JP2009251861A - Device and method for evaluating driving - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a driving evaluation device which appropriately evaluates driving operation, when carrying out THE right and left turn of a vehicle at an intersection, and to provide a driving evaluation method. <P>SOLUTION: The driving evaluation device 10, which evaluates driving, when carrying out the right and left turn of the vehicle at the intersection, is provided with: a detection and storage means 21, which detects and stores a transition of travel distance D of a vehicle and transition of an steering angle θ of a steering handle or wheel; an entry point detection means 23, which detects an entry point Q to an intersection, based on the transition of the travel distance D and the transition of the steering angle θ detected and stored by the detection and storage means 21; and a driving operation evaluation means 25, which evaluates the driving operation, taking into consideration the entry point Q detected by the entry point detection means 23. <P>COPYRIGHT: (C)2010,JPO&INPIT

Description

  The present invention relates to a driving evaluation device and a driving evaluation method for evaluating a driving operation when a vehicle is turned right or left at an intersection.

2. Description of the Related Art Conventionally, there is known a driving assistance device that receives radio waves from an artificial satellite for GPS (Global Positioning System) and detects the current position of the host vehicle (see, for example, Patent Document 1). This driving support device determines whether or not a dangerous driving state such as sudden braking has occurred, and if it is determined that a dangerous driving state has occurred, the current position of the host vehicle is stored as a dangerous location, and the host vehicle is in danger. The danger information is notified when approaching the location again. The driver who has recognized the danger information can know the existence of the dangerous place.
JP 2007-108926 A

  However, when evaluating a driving operation when turning the vehicle right or left at an intersection such as a winker operation or a brake pedal operation, it is necessary to evaluate the driving operation in consideration of an entry point to the intersection. In this case, if an approach point is detected using radio waves from an artificial satellite, an error of several tens of meters occurs at the maximum, so that it may be possible that the driving operation cannot be evaluated appropriately.

  The present invention has been made in view of the above problems, and an object of the present invention is to provide a driving evaluation device and a driving evaluation method for appropriately evaluating a driving operation when a vehicle is turned right or left at an intersection.

In order to achieve the above object, the first invention is a driving evaluation apparatus for evaluating a driving operation when turning a vehicle left or right at an intersection.
Detection storage means for detecting and storing the transition of the travel distance of the vehicle and the transition of the steering angle of the steering wheel or wheel;
Entry point detection means for detecting an entry point to the intersection based on the travel distance and the steering angle transition detected and stored by the detection storage means;
Driving operation evaluation means for evaluating the driving operation in consideration of the entry point detected by the entry point detection means;
Is provided.

  2nd invention is the driving | running evaluation apparatus which concerns on 1st invention, Comprising: The said approach point detection means is based on the transition of the said travel distance and the transition of the said steering angle which were detected and memorize | stored by the said detection memory means. Then, an intermediate point between a pair of travel points where the absolute value of the steering angle is a predetermined angle during continuous turning steering and reverse steering is detected, and an approach point to the intersection is detected based on the intermediate point.

  3rd invention is the driving | running evaluation apparatus which concerns on 1st invention, Comprising: The said approach point detection means is based on the transition of the said travel distance and the transition of the said steering angle which were detected and memorize | stored by the said detection memory means. Thus, a travel point where the absolute value of the steering angle is maximized is detected, and an approach point to the intersection is detected based on the travel point where the absolute value of the steering angle is maximized.

  4th invention is the driving | running evaluation apparatus which concerns on any one 1st-3rd invention, Comprising: The said approach point detection means is the intersection when a vehicle is left-turned at the intersection of the left-hand traffic, or the intersection of the right-hand traffic When the vehicle is turned to the right and the absolute value of the steering angle is 1/3 or more of the maximum angle, the transition of the travel distance detected and stored by the detection storage means and the An approach point to the intersection is detected based on the transition of the steering angle.

  5th invention is the driving | running evaluation apparatus which concerns on any one 1st-4th invention, Comprising: The said driving operation evaluation means is the predetermined area before the said approach point detected by the said approach point detection means. The brake pedal operation at the intersection is evaluated according to the passing time that the vehicle has passed.

  6th invention is the driving | running evaluation apparatus which concerns on any one 1st-4th invention, Comprising: The said driving operation evaluation means is the said approach point detected by the said approach point detection means, and at the time of winker operation The blinker operation at the intersection is evaluated according to the relative distance to the travel point.

A seventh invention is a driving evaluation method for evaluating a driving operation when turning a vehicle left and right at an intersection.
A first step of detecting and storing a transition of a travel distance of the vehicle and a transition of a steering angle of a steering wheel or a wheel;
A second step of detecting an approach point to the intersection based on the transition of the travel distance detected and stored in the first step and the transition of the steering angle;
A third step of evaluating the driving operation in consideration of the approach point detected by the second step;
Is provided.

  ADVANTAGE OF THE INVENTION According to this invention, the driving | running evaluation apparatus which evaluates appropriately the driving operation at the time of making a vehicle turn right or left at an intersection can be provided.

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

  FIG. 1 is a functional block diagram showing a first embodiment of the configuration of the driving evaluation apparatus according to the present invention. The driving evaluation apparatus 10 is an apparatus that evaluates a driving operation when the vehicle is turned left or right at an intersection, and is configured around a driving evaluation ECU (Electrical Control Unit) 20 mounted on the vehicle, as shown in FIG. The The driving evaluation ECU 20 includes an output device 60 such as a steering angle sensor 30, a vehicle speed sensor 40, a winker switch 50, a display 61, and a speaker 63 via an in-vehicle network such as CAN (Controller Area Network) or LIN (Local Interconnect Network). A navigation system 70 is connected.

  The driving evaluation ECU 20 is constituted by a microcomputer, and includes, for example, a CPU, a ROM for storing a control program, a readable / writable RAM for storing calculation results, a timer for measuring time, and a counter for measuring the number of times of calculation and the like. , An input interface, and an output interface. The driving evaluation ECU 20 stores programs corresponding to the detection storage means 21, the approach point detection means 23, and the driving operation evaluation means 25 in a recording medium such as a ROM. Further, the driving evaluation ECU 20 realizes various means by causing the CPU to execute processing of a program stored in a recording medium such as a ROM. Details of the various means will be described later.

  The driving evaluation ECU 20 operates the driving evaluation device 10 in accordance with a predetermined switch operation by the user. And driving evaluation ECU20 controls various vehicle equipment (for example, display 61 and speaker 63) so that various functions which driving evaluation device 10 has may be realized.

  The steering angle sensor 30 is used to detect a steering angle (hereinafter referred to as “handle”) or a steering angle θ of a wheel. For example, the steering angle sensor 30 is configured by a combination of a slit plate press-fitted into a steering shaft and a photo interrupter. The slit plate rotates according to the steering of the steering wheel, and the light of the photo interrupter is shielded to output a pulsed steering angle signal. This steering angle signal is supplied to the driving evaluation ECU 20.

  The vehicle speed sensor 40 is used for detecting a travel distance. For example, the vehicle speed sensor 40 includes a gear-shaped magnetic rotating body that rotates together with the wheels, and a voltage generating coil installed on the vehicle body side. Every time the teeth protruding from the outer peripheral surface of the magnetic rotating body at equal intervals pass in the vicinity of the voltage generating coil, a magnetic flux change occurs in the voltage generating coil, and a pulsed vehicle speed signal corresponding to the magnetic flux change is generated. Is output. This vehicle speed signal is supplied to the driving evaluation ECU 20.

  The turn signal switch 50 is used for detecting a turn signal operation by the driver. In response to the operation of the winker switch 50 by the driver, an operation signal is output, and the display state of the winker is switched between a display state indicating a left turn, a display state indicating a right turn, and an off state. Thereby, the driver's intention to turn left or right is displayed. This operation signal is supplied to the driving evaluation ECU 20.

  The output device 60 such as the display 61 and the speaker 63 is used to transmit evaluation information evaluated by the driving evaluation ECU 20 to a user such as a driver by image display or voice guidance. Image output (including video output) and audio output output by these output devices 60 are controlled by the driving evaluation ECU 20.

  The display 61 is composed of a liquid crystal display (LCD) or the like, and is arranged at a position where the user can easily see, preferably at a position where the driver can see without greatly changing the visual field while driving. For example, the display 61 may be arranged at the center of the upper surface of the instrument panel or may be arranged in a meter.

  The speaker 63 may have a general configuration and is disposed at a position where the user can easily hear, preferably at a position where the driver can easily hear. For example, the speaker 63 may be disposed in the side door panel on the driver's seat side, or may be disposed in the side door panel on the passenger seat side.

  The navigation system 70 can recognize the position of the host vehicle on the map based on the information received from the GPS satellite by the GPS (Global Positioning System) receiver 71 and the map information in the map database.

  The map database is a recording medium such as an HDD, CD, or DVD-ROM stored in association with latitude and longitude. The map information in the map database includes information on general roads and highways on which vehicles travel, information on buildings such as parking lots and stores, and particularly information on intersections and their intersection angles.

  Next, various means of the driving evaluation ECU 20 will be described with reference to FIG.

  FIG. 2 is a top view schematically showing an example of a situation when the vehicle is turned left at an intersection. In FIG. 2, R1 is the first road, R2 is the second road, and A is the vehicle on the first road R1. The first road R1 and the second road R2 are three-way crossing perpendicularly, and the second road R2 is bifurcated in front of the vehicle A on the first road R1. Each of the roads R1 and R2 is a left-handed road.

  The driver of the vehicle A makes a right-left turn intention indication to the outside by the blinker operation before the intersection where the first road R1 and the second road R2 cross each other, and makes the vehicle A safe by operating the brake pedal. Decelerate to speed.

  The detection storage means 21 is a means for detecting and storing the transition of the travel distance D of the vehicle A and the transition of the steering angle θ of the steering wheel or wheel.

  When detecting and storing the transition of the steering angle θ of the steering wheel or wheel, for example, the detection storage means 21 detects the steering angle θ1 of the steering wheel at every predetermined time Δt based on the steering angle signal output from the steering angle sensor 30. The transition of the steering angle θ1 is stored in a recording medium such as a RAM.

  Further, instead of the transition of the steering angle θ1 of the steering wheel, the transition of the steering angle θ2 of the wheel may be stored. Since there is a predetermined relationship between the steering angle θ1 of the steering wheel and the steering angle θ2 of the wheel, the steering angle θ2 of the wheel is detected by detecting the steering angle θ1 of the steering wheel.

  When detecting and storing the transition of the travel distance D, for example, the detection storage means 21 detects the vehicle speed V every predetermined time Δt based on the vehicle speed signal output from the vehicle speed sensor 40, and integrates the vehicle speed V over time. The travel distance D is detected every predetermined time Δt, and the transition of the travel distance D is stored in a recording medium such as a RAM.

  The approach point detection means 23 is a means for detecting the approach point Q to the intersection based on the transition of the travel distance D detected and stored by the detection storage means 21 and the transition of the steering angle θ. Here, as shown in FIG. 2, the approach point Q to the intersection is the first of the intersections when the vehicle A on the first road R1 turns right and left at the intersection where the first road R1 and the second road R2 intersect. This is the end point on the 1 road R1 side.

  First, the approach point detection storage means 23 is detected by the detection storage means 21, for example, after the vehicle A is turned right or left (for example, after the absolute value of the steering angle θ exceeds a predetermined angle and again falls below the predetermined angle). Then, the stored transition data is read, and the relationship between the travel distance D and the steering angle θ is detected.

  FIG. 3 is a diagram illustrating an example of the relationship between the absolute value of the steering angle θ1 and the travel distance D when turning left and right at an intersection when a relatively abrupt steering operation is performed. FIG. 4 is a diagram illustrating an example of the relationship between the absolute value of the steering angle θ1 and the travel distance D when turning left and right at an intersection when a relatively gentle steering operation is performed. 3 and 4, the vertical axis represents the absolute value of the steering angle θ1 of the steering wheel, the horizontal axis represents the travel distance D, and the steering angle θ1 is 0 ° when the neutral position of the steering wheel (ie, the neutral position of the wheel) is 0 °. The clockwise rotation direction is positive and the clockwise rotation direction is negative, and can be changed in a range of −600 ° to 600 °.

  As shown in FIGS. 3 and 4, the absolute value of the steering angle θ <b> 1 of the steering wheel changes in a mountain shape when turning right or left at the intersection. This is because the steering wheel is steered to the neutral position so that the vehicle A travels straight before and after the right / left turn, and the steering wheel is steered to a position away from the neutral position so that the vehicle runs in a curve when turning right / left. It is.

  Next, the approach point detection means 23 detects the travel point Po where the absolute value of the steering angle θ is maximized, and detects the approach point Q to the intersection based on the travel point Po.

  As shown in FIG. 3, when a relatively steep steering operation is performed, the absolute value of the steering angle θ <b> 1 changes in a relatively symmetrical mountain shape. For this reason, the traveling point Po where the absolute value of the steering angle θ1 is maximized substantially coincides with the intermediate point M of the turning locus of the vehicle A at the intersection. Therefore, a point offset forward by a predetermined distance α (for example, α = 3 m) along the turning trajectory of the vehicle A from the travel point Po can be detected as the entry point Q.

  Further, the approach point detection means 23 has an absolute value of the steering angle θ at the time of continuous infeed steering and return steering, for example, β = 200 ° when the steering angle θ is the steering angle θ1 of the steering wheel. An intermediate point Pm between the pair of traveling points P1 and P2 may be detected, and an approach point Q to the intersection may be detected based on the intermediate point Pm.

  As shown in FIG. 4, when a relatively gentle steering operation is performed, the driver adjusts the steering angle θ1 of the steering wheel while checking the turning trajectory of the vehicle A at the intersection. May not match.

  Therefore, the approach point Q to the intersection is detected based on the intermediate point Pm instead of the travel point Po. The intermediate point Pm between the traveling points P1 and P2 substantially coincides with the intermediate point M of the turning trajectory because the steering angle θ1 is returned to the neutral position before and after the right / left turn. Therefore, the point offset from the intermediate point Pm by a predetermined distance α along the turning trajectory of the vehicle A can be detected as the entry point Q.

  The predetermined distance α may be changed according to the width of the first road R1 and the second road R2 when the vehicle A turns right (left turn) at an intersection of left-hand traffic (right-hand traffic). Thus, the entry point Q can be detected more accurately when the turning radius of the vehicle A at the intersection changes according to the width of the first road R1 and the second road R2. Here, the road width information of the first road R1 and the second road R2 is read out from map information stored in a recording medium such as an HDD or a DVD-ROM of the navigation system 70 and used.

  On the other hand, when the vehicle A makes a left turn (right turn) at the intersection of left-hand traffic (right-hand traffic), the predetermined distance α may be fixed at, for example, 3 m regardless of the width of the first road R1 and the second road R2. Good. When turning left at a left-hand traffic intersection, unlike the case of turning right, as shown in FIG. 2, the vehicle A is turned left while being shifted to the left, so the width of the first road R1 and the second road R2 This is because the turning radius of the vehicle A at the intersection is substantially constant regardless of the intersection. Similarly, when the vehicle turns right at the right-hand traffic intersection, the turning radius of the vehicle A at the intersection is substantially constant regardless of the widths of the first road R1 and the second road R2.

  The predetermined distance α may be changed according to the turning radius (minimum turning radius) of the vehicle A in a state where the steering wheel is turned and steered to the maximum.

  Furthermore, the predetermined distance α may be changed according to the intersection angle between the first road R1 and the second road R2. Thus, the entry point Q can be detected more accurately when the distance between the intermediate point M and the entry point Q of the turning trajectory changes according to the intersection angle between the first road R1 and the second road R2. Here, the information of the intersection angle between the first road R1 and the second road R2 is read from the map information of the navigation system 70 and used.

  The driving evaluation device 10 causes the approach point detection means 23 to detect the approach point Q to the intersection based on the transition of the steering angle θ with respect to the travel distance D, and considers this approach point Q by the driving operation evaluation means 25 described later. And evaluate the driving operation at the intersection. Thereby, the approach point Q to the intersection can be accurately detected, and the driving operation at the intersection can be appropriately evaluated.

  The driving operation evaluation unit 25 is a unit that evaluates the driving operation at the intersection in consideration of the entry point Q detected by the entry point detection unit 23.

  For example, the driving operation evaluation unit 25 evaluates the brake pedal operation at the intersection according to the passing time that the vehicle A has passed through a predetermined section before the entry point Q detected by the entry point detection unit 23. The predetermined section before the entry point Q is, for example, a section between the entry point Q and a point 5 m away from the entry point Q. Evaluation of brake pedal operation is, for example, poor if the passage time is less than 2 seconds, good if it is 2 seconds or more and less than 4 seconds, excellent if it is 4 seconds or more and less than 10 seconds, and good if it is 10 seconds or more A three-step evaluation is performed. Here, the best evaluation is excellent and the worst evaluation is bad. The passing time that the vehicle A has passed is calculated based on the transition of the travel distance D detected and stored by the detection storage means 21.

  Further, the driving operation evaluation unit 25 evaluates the winker operation at the intersection according to the relative distance L between the entry point Q detected by the entry point detection unit 23 and the travel point at the time of the winker operation. The evaluation of the blinker operation is performed in a three-step evaluation, for example, when the relative distance L is less than 20 m, defective when 20 m or more and less than 25 m, excellent when 25 m or more and less than 35 m, and good when 35 m or more. Is called. The travel point at the time of the winker operation is calculated based on the time when the winker operation signal is detected and the transition of the travel distance D detected and stored by the detection storage means 21.

  Here, an example of processing executed by the driving evaluation ECU 20 will be described with reference to the flowchart of FIG. Driving evaluation ECU20 starts the process after S11 according to the predetermined switch operation by a user.

  First, the driving evaluation ECU 20 detects and stores the transition of the travel distance D of the vehicle A and the transition of the steering angle θ of the steering wheel or wheel by the detection storage means 21 (step S11).

  Next, the driving evaluation ECU 20 detects the approach point Q to the intersection based on the transition of the travel distance D and the transition of the steering angle θ detected and stored in step S11 by the approach point detection means 23 (step S12). ). Specifically, for example, the intermediate point M of the turning trajectory of the vehicle A at the intersection is detected based on the detected and stored transition of the travel distance D and the transition of the steering angle θ, and only a predetermined distance α from the intermediate point M is detected. The point offset toward you is detected as the entry point Q.

  Subsequently, the driving evaluation ECU 20 causes the driving operation evaluation means 25 to evaluate the driving operation in consideration of the entry point Q detected in step 12 (step S13). Specifically, for example, the brake pedal operation at the intersection is evaluated according to the passing time that the vehicle A has passed through a predetermined section before the entry point Q.

  Finally, the driving evaluation ECU 20 causes the output device 60 to display an image or provide voice guidance for the evaluation result (step S14), and ends the current process.

  FIG. 6 is a functional block diagram showing a second embodiment of the configuration of the driving evaluation apparatus according to the present invention. Unlike the first embodiment, the driving evaluation apparatus 100 is an apparatus that evaluates a driving operation when the vehicle A is turned left (right) at an intersection of left-hand traffic (right-hand traffic), and does not have the navigation system 70. . Each configuration will be described below, but the same components as those in the first embodiment are denoted by the same reference numerals and description thereof is omitted.

  The driving evaluation ECU 120 is constituted by a microcomputer, and stores programs corresponding to the detection storage means 21, the approach point detection means 123, and the driving operation evaluation means 25 in a recording medium such as a ROM, as shown in FIG. The driving evaluation ECU 120 implements various means by causing the CPU to execute processing of a program stored in a recording medium such as a ROM. Details of the various means will be described later.

  The approach point detection means 123 is when the vehicle A has made a left turn (right turn) at the intersection of left-hand traffic (right-hand traffic) and the absolute value of the steering angle θ is greater than 1/3 of the maximum angle Further, it is a means for detecting the approach point Q to the intersection based on the transition of the travel distance D and the transition of the steering angle θ detected and stored by the detection storage means 21.

  When vehicle A makes a left turn (right turn) at the intersection of left-hand traffic (right-hand traffic), as described above, the turning radius of vehicle A at the intersection is substantially constant regardless of the width of first road R1 and second road R2. become. Here, the determination regarding whether the vehicle A is turned left or right is made based on, for example, whether the steering angle θ1 of the steering wheel is positive or negative. In addition, the information regarding whether the traffic is on the left side or the right side is stored in advance in the driving evaluation ECU 120, for example, and is read out as necessary.

  When the steering angle θ1 of the steering wheel is set to 1/3 or more of the maximum angle, the traveling direction of the vehicle A is changed to a certain degree or more. In general, the intersection angle of the intersection is often set to 90 ° with good visibility, and in this case, the distance between the intermediate point M and the entry point Q of the turning locus is substantially constant.

  Therefore, when the vehicle A turns left (right) at the intersection of left-hand traffic (right-hand traffic) and the steering angle θ is set to 1/3 or more of the maximum angle, the predetermined distance α is fixed. The approach point Q to the intersection can be accurately detected. Further, since the navigation system 70 for correcting the predetermined distance α is unnecessary, the driving evaluation device 100 can be manufactured at a low cost.

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

It is a functional block diagram showing the 1st example of the composition of the driving evaluation device concerning the present invention. It is a top view which shows typically the example of a condition at the time of a vehicle turning right and left at an intersection. FIG. 6 is a diagram illustrating an example of a relationship between an absolute value of a steering angle θ1 and a travel distance D when an intersection turns right and left when a relatively steep steering operation is performed. FIG. 5 is a diagram illustrating an example of a relationship between an absolute value of a steering angle θ1 and a travel distance D when turning left and right at an intersection when a relatively gentle steering operation is performed. It is a flowchart which shows 1st Example of the driving | running evaluation method which concerns on this invention. It is a functional block diagram which shows 2nd Example of a structure of the driving | running evaluation apparatus which concerns on this invention.

Explanation of symbols

10, 100 Driving evaluation device 20, 120 Driving evaluation ECU
DESCRIPTION OF SYMBOLS 21 Detection memory | storage means 23,123 Approach point detection means 25 Driving | operation operation evaluation means 30 Steering angle sensor 40 Vehicle speed sensor 50 Blinker switch 60 Output device 70 Navigation system

Claims (7)

In the driving evaluation device that evaluates the driving operation when turning the vehicle right and left at the intersection,
Detection storage means for detecting and storing the transition of the travel distance of the vehicle and the transition of the steering angle of the steering wheel or wheel;
Entry point detection means for detecting an entry point to the intersection based on the travel distance and the steering angle transition detected and stored by the detection storage means;
Driving operation evaluation means for evaluating the driving operation in consideration of the entry point detected by the entry point detection means;
A driving evaluation apparatus comprising:   The approach point detecting means detects the absolute value of the steering angle at the time of continuous turning steering and switching back steering based on the transition of the travel distance and the transition of the steering angle detected and stored by the detection storage means. The driving evaluation device according to claim 1, wherein an intermediate point between a pair of travel points that are at a predetermined angle is detected, and an entry point to the intersection is detected based on the intermediate point.   The approach point detection means detects a travel point where the absolute value of the steering angle is maximized based on the transition of the travel distance and the transition of the steering angle detected and stored by the detection storage means, The driving evaluation device according to claim 1, wherein an approach point to the intersection is detected based on a travel point where the absolute value of the steering angle is maximized.   The approach point detecting means is when the vehicle is turned left at a left-hand traffic intersection or when the vehicle is turned right at a right-hand traffic intersection, and the absolute value of the steering angle is 1/3 of the maximum angle. When it is made above, the approach point to the intersection is detected based on the transition of the travel distance and the transition of the steering angle detected and stored by the detection storage means. The driving evaluation apparatus described.   The driving operation evaluation means evaluates a brake pedal operation at the intersection according to a passing time in which a vehicle has passed through a predetermined section before the entry point detected by the entry point detection means. The operation evaluation device according to one item.   The driving operation evaluation means evaluates the blinker operation at the intersection according to a relative distance between the entry point detected by the entry point detection means and a travel point at the time of turn signal operation. The operation evaluation device according to claim 1. In the driving evaluation method for evaluating the driving operation when turning the vehicle left and right at the intersection,
A first step of detecting and storing a transition of a travel distance of the vehicle and a transition of a steering angle of a steering wheel or a wheel;
A second step of detecting an approach point to the intersection based on the transition of the travel distance detected and stored in the first step and the transition of the steering angle;
A third step of evaluating the driving operation in consideration of the approach point detected by the second step;
A driving evaluation method comprising:

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