JP2012234319A - Driving support device and method - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a driving support device and method capable of reducing an uncomfortable feeling brought about in a driver.SOLUTION: A controller in a driving support device calculates, when a driving support of a vehicle is being executed, on condition that the range of a motion distribution of a movable object is widened, the collision probability between the vehicle and the movable object on the basis of the motion distribution of the movable object and a motion distribution of the vehicle, and determines whether or not the collision probability is a support execution threshold or above. Then, if it is determined that the collision probability is the support execution threshold or above, the controller continues the driving support of the vehicle, and if it is determined that the collision probability is less than the support execution threshold, the controller ends the driving support of the vehicle.

Description

  The present invention relates to a driving support apparatus and method for supporting driving of a vehicle.

  As a driving assistance apparatus, the thing of patent document 1 is proposed, for example. The driving support device described in Patent Literature 1 calculates the collision probability between the vehicle and another moving object as the collision risk based on the overlapping frequency of the moving object particles of the vehicle and the moving object particles of the other moving object. When the collision probability exceeds a threshold value, it is determined that there is a risk of collision, and driving assistance for the vehicle is performed.

Japanese Patent Application No. 2010-201214

  In the above driving assistance device, when the speed of the vehicle is high and the speed of the other moving object is low, the collision probability decreases when the vehicle approaches the other moving object. Driving assistance may end before passing. In this case, the driver of the vehicle will feel uncomfortable.

  An object of the present invention is to provide a driving support apparatus and method that can reduce a sense of incongruity that occurs in a driver.

  The present invention relates to a driving support device that performs driving support based on the possibility of collision between a vehicle and an object, and changes a determination condition or a determination method for the possibility of collision while vehicle driving support is being performed. The collision possibility judging means for judging whether or not there is a possibility of collision, and continuing assistance for deciding whether or not to continue driving support of the vehicle according to the possibility of collision judged by the collision possibility judging means And a determining means.

  As described above, in the driving support device of the present invention, while the driving support of the vehicle is being implemented, the determination condition or determination method for the possibility of collision is changed to determine the possibility of collision, and the collision is determined. It is determined whether or not to continue driving support of the vehicle depending on the possibility. At this time, when there is a possibility of collision between the vehicle and the object, by continuing the driving assistance of the vehicle, for example, because the speed of the vehicle is relatively higher than the speed of the object, the vehicle becomes the object. Even if the collision probability decreases when approaching, as long as there is a possibility of collision between the vehicle and the object, driving support for the vehicle will not be terminated before the vehicle passes by the object. . Thereby, the uncomfortable feeling of the driver of the vehicle can be reduced.

  Preferably, the collision possibility determination means is set so that it is easier to determine that there is a possibility of collision as compared to before the change by changing a determination condition or a determination method for the possibility of collision.

  Preferably, the support continuation determining unit determines to continue driving support of the vehicle when it is determined by the collision possibility determining unit that there is a possibility of collision. In this case, as described above, as long as there is a possibility of collision between the vehicle and the object, the driving assistance of the vehicle is not terminated before the vehicle passes by the object. It can be certainly reduced.

  Further, preferably, the collision possibility determination means expands a distribution range of at least one of the motion distribution of the object and the motion distribution of the vehicle during the driving support of the vehicle, and the collision probability between the vehicle and the object in that state is increased. By calculating, it is determined whether or not there is a possibility of collision between the vehicle and the object. In this case, it is possible to determine whether or not there is a possibility of collision between the vehicle and the object without performing particularly complicated calculation processing.

  Further, the collision possibility determination means may determine whether or not there is a possibility of collision between the vehicle and the object by searching for a path where the vehicle and the object can collide. In this case, it is possible to more accurately determine the possibility of collision between the vehicle and the object.

  In addition, the driving support method of the present invention determines whether or not there is a collision possibility by changing the determination condition or the determination method of the possibility of collision during driving assistance based on the possibility of collision between the vehicle and the object. Whether to continue driving assistance of the vehicle is determined according to the possibility of the collision.

  Thus, in the driving support method of the present invention, as described above, when there is a possibility of collision between the vehicle and the object, by continuing the driving support of the vehicle, for example, the speed of the vehicle becomes the speed of the object. As a result, the vehicle will pass by the object as long as there is a possibility of collision between the vehicle and the object even if the collision probability decreases when the vehicle approaches the object. There is no end to driving support before. Thereby, the uncomfortable feeling of the driver of the vehicle can be reduced.

  ADVANTAGE OF THE INVENTION According to this invention, the appropriate driving assistance which can reduce the discomfort produced in a driver is realizable.

It is a schematic block diagram which shows one Embodiment of the driving assistance device concerning this invention. It is a flowchart which shows the detail of the process sequence performed by the controller shown in FIG. It is a conceptual diagram which shows an example of a presence possibility map. It is a conceptual diagram which shows an example of the movement prediction of a movable object. It is a conceptual diagram which shows an example of a pedestrian's motion distribution when a vehicle is far from a pedestrian, and when a vehicle is near a pedestrian. It is a conceptual diagram which shows an example of the motion distribution of a pedestrian when a vehicle is far from a pedestrian and when a vehicle is near a pedestrian as a comparative example. It is a graph which shows the collision probability of a vehicle and a movable object in time series. 4 is a flowchart showing details of a processing procedure executed by the controller shown in FIG. 1 in another embodiment of the driving support apparatus according to the present invention. It is a conceptual diagram which shows an example which judges whether the pedestrian's collision possible path | route with respect to a vehicle exists by route search.

  DESCRIPTION OF EMBODIMENTS Hereinafter, preferred embodiments of a driving support apparatus and method according to the present invention will be described in detail with reference to the drawings.

  FIG. 1 is a schematic configuration diagram showing an embodiment of a driving support apparatus according to the present invention. In the figure, the driving support device 1 of this embodiment determines the risk of collision between a vehicle and a movable object (target object) such as a pedestrian and performs driving support of the vehicle.

  The driving support device 1 includes a recognition sensor 2, a car navigation 3, a controller 4, and an alarm device 5.

  The recognition sensor 2 is a sensor that detects the road environment in which the vehicle travels, the position and state of a movable object, and a camera, a radar, or the like is used. The car navigation 3 is a device that has a map information database and performs route guidance to the current position of the vehicle and the destination.

  The controller 4 is configured by a computer having a CPU, a ROM storing a program, a RAM storing data, an input / output circuit, and the like, although not particularly illustrated. The controller 4 inputs the detection signal of the recognition sensor 2 and the information of the car navigation 3, performs a predetermined process, and controls the alarm device 5 so as to warn the driver of the vehicle by voice or display.

  FIG. 2 is a flowchart showing details of a processing procedure executed by the controller 4. In the figure, first, the traveling environment around the vehicle is recognized based on the detection signal of the recognition sensor 2 and the information of the car navigation 3 (step S101).

  Subsequently, based on the traveling environment around the vehicle, an existence possibility map representing the ease of existence of the movable object with respect to the target region (location) is generated (step S102). For example, as shown in FIG. 3A, in a driving environment in which a curb C is installed between the road A and the sidewalk B and there is a pedestrian crossing D that crosses the road A, the possibility that the pedestrian R exists. For example, the map is as shown in FIG. That is, the presence possibility of the pedestrian R is 1.0 for the sidewalk B and the pedestrian crossing D, 0.8 for the curb C, and 0.5 for the roadway A.

  Subsequently, it is determined whether or not driving support for the vehicle is being executed (step S103). When it is determined that driving support for the vehicle is not being executed, the motion distribution of the movable object is initialized based on the position and state of the movable object included in the traveling environment (step S104).

  Subsequently, the movement prediction of the movable object is performed by moving a plurality of particles representing the movable object for a preset time according to the movement distribution of the movable object obtained in step S104 and the movement speed of the predetermined motion distribution. Is performed (procedure S105).

  For example, when the initial positions of the vehicle P and the pedestrian R are set as shown in FIG. 4A, a plurality of particles p representing the vehicle P and a plurality of particles r representing the pedestrian R are distributed in motion. As shown in FIG. 4 (b). In other words, since there are two routes of the pedestrian R, the sidewalk B and the pedestrian crossing D, a plurality of particles r representing the pedestrian R include those that go straight on the sidewalk B and those that cross the pedestrian crossing D. It becomes like.

  Subsequently, the motion distribution of the movable object is changed according to the possibility of existence of the movable object obtained in step S102 (procedure S106). Specifically, the motion distribution of the movable object is constrained according to the ease with which the movable object exists by eliminating particles included in a region having a low possibility of being present at the moving point of the movable object.

Ｎ_total：車両の運動分布Ｎの総面積
ｎ_col：車両の運動分布Ｎのうち可動物の運動分布Ｍと重なる領域の面積
Ｍ_total：可動物の運動分布Ｍの総面積
ｍ_col：可動物の運動分布Ｍのうち車両の運動分布Ｎと重なる領域の面積 Subsequently, based on the motion distribution of the movable object and the motion distribution of the vehicle obtained in step S106, the collision probability between the vehicle and the movable object after _tn seconds is calculated (procedure S107). The collision probability is calculated by the following formula.

N _total : Total area of the vehicle motion distribution N n _col : Area of the vehicle motion distribution N that overlaps the motion distribution M of the movable object M _total : Total area of the motion distribution M of the movable object m _col : The area of the motion distribution M that overlaps the vehicle motion distribution N

  Subsequently, it is determined whether or not the collision probability calculated in step S107 is equal to or greater than a support execution threshold (step S108). When it is determined that the collision probability is equal to or higher than the assistance execution threshold, driving assistance for the vehicle is started (step S109), and this process is terminated. Specifically, the alarm device 5 is controlled so as to warn the driver of the vehicle that there is a possibility of a collision. On the other hand, when it is determined that the collision probability is not equal to or higher than the assistance execution threshold, the process ends without executing step S109.

  When it is determined in step S103 that driving support for the vehicle is being executed, the motion distribution of the movable object is initialized in the same manner as in step S104 described above (step S110).

  Subsequently, the moving speed and existence possibility map of the motion distribution of the movable object is corrected (step S111). Specifically, the predicted range in which the movable object moves is widened by increasing the moving speed of the motion distribution of the movable object and the possibility of existence of the movable object.

  Subsequently, by moving a plurality of particles representing the movable object for a preset time according to the motion distribution of the movable object obtained in step S110 and the movement speed of the motion distribution corrected in step S111, A movement prediction is performed (step S112).

  Subsequently, the motion distribution of the movable object is changed according to the possibility of existence of the movable object corrected in step S111 (procedure S113). At this time, if the moving speed and the existence possibility map of the motion distribution of the movable object are corrected in step S111, the vehicle P approaches the movable object R as shown in FIGS. 5 (a) and 5 (b). The range of movement distribution of animals becomes wider.

Subsequently, based on the motion distribution of the movable object and the motion distribution of the vehicle obtained in step S113, the collision probability between the vehicle and the movable object after _tn seconds is calculated (procedure S114). The calculation formula at this time is the same as that in step S107.

  Subsequently, it is determined whether or not the collision probability calculated in step S114 is greater than or equal to a support execution threshold (step S115). When it is determined that the collision probability is equal to or greater than the assistance execution threshold, the vehicle driving assistance is continued (step S116), and this process is terminated. Specifically, the alarm device 5 is controlled so as to continuously issue an alarm to the driver of the vehicle.

  On the other hand, when it is determined that the collision probability is not equal to or higher than the assistance execution threshold, the driving assistance of the vehicle is finished (step S117), and this process is finished. Specifically, the alarm device 5 is controlled so as to stop the alarm for the vehicle driver.

  In the above, steps S110 to S115 include a collision possibility determination means for changing the determination condition or determination method for the possibility of collision and determining the possibility of collision while driving assistance for the vehicle is being implemented. Configure. Steps S116 and S117 constitute support continuation determination means for determining whether or not to continue driving support of the vehicle according to the presence or absence of the collision possibility determined by the collision possibility determination means.

Incidentally, for example, as shown in FIG. 6 (a), when the vehicle P is far from the pedestrian R overlaps region increases with movement distribution of pedestrian R and movement distribution of the vehicle P after a time t ₂ Since the collision probability between the vehicle P and the pedestrian R is increased, driving assistance for the vehicle P is performed. However, since the speed of the vehicle P is sufficiently higher than the speed of the pedestrian R, the collision probability decreases as the vehicle P approaches the pedestrian R (see FIG. 7). That is, when the vehicle P approaches the pedestrian R, as shown in FIG. 6B, there is no overlap area between the motion distribution of the vehicle P and the motion distribution of the pedestrian R, and the collision between the vehicle P and the pedestrian R occurs. Since the probability does not occur, the driving support for the vehicle P ends immediately before the vehicle P passes by the pedestrian R. For this reason, the driver of the vehicle P will feel uncomfortable.

On the other hand, in the present embodiment, when the driving assistance of the vehicle is being implemented, the vehicle P becomes a pedestrian R as shown in FIG. 5B, for example, by widening the motion distribution range of the movable object. Even if it approaches, the overlap region between the motion distribution of the vehicle P and the motion distribution of the pedestrian R is sufficiently secured after time t ₁ , and the collision probability between the vehicle P and the pedestrian R becomes high. Will continue as it is. For this reason, the driving support of the vehicle P does not end immediately before the vehicle P passes by the pedestrian R. Thereby, the uncomfortable feeling felt by the driver of the vehicle P can be reduced.

  In this embodiment, when vehicle driving support is being implemented, the motion distribution range of the movable object is widened. However, the present invention is not limited to this method, and the motion distribution of the movable object and the motion distribution of the vehicle are not limited thereto. The distribution range of at least one of the above may be widened.

  FIG. 8 is a flowchart showing details of a processing procedure executed by the controller 4 in another embodiment of the driving support apparatus according to the present invention. In the figure, the same steps as those shown in FIG. 2 are denoted by the same reference numerals, and the description thereof is omitted.

  If it is determined in step S103 that driving assistance for the vehicle is being executed in step S103, it is determined whether or not there is a movable object path (a collision possible path) where the vehicle and the movable object can collide by the route search. Judgment is made (procedure S121).

At this time, for example, RRT (Rapidly-exploring Random Tree) or A ^* is used as a route search method. RRT is a probabilistic method for searching for an operation path from a start point to a target point, and is a search tree generation method based on a random number criterion. A feature of RRT is that it is effective for route search in a huge search section, can be searched in a high-order space, and uses a high-speed and simple algorithm.

Specifically, as shown in FIG. 9 (b), a route search considering the pedestrian R's existence possibility map with the pedestrian R as a starting point for the center of gravity position of the vehicle P after t _n seconds. To implement. If there is a route, a travel time Tp (= L / Vmax) when moving at a predetermined maximum walking speed Vmax of the pedestrian R with respect to the route length L is calculated. When Tp ≦ t ₁ , it is determined that there is a collision possible route for the pedestrian R. On the other hand, when the Tp> _{t 1,} sequentially performing the same operation from _{t 2} to _{t n.} If the route does not exist even after going to t _n , it is determined that there is no collision possible route for the pedestrian R.

  When it is determined in step S121 that there is a movable object collision possible route, the vehicle driving assistance is continued (step S122). On the other hand, when it is determined that there is no collision possible path for the movable object, driving support for the vehicle is terminated (step S123).

  In the above, step S121 constitutes a collision possibility determination means for changing the determination condition or determination method for the possibility of collision while determining whether or not there is a collision possibility while driving support for the vehicle is being implemented. . Steps S122 and S123 constitute support continuation determining means for determining whether or not to continue driving support of the vehicle according to the presence or absence of the collision possibility determined by the collision possibility determining means.

  As described above, in the present embodiment, when driving support for a vehicle is being implemented, it is determined whether there is a collision-possible route for a movable object with respect to the vehicle by route search. Since the driving assistance of the vehicle is continued as it is, for example, the driving assistance of the vehicle does not end immediately before the vehicle passes by the pedestrian. Thereby, the uncomfortable feeling felt by the driver of the vehicle can be reduced.

  The present invention is not limited to the above embodiment. For example, in the above embodiment, when driving support for a vehicle is being implemented, the distribution range of at least one of the motion distribution of the movable object and the motion distribution of the vehicle is widened, and the collision probability between the vehicle and the movable object is increased in that state. The possibility of collision between the vehicle and the movable object is determined by calculating or determining whether there is a collision possible path of the movable object with respect to the vehicle by route search. The method for determining the presence or absence of this is not particularly limited to the above.

  At this time, the movable object is not limited to the pedestrian R described above, and the movable object may be implemented by other objects such as a bicycle, a motorcycle, a vehicle, and an animal.

  Moreover, although the case where the warning to a driver was given as driving assistance was taken up in the said embodiment, the driving assistance of another form may be sufficient.

  In addition, as the physical quantity expressed as the motion distribution of the target object, it is possible to use the direction, speed, acceleration, or a combination of the target object. It is also possible to use other physical quantities that represent the motion state of the object.

  Furthermore, although the case where driving assistance is started based on the collision probability has been taken up in the above embodiment, driving assistance can be started based on route search or other possibility determination methods. When driving support is started by route search, it is possible to determine whether to continue driving support by changing search conditions for route search.

  DESCRIPTION OF SYMBOLS 1 ... Driving assistance device, 2 ... Recognition sensor, 3 ... Car navigation, 4 ... Controller (collision possibility judgment means, assistance continuation determination means), 5 ... Alarm.

Claims (6)

In a driving support device that performs driving support based on the possibility of collision between a vehicle and an object,
While the driving assistance for the vehicle is being implemented, a collision possibility determination unit that determines the presence or absence of the collision by changing the determination condition or the determination method of the presence or absence of the collision possibility;
A driving support apparatus comprising: a support continuation determining unit that determines whether or not to continue driving support of the vehicle according to the presence or absence of the collision possibility determined by the collision possibility determining unit.   The collision possibility determination means is set so that it is easier to determine that there is a collision possibility compared to before the change by changing a determination condition or a determination method for the presence or absence of the collision possibility. The driving support apparatus according to claim 1.   3. The support continuation determining unit determines to continue driving support of the vehicle when the collision possibility determining unit determines that the collision possibility exists. Driving assistance device.   The collision possibility determination means widens at least one of the motion distribution of the object and the motion distribution of the vehicle during driving support of the vehicle, and the collision probability between the vehicle and the object in that state. The driving support device according to any one of claims 1 to 3, wherein it is determined whether or not there is a possibility of a collision between the vehicle and the object by calculating.   2. The collision possibility determining means determines whether or not there is a possibility of collision between the vehicle and the object by searching for a path on which the vehicle and the object can collide. The driving support device according to any one of to 3.   During driving assistance based on the possibility of collision between the vehicle and the object, the judgment condition or judgment method for the possibility of collision is changed to determine the possibility of collision, and the possibility of collision is determined. Accordingly, it is determined whether or not to continue driving assistance for the vehicle.

Images