JP2009015547A - Driving support device and method, and program - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To allow a driver to rapidly and properly take action to avoid collision of a vehicle. <P>SOLUTION: When an avoidance object that is an object having possibility of colliding with the vehicle is detected, a notification image including marks 352Lb-352Rb indicating an avoidance direction that is a direction to turn around the vehicle for avoiding the collision with the avoidance object, and an avoidance amount that is a degree of turning around the vehicle to the avoidance direction, a mark 351 showing that the avoidance object is a person, and a mark 251 showing a steering wheel that is a target operated by the driver is displayed on a display device provided inside the vehicle under control of a notification image display control part. <P>COPYRIGHT: (C)2009,JPO&INPIT

Description

  The present invention relates to a driving support apparatus and method, and a program, and more particularly, to a driving support apparatus and method and a program for supporting avoidance of a vehicle collision.

  In recent years, when an obstacle in front of a vehicle is detected using a camera, a laser radar, or the like, a collision avoidance support system that alerts the driver with an alarm and assists in avoiding a collision with the obstacle has become widespread (for example, , See Patent Document 1).

  Here, with reference to FIG. 1, a flow from when the approach to the obstacle ahead of the vehicle is detected by such a collision avoidance support system until the driver performs an action to avoid the collision with the obstacle. An example will be described.

  In step S1, the collision avoidance assistance system detects the presence or absence of an obstacle ahead of the vehicle and the distance to the obstacle based on the image captured by the camera or the output signal from the radar device, and in step S2. , Predict whether to collide with an obstacle, and judge whether to approach the obstacle. When the collision avoidance support system determines to warn of an approach to an obstacle, in step S3, the collision avoidance support system warns of an approach to the obstacle by a warning display or a warning sound.

  In step S4, the driver recognizes an obstacle ahead of the vehicle by an alarm from the collision avoidance support system. In step S5, the driver determines a method for avoiding a collision with the obstacle. An action that actually avoids a collision (hereinafter referred to as an avoidance action), such as turning to the left or right, is performed.

Japanese Patent No. 3465384

  In order to avoid a collision with an obstacle using such a collision avoidance support system, in step S5, the time required for the driver's determination is shortened, and the occurrence of a determination error is suppressed, thereby quickly and accurately. It is important to initiate avoidance actions.

  The present invention has been made in view of such a situation, and enables a driver to take an action to avoid a vehicle collision more quickly and accurately.

  The driving support device according to one aspect of the present invention provides information indicating an avoidance direction that is a direction of turning the vehicle in order to avoid a collision with the object when an object that may collide with the vehicle is detected. Display control means is provided for controlling the display device to display.

  In the driving support device according to one aspect of the present invention, when an object that may collide with the vehicle is detected, information that indicates an avoidance direction that is a direction of turning the vehicle in order to avoid a collision with the object. The display device is controlled to display.

  Therefore, the driver can take action to avoid a vehicle collision more quickly and accurately.

  This display control means is constituted by, for example, a CPU (Central Processing Unit).

  This display device includes, for example, an LCD (Liquid Crystal Display), a head-up display, and an instrument panel.

  The display control means may further control the display device to display information indicating an avoidance amount that is a degree of turning the vehicle in an avoidance direction in order to avoid a collision with an object. it can.

  As a result, the driver can take a more accurate action to avoid a vehicle collision.

  The display control means can control the display device so that information indicating the avoidance direction is superimposed on an image obtained by capturing the traveling direction of the vehicle.

  Thereby, the driver can recognize the avoidance direction more accurately.

  The display control means can further control the display device to display information indicating the type of the object.

  As a result, the driver can take an action to avoid the collision of the vehicle more accurately according to the type of the object.

  This driving support device detects an object from a sound output unit in a direction closest to the direction in which the object exists, based on the position of a driver driving the vehicle, among a plurality of sound output units included in the sound output device. Voice output control means for controlling the voice output device to output the voice to be notified can be further provided.

  This audio output control means is constituted by a CPU, for example.

  Accordingly, the driver can reliably recognize the direction in which the object that may collide exists without moving the line of sight.

  The driving assistance apparatus can further include an avoidance direction determination unit that determines an avoidance direction based on the position of the object with respect to the vehicle.

  This avoidance direction determination means is constituted by a CPU, for example.

  Thereby, the avoidance direction instruct | indicated to a driver can be determined.

  The avoidance direction determining means can further determine the avoidance amount based on the position of the object with respect to the vehicle.

  Thereby, the avoidance amount instruct | indicated to a driver can be determined.

  The driving support method and program according to one aspect of the present invention indicate an avoidance direction that is a direction of turning the vehicle to avoid a collision with an object when an object that may collide with the vehicle is detected. A display control step of controlling the display device to display the information.

  In the driving support method and program according to one aspect of the present invention, when an object that may collide with a vehicle is detected, an avoidance direction that is a direction for turning the vehicle to avoid a collision with the object is indicated. The display device is controlled to display information to be displayed.

  In this display control step, for example, when an object that may collide with the vehicle is detected, information indicating an avoidance direction that is a direction of turning the vehicle to avoid a collision with the object is displayed. And a display control step for controlling the display device by the CPU.

  Therefore, the driver can take action to avoid a vehicle collision more quickly and accurately.

  As described above, according to one aspect of the present invention, it is possible to indicate an avoidance direction that is a direction in which the vehicle is turned in order to avoid a collision with an object. In particular, according to one aspect of the present invention, the driver can take action to avoid a vehicle collision more quickly and accurately.

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

  FIG. 2 is a block diagram showing an embodiment of a collision avoidance support system to which the present invention is applied. The collision avoidance support system 101 is configured to include a camera 111, a radar device 112, a collision avoidance support device 113, a display device 114, an audio output device 115, and a vehicle control device 116. Further, the collision avoidance assistance device 113 is configured to include an object detection unit 121, an avoidance direction determination unit 122, and a notification unit 123. Further, the notification unit 123 is configured to include a notification image display control unit 131, a notification sound output control unit 132, and a notification operation control unit 133.

  The camera 111 is configured by a camera using, for example, a CCD (Charge Coupled Device) image sensor, a CMOS (Complementary Metal Oxide Semiconductor) image sensor, or a logarithmic conversion type image sensor. The camera 111 is installed so as to be able to image the front of a vehicle (hereinafter also referred to as the host vehicle) in which the collision avoidance support system 101 is installed, and the captured image (hereinafter referred to as a front image) is used as a collision avoidance support device 113. To the object detection unit 121.

  The radar device 112 uses, for example, a radio wave such as a millimeter wave or a microwave, or light such as a laser beam, to detect a vehicle, an animal, a passerby, an obstacle, etc. existing within a predetermined range in front of the own vehicle. The presence or absence of an object and the distance to the object are detected. The radar device 112 supplies a signal indicating a detection result (hereinafter referred to as a radar signal) to the object detection unit 121 of the collision avoidance assistance device 113.

  The collision avoidance assistance device 113 executes a process for assisting the driver so that the host vehicle does not collide with an object existing ahead.

  The object detection unit 121 detects the presence / absence of an object existing in front of the host vehicle, the position of the object, the moving direction, the speed, and the type based on the front image and the radar signal, and may collide with the front of the host vehicle. It is determined whether there is an object (hereinafter referred to as an avoidance target). When the object detection unit 121 determines that the avoidance target exists, the object detection unit 121 notifies the avoidance direction determination unit 122 and information indicating the position, movement direction, speed, type, and the like of the avoidance target (hereinafter referred to as avoidance target information). The image is supplied to the image display control unit 131. Further, when it is determined that the avoidance target does not exist, the object detection unit 121 supplies information indicating that the avoidance target does not exist to the notification image display control unit 131.

  As will be described later with reference to FIG. 3 and the like, the avoidance direction determination unit 122 changes the direction of the host vehicle to avoid a collision with the avoidance target based on the avoidance target information (hereinafter referred to as the avoidance direction). And a degree of turning the own vehicle in the avoidance direction in order to avoid a collision with the avoidance target (hereinafter referred to as an avoidance amount). The avoidance method detection unit 122 supplies information indicating the determined avoidance direction and the avoidance amount to the notification image display control unit 131, the notification sound output control unit 132, and the notification operation control unit 133.

  The notification unit 123 performs processing for notifying the driver of the presence / absence of the avoidance target, a method for avoiding a collision with the avoidance target, and the like.

  As will be described later with reference to FIG. 3 and the like, the notification image display control unit 131 indicates the presence / absence of an avoidance target, and instructs a method for avoiding a collision with the avoidance target, such as an avoidance direction and an avoidance amount. An image to be performed (hereinafter also referred to as a notification image) is generated, and the generated notification image is supplied to the display device 114.

  As will be described later with reference to FIG. 3 and the like, the notification sound output control unit 132 is information indicating an instruction to output a voice (hereinafter also referred to as a notification sound) that notifies the avoidance direction or the position of the avoidance target. And the generated information is supplied to the audio output device 115.

  As will be described later with reference to FIG. 3 and the like, the notification operation control unit 133 generates information indicating an operation instruction for notifying the driver of the avoidance direction, and supplies the generated information to the vehicle control device 116.

  The display device 114 includes, for example, an LCD (Liquid Crystal Display), a head-up display, an instrument panel, and the like, and displays a notification image as will be described later with reference to FIG. The display device 114 may be configured by a device dedicated to the collision avoidance support system 101, or may be configured by a device provided in advance in the host vehicle such as a display device of an automobile navigation system or an instrument panel. You may make it do.

  The audio output device 115 includes, for example, a buzzer, an alarm, a car audio system, and the like, and outputs a notification sound based on information acquired from the notification sound output control unit 132 as will be described later with reference to FIG. To do. Note that the audio output device 115 may be configured by a device dedicated to the collision avoidance support system 101, or may be configured by a device provided in advance in the own vehicle such as a car audio system.

  The vehicle control device 116 is configured by a device that controls the operation of the host vehicle such as an ECU (Engine Control Unit), for example, and is based on information acquired from the notification operation control unit 133 as described later with reference to FIG. Thus, the vehicle component mounted on the host vehicle is caused to execute an operation of notifying the driver of the avoidance direction. In addition, the vehicle control device 116 supplies information indicating the state of the host vehicle to the collision avoidance assistance device 113.

  Next, a collision avoidance support process executed by the collision avoidance support system 101 will be described with reference to the flowchart of FIG. This process is started, for example, when the engine of the own vehicle is started.

  In step S <b> 101, the object detection unit 121 starts detection processing for a front object. Specifically, the camera 111 starts imaging in front of the host vehicle and starts supplying the captured front image to the object detection unit 121. The radar device 112 starts detecting the presence or absence of an object in front of the host vehicle and the distance to the object, and starts supplying a radar signal indicating the detection result to the object detection unit 121. The object detection unit 121 starts detection of the presence / absence of an object present in front of the host vehicle, the position of the object, the moving direction, the speed, and the type based on the front image and the radar signal.

  In step S102, the object detection unit 121 determines whether there is an object that may collide forward. For example, when the object detection unit 121 detects an object such as another vehicle, a person, or a fallen object within a predetermined distance in the traveling direction of the host vehicle, the object detection unit 121 may collide forward, i.e., It is determined that there is an avoidance target, and the process proceeds to step S103.

  In step S103, the avoidance direction determination unit 122 determines an avoidance direction and an avoidance amount. Specifically, the object detection unit 121 supplies the avoidance target information to the avoidance direction determination unit 122. The avoidance direction determination unit 122 determines an avoidance direction and an avoidance amount for avoiding a collision with the avoidance target based on the avoidance target information. The avoidance direction determination unit 122 supplies information indicating the determined avoidance direction and the avoidance amount to the notification image display control unit 131, the notification sound output control unit 132, and the notification operation control unit 133.

  For example, the avoidance direction determination unit 122 predicts a collision position when the own vehicle and the avoidance object move as they are, based on the positions of the own vehicle and the avoidance object, the movement direction, the movement speed, and the like. The avoidance direction determination unit 122 obtains a direction suitable for turning the vehicle in order to avoid a collision at the predicted position, and determines the obtained direction as an avoidance direction. For example, as shown in FIG. 4, when a person 152 that is an avoidance object is detected on the right side of the center line 154 of the range 153 in the range 153 that passes when the vehicle 151 travels in the current traveling direction. The avoidance direction is determined in the left direction. Further, for example, the avoidance direction determination unit 122 changes the direction of the own vehicle in order to avoid a collision with the avoidance target based on the position, movement direction, movement speed, and the like of the own vehicle and the avoidance target. If it is determined that it is appropriate to brake and decelerate, the avoidance direction is set in the direction opposite to the traveling direction.

  Further, for example, the avoidance direction determination unit 122 directs the own vehicle in the determined avoidance direction in order to avoid a collision at the predicted position based on the position, movement direction, movement speed, and the like of the own vehicle and the avoidance target. The amount of avoidance, which is the degree of conversion, is determined.

  Further, the avoidance direction and the avoidance amount may be determined based on the environment in which the host vehicle is traveling, for example, the number of lanes, the position of the lane in which the host vehicle is traveling, the shape of the road, and the like. Good.

  In step S <b> 104, the display device 114 displays a notification image under the control of the notification image display control unit 131. Specifically, the notification image display control unit 131 acquires avoidance target object information from the object detection unit 121. The notification image display control unit 131 generates a notification image based on the avoidance direction, the avoidance amount, and the avoidance target object information, and supplies the generated notification image to the display device 114. The display device 114 displays the acquired notification image.

  Here, an example of the display position of the notification image will be described with reference to FIGS. 5 and 6. FIG. 5 shows an example in which the display device 114 is configured by the instrument panel 201, and FIG. 6 shows an example in which the display device 114 is configured by the head-up display 211.

  In the case of the example shown in FIG. 5, a notification image 203 is displayed near the center of the vehicle speed meter 202 arranged at the center among the three measuring instruments in the instrument panel 201. In the example shown in FIG. 6, the notification image 221 is displayed in the screen 213 displayed on the windshield glass 212 by the head-up display 211. In both the examples of FIG. 5 and FIG. 6, the notification image is displayed at a position frequently viewed by the driver, so the driver is surely notified of the presence or absence of the avoidance target and a method of avoiding a collision with the avoidance target. The

  Next, examples of notification images will be described with reference to FIGS.

  For example, as shown in FIGS. 7A to 7C, characters or marks that indicate the avoidance direction or a method for avoiding a collision with the avoidance target are displayed as a notification image. Specifically, FIG. 7A shows an example of the notification image when the avoidance direction is the left direction, FIG. 7B shows an example of the notification image when the avoidance direction is the right direction, and FIG. As a method for avoiding a collision with an object, an example of a notification image in a case where it is determined that deceleration is more appropriate than turning the own vehicle is shown. With these notification images, the driver can instantly recognize a method of avoiding a collision with the avoidance target and can quickly start avoidance action.

  Further, for example, as illustrated in FIGS. 8A to 8C, the notification image may indicate an object operated by the driver in order to avoid a collision with the avoidance target. Specifically, FIG. 8A shows an example of a notification image when the avoidance direction is the left direction, and a mark 251 indicating the steering wheel and an arrow 252L indicating that the avoidance direction is the left direction are notified. Included in the image. FIG. 8B shows an example of the notification image when the avoidance direction is the right direction, and the notification image includes a mark 251 and an arrow 252R indicating that the avoidance direction is the right direction. FIG. 8C shows an example of a notification image when it is determined that it is more appropriate to decelerate than to change the direction of the vehicle as a method of avoiding a collision with the avoidance target. A mark 253 for instructing an operation is included in the notification image. With these notification images, the driver can more specifically and intuitively recognize a method for avoiding a collision with the avoidance target.

  Further, for example, as shown in FIGS. 9A and 9B, the notification image may further indicate the distance to the avoidance target and the vehicle speed. Specifically, FIG. 9A shows an example of a notification image when the avoidance direction is the left direction, a mark 281 indicating the vehicle that is the avoidance target, and an arrow 282L indicating that the avoidance direction is the left direction. The notification image includes a scale 283 indicating the distance to the avoidance target and information 284 indicating the vehicle speed. FIG. 9B shows an example of a notification image when the avoidance direction is the right direction, and a mark 281, an arrow 282 </ b> R indicating that the avoidance direction is the right direction, a scale 283, and information 284 indicating the vehicle speed are notified. Included in the image. With these notification images, the driver can instantly recognize the degree of risk of collision with the avoidance target in addition to the method of avoiding the collision with the avoidance target.

  Further, for example, as shown in FIGS. 10 to 12, the type of avoidance target may be further indicated in the notification image.

  Specifically, FIG. 10 shows an example of a notification image when an avoidance target is not detected, and only the arrow 301 indicating the traveling direction of the host vehicle is included in the notification image.

  FIG. 11A shows an example of a notification image when the avoidance target is a vehicle and the avoidance direction is the left direction. The mark 311 indicating that the avoidance target is a vehicle, and the avoidance direction is An arrow 312L indicating the left direction is included in the notification image. FIG. 11B shows an example of a notification image when the avoidance target is a vehicle and the avoidance direction is the right direction. The mark 311 and an arrow 312R indicating that the avoidance direction is the right direction are shown. Included in the notification image.

  FIG. 12A shows an example of a notification image when the avoidance target is a person and the avoidance direction is the left direction, and a mark 321 indicating that the avoidance target is a person and the avoidance direction is An arrow 312L indicating the left direction is included in the notification image. FIG. 12B shows an example of a notification image when the avoidance target is a person and the avoidance direction is the right direction, and a mark 321 and an arrow 312R indicating that the avoidance direction is the right direction are shown. Included in the notification image.

  With these notification images, the driver can instantly recognize the type of the avoidance target in addition to the method of avoiding the collision with the avoidance target, and the vehicle collision more accurately according to the type of the object. Can take action to avoid.

  Further, for example, as shown in FIG. 13, the position of the avoidance target may be further indicated in the notification image. Specifically, FIG. 13A shows an example of a notification image when the person who is the avoidance object is located on the right front side of the vehicle and the avoidance direction is the left direction, and is compared with FIG. 12A. The mark 321 is displayed on the right side. FIG. 13B shows an example of the notification image when the person who is the avoidance object is located in the left front of the vehicle and the avoidance direction is the right direction. Compared to FIG. It is displayed on the left side. With these notification images, the driver can instantly recognize the position of the avoidance object in addition to the method of avoiding the collision with the avoidance object.

  Furthermore, for example, as shown in FIG. 14, the attribute of the avoidance target other than the type may be further indicated in the notification image. Specifically, FIG. 14 shows an example of a notification image when the person who is the avoidance object is a parent and child and the avoidance direction is the right direction. Compared to FIG. Instead, the notification image includes a mark 331 indicating that the avoidance target is two parents and children.

  Further, for example, as shown in FIGS. 15A and 15B, the moving direction of the avoidance target may be further indicated in the notification image. Specifically, FIG. 15A shows an example in which the person who is the avoidance object is moving in the right direction, and the avoidance direction is the left direction. Compared to FIG. Instead, a mark 341R indicating that the person who is the avoidance object is moving in the right direction is included in the notification image. FIG. 15B shows an example in which the person who is the avoidance object is moving in the left direction and the avoidance direction is in the right direction. Compared to FIG. 12B, avoidance is performed instead of the mark 321. The notification image includes a mark 341L indicating that the person who is the object is moving in the left direction. With these notification images, the driver can instantly recognize the moving direction of the avoidance target in addition to the method of avoiding the collision with the avoidance target.

  Further, for example, as shown in FIGS. 16 to 18, the avoidance amount may be further indicated in the notification image.

  Specifically, FIG. 16A shows an example of a notification image when an avoidance target is not detected, and only the same mark 251 as the mark included in the notification images of FIGS. 8A to 8C is displayed. . FIG. 16B shows an example of a notification image when the avoidance target is a person, the avoidance direction is the left direction, and the avoidance amount is equal to or greater than a predetermined threshold. The avoidance target is above the mark 251. Is displayed, and a mark 352Lb indicating that the avoidance direction is the left direction and the avoidance amount is equal to or greater than a predetermined threshold is displayed between the marks 351 and 251. FIG. 16C shows an example of a notification image when the avoidance target is a person, the avoidance direction is leftward, and the avoidance amount is less than a predetermined threshold. Compared to FIG. 16B, the mark 352Lb Instead, a mark 352Ls indicating that the avoidance direction is leftward and the avoidance amount is less than a predetermined threshold is displayed. The mark 352Lb and the mark 352Ls are different in the number of scales, and the difference in the avoidance amount can be identified at a glance.

  FIG. 16D shows an example of a notification image when the avoidance target is a person, the avoidance direction is the right direction, and the avoidance amount is less than a predetermined threshold. Compared to FIG. 16C, the mark 352Ls Instead, a mark 352Rs obtained by reversing the mark 352Ls from left to right is displayed. That is, the mark 352Rs indicates that the avoidance direction is rightward and the avoidance amount is less than a predetermined threshold. FIG. 16E shows an example of a notification image when the avoidance target is a person, the avoidance direction is the right direction, and the avoidance amount is equal to or larger than a predetermined threshold. Compared to FIG. 16B, the mark 352Lb Instead, a mark 352Rb obtained by reversing the mark 352Lb from left to right is displayed. That is, the mark 352Rb indicates that the avoidance direction is rightward and the avoidance amount is equal to or greater than a predetermined threshold.

  FIG. 17 shows an example in which a part of the notification image of FIG. 16 is changed. Specifically, FIG. 17A shows an example of a notification image when an avoidance target is not detected, and is the same notification image as FIG. 16A. FIG. 17B shows an example of a notification image when the avoidance target is a person, the avoidance direction is the left direction, and the avoidance amount is equal to or greater than a predetermined threshold. Compared to FIG. 16B, the mark 352Lb Instead, a mark 361Lb is displayed. The mark 361Lb is a curve along the outer periphery of the figure of the steering wheel in the mark 251, and the direction indicated by the mark 361Lb is the direction in which the steering wheel should be operated as compared with the mark 352Lb in FIG. 16B. That is more emphasized. FIG. 17C shows an example of a notification image when the avoidance target is a person, the avoidance direction is leftward, and the avoidance amount is less than a predetermined threshold. Compared to FIG. 17B, the mark 361Lb Instead, a mark 361Ls indicating that the avoidance direction is leftward and the avoidance amount is less than a predetermined threshold is displayed. The mark 361Lb and the mark 361Ls are different in the number of scales, and the difference in the avoidance amount can be identified at a glance.

  FIG. 17D shows an example of a notification image when the avoidance target is a person, the avoidance direction is the right direction, and the avoidance amount is less than a predetermined threshold. Compared to FIG. 17C, the mark 361Ls Instead, a mark 361Rs obtained by reversing the mark 361Ls from left to right is displayed. That is, the mark 361Rs indicates that the avoidance direction is rightward and the avoidance amount is less than a predetermined threshold. FIG. 17E shows an example of a notification image when the avoidance target is a person, the avoidance direction is the right direction, and the avoidance amount is equal to or greater than a predetermined threshold. Compared with FIG. 17B, the mark 361Lb Instead, a mark 361Rb obtained by horizontally inverting the mark 361Lb is displayed. That is, the mark 361Rb indicates that the avoidance direction is rightward and the avoidance amount is equal to or greater than a predetermined threshold.

  FIG. 18 illustrates an example in which the avoidance amount is further indicated in the notification image described above with reference to FIGS. 10, 11, and 12. Specifically, FIG. 18A shows an example of a notification image when an avoidance target is not detected, and only a mark 371S indicating the traveling direction of the host vehicle is displayed. FIG. 18B shows an example of a notification image when the avoidance target is a person, the avoidance direction is leftward, and the avoidance amount is a predetermined threshold value or more. Compared to FIG. Instead, a mark 371Lb indicating that the avoidance direction is leftward and the avoidance amount is equal to or greater than a predetermined threshold is displayed. FIG. 18C shows an example of a notification image when the avoidance target is a person, the avoidance direction is leftward, and the avoidance amount is less than a predetermined threshold. Compared to FIG. 18B, the mark 371Lb Instead, a mark 371Ls indicating that the avoidance direction is leftward and the avoidance amount is less than a predetermined threshold is displayed. The mark 371Lb and the mark 371Ls have a difference in the number of scales in the horizontal direction, and the difference in avoidance amount can be identified at a glance.

  FIG. 18D shows an example of the notification image when the avoidance target is a person, the avoidance direction is the right direction, and the avoidance amount is less than a predetermined threshold. Compared to FIG. 18C, the mark 371Ls Instead, a mark 371Rs obtained by horizontally inverting the mark 371Ls is displayed. That is, the mark 371Rs indicates that the avoidance direction is rightward and the avoidance amount is less than a predetermined threshold. FIG. 18E shows an example of a notification image when the avoidance target is a person, the avoidance direction is the right direction, and the avoidance amount is equal to or greater than a predetermined threshold. Compared to FIG. 18B, the mark 371Lb Instead, a mark 371Rb obtained by reversing the mark 371Lb from left to right is displayed. That is, the mark 371Rb indicates that the avoidance direction is the right direction and the avoidance amount is equal to or greater than a predetermined threshold value.

  Further, for example, as shown in FIG. 19, a forward image may be used as the notification image. Specifically, in the notification image of FIG. 19, a frame 381-1 indicating the position of the vehicle that is the avoidance object and a frame indicating the position of the person that is the avoidance object are displayed in the front image obtained by capturing the front of the host vehicle. 381-2 and an arrow 382 indicating the avoidance direction are superimposed and displayed. Thus, the driver can recognize the avoidance direction more accurately based on information closer to reality.

  Returning to FIG. 3, in step S105, the audio output device 115 outputs a notification sound. Specifically, the notification sound output control unit 132 generates information indicating a notification sound output instruction, and supplies the generated information to the sound output device 115. The audio output device 115 outputs a notification sound based on the acquired information.

  For example, when the audio output device 115 is configured by a car audio system, the notification sound output control unit 132 has an avoidance target based on the position of the driver among a plurality of speakers included in the car audio system. The audio output device 115 is controlled so as to output a notification sound from a speaker in the direction closest to the direction. For example, when the avoidance target is detected on the left front side of the host vehicle, as shown in FIG. 20A, a speaker (not shown) installed on the left front side in the vehicle based on the control of the notification sound output control unit 132. For example, a buzzer sound such as “beep” is output as a notification sound. Further, for example, when the avoidance target is detected in the right front of the host vehicle, as shown in FIG. 20B, the illustration is provided on the right front in the vehicle based on the control of the notification sound output control unit 132. For example, a buzzer sound such as “beep” is output from the speaker. Accordingly, the driver can reliably recognize the direction in which the avoidance target exists without moving the line of sight. Instead of the buzzer sound, for example, a voice indicating the direction in which the avoidance target exists may be output, such as “is left” or “is right”.

  Returning to FIG. 3, in step S <b> 106, the vehicle control device 116 performs a notification operation based on the control of the notification operation control unit 133. Specifically, the notification operation control unit 133 generates information indicating an operation instruction for notifying the driver of the avoidance direction, and supplies the generated information to the vehicle control device 116. Based on the acquired information, the vehicle control device 116 causes the in-vehicle component mounted on the host vehicle to perform an operation of notifying the driver of the avoidance direction. Here, an example of the operation for notifying the driver of the avoidance direction will be described with reference to FIG.

  For example, the vehicle control device 116 controls the torque necessary for the rotation of the steering wheel 451 (hereinafter referred to as steering wheel torque) so as to vary depending on the rotation direction. Specifically, when the avoidance direction is the left direction, the vehicle control device 116 performs control so that the handle torque required for rotating the steering wheel 451 in the left direction is smaller than the handle torque required for rotating in the right direction. When the avoidance direction is the right direction, control is performed such that the handle torque required to rotate the steering wheel 451 in the right direction is smaller than the handle torque required to rotate in the left direction. Thus, the driver can reliably recognize the direction in which the steering wheel should be turned to avoid a collision with the avoidance target.

  Further, for example, the vehicle control device 116 may change the vibrator 452L installed on the back side and the left side of the steering wheel 451 or the vibration installed on the back side and the right side of the steering wheel 451 depending on the position of the avoidance target. The child 452R is vibrated. For example, the vehicle control device 116 vibrates the vibrator 452L when the avoidance target is detected to the left front of the own vehicle, and vibrates the vibrator 452R when the avoidance target is detected to the right front of the own vehicle. Let Thus, the driver can more reliably recognize the direction in which the avoidance target exists.

  Further, for example, the vehicle control device 116 controls the seat belt 453 to be pulled in a predetermined direction according to the avoidance direction. For example, when the avoidance direction is the left direction, the vehicle control device 116 performs control so as to pull the seat belt 453 from the right to the left in the direction of the arrow P1, that is, in front of the driver, and the avoidance direction is the right direction. In this case, the seat belt 453 is controlled to be pulled in the direction of the arrow P2, that is, from the left to the right in the front of the driver. Thereby, the driver can recognize the avoidance direction more reliably.

  Thereafter, the process proceeds to step S108.

  In step S102, for example, the object detection unit 121 may collide forward if it does not detect an object such as another vehicle, a person, or a fallen object within a predetermined distance in the traveling direction of the host vehicle. It is determined that there is no object, that is, an avoidance target, and the process proceeds to step S107.

  In step S107, the display device 114 performs normal display. Specifically, the object detection unit 121 supplies information indicating that there is no avoidance target to the notification image display control unit 131. The display device 114 is, for example, the notification image when the avoidance target is not detected as illustrated in FIG. 10, FIG. 16A, FIG. 17A, or FIG. 18A described above based on the control of the notification image display control unit 131. And the generated notification image is supplied to the display device 114. The display device 114 displays the acquired notification image. Thereafter, the process proceeds to step S108.

  In step S108, the collision avoidance assistance device 113 determines whether the engine is stopped. If the collision avoidance assistance device 113 determines that the engine is not stopped based on the information from the vehicle control device 116, the process returns to step S102, and until it is determined in step S108 that the engine is stopped. The processes of steps S102 to S108 are repeatedly executed.

  If it is determined in step S108 that the engine has been stopped, the collision avoidance support process ends.

  As described above, by notifying the driver of not only the presence / absence / position of the avoidance object but also the information indicating the avoidance direction or the avoidance amount, the collision with the avoidance object is avoided in step S5 of FIG. The time for determining the method to do is shortened, the occurrence of a determination error is suppressed, and the driver can take action to avoid a vehicle collision more quickly and accurately.

  In the above description, an example in which the vehicle is traveling forward is shown. However, in the embodiment of the present invention, when the vehicle is traveling in another direction such as backward, the traveling direction is It is also possible to detect an existing avoidance object and instruct the driver of an avoidance direction and an avoidance amount for avoiding a collision with the avoidance object. In this case, for example, when the audio output device 115 is configured by a 5.1ch surround or 6.1ch surround car audio system, the notification sound is output from a speaker installed at the rear of the vehicle, thereby existing behind the vehicle. It is possible to notify the driver of the direction of the avoidance target.

  The series of processes described above can be executed by hardware or can be executed by software. When a series of processing is executed by software, a program constituting the software executes various functions by installing a computer incorporated in dedicated hardware or various programs. For example, it is installed from a program recording medium in a general-purpose personal computer or the like.

  FIG. 22 is a block diagram showing an example of the configuration of a personal computer 600 that executes the above-described series of processing by a program. A CPU (Central Processing Unit) 601 executes various processes according to a program stored in a ROM (Read Only Memory) 602 or a recording unit 608. A RAM (Random Access Memory) 603 appropriately stores programs executed by the CPU 601 and data. The CPU 601, ROM 602, and RAM 603 are connected to each other via a bus 604.

  An input / output interface 605 is also connected to the CPU 601 via the bus 604. Connected to the input / output interface 605 are an input unit 606 made up of a keyboard, mouse, microphone, and the like, and an output unit 607 made up of a display, a speaker, and the like. The CPU 601 executes various processes in response to commands input from the input unit 606. Then, the CPU 601 outputs the processing result to the output unit 607.

  The recording unit 608 connected to the input / output interface 605 includes, for example, a hard disk, and stores programs executed by the CPU 601 and various data. A communication unit 609 communicates with an external device via a network such as the Internet or a local area network.

  A program may be acquired via the communication unit 609 and stored in the recording unit 608.

  The drive 610 connected to the input / output interface 605 drives a removable medium 611 such as a magnetic disk, an optical disk, a magneto-optical disk, or a semiconductor memory, and drives the programs and data recorded therein. Get etc. The acquired program and data are transferred to and stored in the recording unit 608 as necessary.

  As shown in FIG. 22, a program recording medium that stores a program that is installed in a computer and is ready to be executed by the computer includes a magnetic disk (including a flexible disk), an optical disk (CD-ROM (Compact Disc-Read Only). Memory), DVD (Digital Versatile Disc), a magneto-optical disk, a removable medium 611 which is a package medium composed of a semiconductor memory, a ROM 602 in which a program is temporarily or permanently stored, and a recording unit 608 It is comprised by the hard disk etc. which comprise. The program is stored in the program recording medium using a wired or wireless communication medium such as a local area network, the Internet, or digital satellite broadcasting via a communication unit 609 that is an interface such as a router or a modem as necessary. Done.

  In the present specification, the step of describing the program stored in the program recording medium is not limited to the processing performed in time series in the order described, but is not necessarily performed in time series. Or the process performed separately is also included.

  Further, in this specification, the system represents the entire apparatus constituted by a plurality of apparatuses.

  Furthermore, the embodiments of the present invention are not limited to the above-described embodiments, and various modifications can be made without departing from the gist of the present invention.

When using a conventional collision avoidance support system, an example of a flow from when an approach to an obstacle ahead of a vehicle is detected until the driver performs an action to avoid a collision with the obstacle will be described. FIG. It is a block diagram which shows one Embodiment of the collision avoidance assistance system to which this invention is applied. It is a flowchart for demonstrating the collision avoidance assistance process performed by the collision avoidance assistance system of FIG. It is a figure for demonstrating the method to determine an avoidance direction. It is a figure which shows the example of the display position of a notification image. It is a figure which shows the other example of the display position of a notification image. It is a figure which shows the example of a notification image. It is a figure which shows the other example of a notification image. It is a figure which shows the further another example of a notification image. It is a figure which shows the further another example of a notification image. It is a figure which shows the further another example of a notification image. It is a figure which shows the further another example of a notification image. It is a figure which shows the further another example of a notification image. It is a figure which shows the further another example of a notification image. It is a figure which shows the further another example of a notification image. It is a figure which shows the further another example of a notification image. It is a figure which shows the further another example of a notification image. It is a figure which shows the further another example of a notification image. It is a figure which shows the further another example of a notification image. It is a figure for demonstrating the output position of a notification sound. It is a figure for demonstrating the example of notification operation | movement. And FIG. 11 is a block diagram illustrating an example of a configuration of a personal computer.

Explanation of symbols

DESCRIPTION OF SYMBOLS 101 Collision avoidance assistance system 111 Camera 112 Radar apparatus 113 Collision avoidance assistance apparatus 114 Display apparatus 115 Audio | voice output apparatus 116 Vehicle control apparatus 121 Object detection part 122 Avoidance direction determination part 123 Notification part 131 Notification image display control part 132 Notification sound output control part 133 Notification operation control unit

Claims (9)

When an object that may collide with the vehicle is detected, the display device is controlled to display information indicating an avoidance direction that is a direction of turning the vehicle in order to avoid a collision with the object. A driving support device including display control means. The display control unit further controls the display device to display information indicating an avoidance amount that is a degree of turning the vehicle in the avoidance direction in order to avoid a collision with the object. The driving support apparatus according to 1. The driving support device according to claim 1, wherein the display control unit controls the display device to display information indicating the avoidance direction so as to be superimposed on an image obtained by capturing the traveling direction of the vehicle. The driving support device according to claim 1, wherein the display control unit further controls the display device to display information indicating a type of the object. Of the plurality of audio output units included in the audio output device, the detection of the object is notified from the audio output unit in the direction closest to the direction in which the object exists, with reference to the position of the driver driving the vehicle. The driving support device according to claim 1, further comprising a voice output control unit that controls the voice output device to output a voice. The driving assistance apparatus according to claim 1, further comprising an avoidance direction determination unit that determines the avoidance direction based on a position of the object with respect to the vehicle. The driving assistance apparatus according to claim 6, wherein the avoidance direction determination unit further determines the avoidance amount based on a position of the object with respect to the vehicle. When an object that may collide with the vehicle is detected, the display device is controlled to display information indicating an avoidance direction that is a direction of turning the vehicle in order to avoid a collision with the object. A driving support method including a display control step. When an object that may collide with the vehicle is detected, the display device is controlled to display information indicating an avoidance direction that is a direction of turning the vehicle in order to avoid a collision with the object. A program that causes a computer to execute processing including a display control step.

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