can be increased and the vehicle can enter the area. In addition, when the degree of arousal is determined to be lower than when it is determined that the degree of arousal is high, there is a margin of space between the displayed display frame and the boundary of the actual area. Even if the vehicle protrudes from the display frame displayed due to the decrease in the degree, the possibility of contact with an obstacle existing outside the area can be reduced.

  Further, the driving support information is an image of an obstacle existing around the vehicle, and the driving support information generation unit displays the obstacle image larger as the awakening level determined by the awakening level determination unit is lower. Is preferred. According to this driving support apparatus, the lower the arousal level determined by the arousal level determination means, the larger the image of the obstacle existing around the vehicle is displayed, so that the driver with a low arousal level is obstructed. Can feel big. For this reason, it is possible to increase the concentration of a driver with a low arousal level and drive the vehicle so as to avoid an obstacle. Moreover, the space between the image of the displayed obstacle and the actual obstacle has more room when it is determined that the degree of arousal is lower than when it is determined that the degree of arousal is high. Even if the vehicle is advanced to the position of the obstacle image displayed when the awakening level is lowered, the possibility of contact with the obstacle can be reduced.

  Further, the driving support information is an image of an obstacle existing around the vehicle, and the driving support information generation unit displays the obstacle image closer as the awakening level determined by the awakening level determination unit is lower. It is preferable. According to this driving support apparatus, the lower the arousal level determined by the arousal level determination means, the closer the obstacle image existing around the vehicle is displayed, so that You can feel that the distance to the object is short. For this reason, it is possible to increase the concentration of a driver with a low arousal level and to perform an obstacle avoiding operation such as a brake operation at an early stage. Moreover, the space between the image of the displayed obstacle and the actual obstacle has more room when it is determined that the degree of arousal is lower than when it is determined that the degree of arousal is high. Even if the obstacle avoidance operation is delayed with respect to the image of the obstacle displayed due to the decrease in the arousal level, the possibility of contact with the obstacle can be reduced.

  In addition, the driving support information is a warning sound according to the distance to the obstacle, and the driving support information generation unit is shorter than the distance to the obstacle as the awakening level determined by the awakening level determination unit is lower. It is preferable to generate a warning sound. According to this driving support device, the lower the wakefulness determined by the wakefulness determining means, the lower the wakefulness, by generating a warning sound when the distance to the obstacle is shorter, You can feel that the distance to the obstacle is short. For this reason, it is possible to increase the concentration of a driver with a low arousal level and to perform an obstacle avoiding operation such as a brake operation at an early stage. Moreover, when the degree of arousal is determined to be lower than when it is determined that the degree of arousal is high, the distance between the distance to the obstacle recognized by the warning sound and the distance to the actual obstacle is between Since there is a margin of distance, even if the driver delays the obstacle avoidance operation based on the warning sound due to a decrease in the arousal level, the possibility of contacting the obstacle can be reduced.

  ADVANTAGE OF THE INVENTION According to this invention, a safe driving assistance can be performed also to the driver | operator with a low alertness degree.

  DESCRIPTION OF EMBODIMENTS Hereinafter, a preferred embodiment of a driving assistance apparatus according to the present invention will be described in detail with reference to the drawings. In the present embodiment, the driving support device according to the present invention is applied to a parking support device.

  FIG. 1 is a diagram showing a block configuration of a driving support apparatus according to an embodiment of the present invention. As shown in the figure, the parking assist device 1 of this embodiment includes an ECU (Electronic Control Unit) 2. The ECU 2 is connected with a drinking detection device 3, a camera sensor 4, and a distance detection sensor 5. Then, the ECU 2 outputs driving support information to the display 6 and the speaker 7.

  The drinking detection device 3 is a detection device that detects the alcohol concentration in the air. The alcohol detection device 3 is attached in the vicinity of the driver's seat such as the steering or the headrest of the driver's seat, and detects the alcohol concentration from the breath blown from the driver. Then, the drinking detection device 3 transmits alcohol concentration information indicating the alcohol concentration to the ECU 2.

  The camera sensor 4 is an image pickup device that is attached to the back door of the vehicle and picks up an image behind the vehicle. Then, the camera sensor 4 transmits the captured rear image to the ECU 2.

  The distance detection sensor 5 is a radar system sensor that measures a distance to an obstacle existing around the vehicle using a distance measurement signal such as a millimeter wave, an ultrasonic wave, or a laser. The distance detection sensor 5 transmits a distance measurement signal around the vehicle and receives a reflected wave from an obstacle existing around the vehicle. And the distance detection sensor 5 measures the distance to the obstacle which exists in the circumference | surroundings of a vehicle based on the time which transmitted the ranging signal, and the time which received the reflected wave. Then, the distance detection sensor 5 transmits distance information indicating the distance to the detected obstacle to the ECU 2.

  The display 6 is an image display device that is disposed at a position visible to the driver and displays a parking assistance image. The display 6 is configured by a head-up display, an HMI (Human Machine Interface), or the like. The speaker 7 is a sound output device that outputs a warning sound instructed from the ECU 2.

  Moreover, ECU2 produces | generates driving assistance information based on the alcohol concentration information transmitted from the drinking detection apparatus 3, the back image transmitted from the camera sensor 4, and the distance information transmitted from the distance detection sensor 5, Driving support information is output to the display 6 and the speaker 7. Therefore, the ECU 2 includes a drinking determination unit 8, a parking frame recognition unit 9, an obstacle recognition unit 10, an obstacle distance recognition unit 11, a drawing processing unit 12, and a warning sound generation unit 13. The ECU 2 is mainly configured by a computer including a CPU, a ROM, and a RAM, for example.

  The drinking determination unit 8 acquires alcohol concentration information transmitted from the drinking detection device 3 and determines whether or not the driver is drinking. That is, the drinking determination unit 8 determines the amount of alcohol consumed by the driver according to the alcohol concentration indicated by the alcohol concentration information, and further determines that the alcohol has not been drunk if the alcohol concentration is less than a predetermined threshold. If it is above the value, it is determined that you are drinking.

  The parking frame recognition unit 9 acquires a rear image transmitted from the camera sensor 4, and recognizes a parking frame that serves as a target parking position based on the rear image.

  The obstacle recognizing unit 10 acquires a rear image transmitted from the camera sensor 4, detects an obstacle existing around the vehicle based on the image, and recognizes the shape of the obstacle.

  The obstacle distance recognition unit 11 recognizes the distance to the obstacle existing around the vehicle based on the distance information transmitted from the distance detection sensor 5.

  The drawing processing unit 12 generates a parking support image to be displayed on the display 6 as parking support information based on the drinking determination result of the drinking determination unit 8. The parking support image includes a parking frame image in which a parking display frame indicating a parking frame is superimposed on a rear image of the vehicle, an expected trajectory image in which an expected trajectory of the rear end of the own vehicle is superimposed on a rear image of the vehicle, and the own vehicle. There is a bird's-eye view image in which an image of an obstacle is superimposed on a model image showing a state seen from above, and a displayed parking assistance image is appropriately selected by the driver. And the drawing process part 12 displays the produced | generated parking assistance image on the display 6. FIG.

  The warning sound generation unit 13 generates a warning sound that informs that an obstacle is approaching as parking assistance information based on the drinking determination result of the drinking determination unit 8. The warning sound generation unit 13 registers the generation cycle for generating a warning sound and the distance from the host vehicle to the obstacle, and the shorter the distance to the obstacle, the generation cycle of the warning sound. Is shorter. Then, the warning sound generation unit 13 causes the generated warning sound to be output to the speaker 7.

  Next, the operation of the parking assistance apparatus 1 according to the present embodiment will be described with reference to FIG.

  FIG. 2 is a flowchart showing the operation of the parking assistance apparatus.

  As shown in the drawing, in the ECU 2, when the rear image transmitted from the camera sensor 4 is acquired, the parking frame recognition unit 9 performs a parking frame recognition process (step S1). In this parking frame recognition process, first, a rear image is acquired from the camera sensor 4. And the parking frame used as the standard of a target parking position is detected from this back image on the basis of the white line for identifying a target parking position, or the parking position of other vehicles.

  Next, the obstacle recognition unit 10 performs an obstacle recognition process (step S2). In this obstacle recognition process, first, a rear image is acquired from the camera sensor 4. The rear image is scanned to search for an obstacle. When an obstacle is detected, the shape of the obstacle is detected.

  Next, distance recognition processing to the obstacle is performed by the obstacle distance recognition unit 11 (step S3). In this distance measurement process, distance information is acquired from the distance detection sensor 5, and the distance from the vehicle to the obstacle is detected.

  Then, guidance for prompting a drinking test is performed to cause the driver to perform a drinking test (step S4), and the alcohol concentration information transmitted from the drinking detection device 3 is acquired by the drinking determination unit 8. Then, the alcohol concentration indicated by the alcohol concentration information is compared with a predetermined threshold value to determine the amount of alcohol consumed by the driver and to determine whether or not the driver is drinking (step S5).

  If it is determined in step S5 that alcohol has not been drunk, the drawing processing unit 12 first performs normal drawing processing (step S6). In this normal drawing process, a parking frame image, an expected trajectory image, and an overhead image are generated. The parking frame image is generated by superimposing a parking display frame indicating the parking frame detected by the parking frame recognition unit 9 on the rear image. The predicted trajectory image is generated by obtaining an expected trajectory at the rear end of the vehicle based on the tilt angle of the steered wheels and superimposing an image indicating the predicted trajectory on the rear image. The bird's-eye view image is generated by superimposing an obstacle display frame having a shape detected by the obstacle recognition unit 10 on a model image obtained by bird's-eye view from above. And based on a driver | operator's instruction | indication, either the image of a parking frame image, an estimated locus | trajectory image, and a bird's-eye view image, or several images are displayed on the display 6. FIG.

  Next, the warning sound generation unit 13 performs a normal warning sound generation process (step S7). In the normal warning sound generation processing, the generation cycle registered corresponding to the distance to the obstacle recognized by the obstacle distance recognition unit 11 is read. And the warning sound of this generation cycle is output from the speaker 7.

  On the other hand, if it is determined in step S5 that the person is drinking, the drawing processing unit 12 first performs a drawing process corresponding to the amount of drinking (step S8). In the drawing process according to the amount of drinking, a parking frame image, an expected trajectory image, and an overhead image are generated. In generating the parking frame image, first, the parking display frame indicating the parking frame detected by the parking frame recognition unit 9 is reduced by image processing. And it produces | generates by superimposing this reduced parking display frame on a back image. The predicted trajectory image first obtains an expected trajectory at the rear end of the vehicle based on the tilt angle of the steered wheels, and widens the expected trajectory by image processing. And it produces | generates by superimposing this widened estimated locus | trajectory on a back image. The bird's-eye view image first enlarges the obstacle display frame that forms the shape of the obstacle detected by the obstacle recognition unit 10 by image processing and brings it closer to the host vehicle. Then, the obstacle display frame approaching the larger size is generated by superimposing the obstacle display frame on a model image obtained by looking down on the vehicle from above. And based on a driver | operator's instruction | indication, either the image of a parking frame image, an estimated locus | trajectory image, and a bird's-eye view image, or several images are displayed on the display 6. FIG.

  FIG. 3 shows a display example when a parking frame image is displayed. In the figure, the parking display frame B1 is displayed when it is determined that the person is not drinking, and the parking display frame B2 is displayed when it is determined that the person is drinking. That is, when it is determined that the parking frame image is not drunk, the parking display frame B1 is displayed at substantially the same position as the white line A indicating the boundary of the target parking position α, but when it is determined that the person is drinking. Displays a parking display frame B2 smaller than the parking display frame B1.

  FIG. 4 shows a display example when displaying an expected trajectory image. In the figure, the predicted trajectory C1 is displayed when it is determined that the person is not drinking, and the expected trajectory C2 is displayed when it is determined that the person is drinking. In other words, the predicted trajectory image displays the expected trajectory C1 at the rear end of the vehicle toward the target parking position β when it is determined that the vehicle is approaching backward toward the target parking position β or not drinking. However, when it is determined that the person is drinking, an expected trajectory C2 wider than the expected trajectory C1 is displayed.

  FIG. 5 shows a display example when displaying an overhead image. In the figure, when it is determined that the person is not drinking, the obstacle display frames D1 and E1 and the 0.5m line F1 indicating the position 0.5 m away from the own vehicle G are displayed, and it is determined that the person is drinking. In the case, the obstacle display frames D2 and E2 and the 0.5 m line F2 are displayed. That is, the overhead image displays obstacles at the positions of the obstacles D and E detected by the obstacle recognition unit 10 when it is determined that the obstacles D and E around the host vehicle G are not drunk. Frames D1 and E1 are displayed, and a 0.5 m line F1 is displayed at a position 0.5 m from the host vehicle G. However, when it is determined that the person is drinking, it is more than the obstacle display frames D1 and E1. Obstacle display frames D2 and E2 are displayed at a position that is large and close to the host vehicle G, and a 0.5 m line F2 is displayed at a position farther from the host vehicle G than 0.5 m.

  Next, a warning sound generation process corresponding to the amount of drinking is performed by the warning sound generation unit 13 (step S9). In the warning sound generation process corresponding to the amount of drinking, the generation period registered corresponding to the distance shorter than the distance to the obstacle recognized by the obstacle distance recognition unit 11 is read. Then, the warning sound of the read generation cycle is output from the speaker 7.

  Thus, according to the parking assistance apparatus 1 which concerns on this embodiment, the parking frame image which made the parking display frame which shows a target parking position small is displayed, so that the amount of drinking determined by the drinking determination part 8 is large. Therefore, the target parking position can be made to feel small for a driver in a drunk state. For this reason, the concentration of the driver who is drunk can be enhanced and the vehicle can enter the parking lot. Moreover, compared to the case where it is determined that there is no drinking, the case where it is determined that it is drinking is more space between the displayed parking display frame and the actual target parking position. Even if the vehicle protrudes from the parking display frame that is displayed as a result, the possibility of contacting an obstacle existing outside the target parking position can be reduced.

  In addition, the larger the amount of drinking determined by the drinking determination unit 8, the larger the obstacle display frame indicating obstacles present around the vehicle is displayed. You can make things feel big. For this reason, it is possible to increase the concentration of the driver who is drinking and to drive the vehicle so as to avoid obstacles. Furthermore, compared to the case where it is determined that there is no drinking, the case where it is determined that it is a drinking state gives more space between the obstacle display frame displayed in the image and the actual obstacle, so drinking Even if the vehicle is advanced to the position of the obstacle display frame displayed when the state is reached, the possibility of contact with the obstacle can be reduced.

  In addition, as the amount of drinking determined by the drinking determination unit 8 increases, an obstacle display frame indicating an obstacle existing around the vehicle is displayed closer to the driver who is in the drinking state. You can feel that the distance to the object is short. For this reason, it is possible to increase the concentration of a driver who is in a drunk state and to perform an obstacle avoiding operation such as a brake operation at an early stage. Moreover, compared to the case where it is determined that it is not drinking, the case where it is determined that it is drinking is more space between the displayed obstacle display frame and the actual obstacle. Even if the obstacle avoidance operation for the obstacle display frame displayed as a result is delayed, the possibility of touching the obstacle can be reduced.

  In addition, the greater the amount of alcohol determined by the alcohol determination unit 8, the warning sound of the generation cycle corresponding to the distance shorter than the distance to the obstacle is generated, so that the driver who is in the drinking state You can feel that the distance to the object is short. For this reason, it is possible to increase the concentration of a driver who is in a drunk state and to perform an obstacle avoiding operation such as a brake operation at an early stage. In addition, compared to the case where it is determined that there is no drinking, the case where it is determined that the person is drinking is between the distance to the obstacle recognized by the generation period of the warning sound and the distance to the actual obstacle. Since there is a margin of distance, even if the obstacle avoidance operation based on the generation period of the warning sound is delayed due to the drinking state, the possibility of contact with the obstacle can be reduced.

  The preferred embodiment of the present invention has been described above, but the present invention is not limited to the above embodiment. For example, in the above-described embodiment, an example in which the present invention is applied to a parking assistance device has been described. However, the present invention is not limited to a parking assistance device, and any device that outputs driving assistance information to assist driving can be used. You may apply to an apparatus.

  Further, the driving support information is not limited to the above images and warning sounds, and may be any information. For example, as illustrated in FIG. 6, an overhead image in which an obstacle display frame and an expected trajectory of the host vehicle are superimposed on a model image obtained by looking down on the vehicle from above may be used. This image shows a state where the other vehicle I is parked to the right of the host vehicle H and the vehicle is moved backward with the steering wheel tilted. In this case, when it is determined that the person is not drinking, the obstacle display frame I1 of the other vehicle I and the expected trajectory H1 of the front end of the vehicle are displayed, but when it is determined that the person is drinking, the obstacle display is displayed. An obstacle display frame I2 that is larger than the frame I1 and an expected trajectory H2 that is larger than the expected trajectory H1 are displayed.

  In the above embodiment, two types of driving support information are determined, i.e., when it is determined that the person is not drinking and when it is determined that the person is drinking. It may be changed linearly. For example, when displaying a parking frame image, the parking frame is linearly displayed in a small size according to the detected alcohol concentration, and when displaying an expected trajectory image, the predicted trajectory is linearly widened according to the detected alcohol concentration. In the case of displaying the bird's-eye view image, the obstacle may be displayed linearly large and close according to the detected alcohol concentration, and the 0.5 m line may be displayed linearly large.

  In the above embodiment, the case where the drinking level is determined as the degree of arousal has been described. However, the state of concentration such as sleepiness, mental state such as irritability, fatigue, and thoughts is determined as the degree of arousal. However, driving assistance may be provided depending on the state.

It is the figure which showed the block configuration of the parking assistance apparatus of embodiment which concerns on this invention. It is a flowchart which shows operation | movement of a parking assistance apparatus. The example of a display in the case of displaying a parking frame image is shown. The example of a display in the case of displaying an estimated locus image is shown. The example of a display in the case of displaying a bird's-eye view image is shown. The example of a display in the case of displaying another bird's-eye view image is shown.

Explanation of symbols

  DESCRIPTION OF SYMBOLS 1 ... Parking assistance apparatus, 2 ... ECU, 8 ... Drinking determination part (wakefulness determination means), 9 ... Parking frame recognition part (peripheral information acquisition means), 10 ... Obstacle recognition part (peripheral information acquisition means), 11 ... Obstacle distance recognition unit (peripheral information acquisition unit), 12 ... drawing processing unit (driving support information generation unit, driving support information output unit), 13 ... warning sound generation unit (driving support information generation unit, driving support information output unit) .

Claims (5)

Peripheral information acquisition means for acquiring peripheral information of the vehicle;
Driving support information generating means for generating driving support information for supporting driving based on the peripheral information;
Driving support information output means for outputting the driving support information;
An awakening level determination means for determining the driver's awakening level,
The driving support information output unit outputs the driving support information with a larger margin on the safe side as the awakening level determined by the awakening level determination unit is lower. The driving support information is a display frame of an area where the vehicle is about to enter,
The driving support apparatus according to claim 1, wherein the driving support information generation unit displays the display frame smaller as the awakening level determined by the awakening level determination unit is lower. The driving support information is an image of an obstacle present around the vehicle,
The driving support apparatus according to claim 1, wherein the driving support information generation unit displays an image of the obstacle larger as the awakening level determined by the awakening level determination unit is lower. The driving support information is an image of an obstacle present around the vehicle,
The driving support apparatus according to claim 1, wherein the driving support information generation unit displays an image of the obstacle closer as the awakening level determined by the awakening level determination unit is lower. The driving support information is a warning sound according to the distance to the obstacle,
2. The driving according to claim 1, wherein the driving support information generation unit generates a warning sound when the awakening level determined by the awakening level determination unit is lower than a distance to the obstacle. Support device.

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