JP2013097605A - Vehicle driving support device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To allow more comfortable notification for a confirmation operation.SOLUTION: Monitor items of driver's confirmation operation about a peripheral state of a vehicle are specified to determine whether confirmation operations for all monitor items have been executed or not. If it is determined that confirmation operations for all the monitor items have not been executed, confirmation operations which have not been executed are stored in storage means (S108). When a peripheral state of the vehicle agrees with the peripheral state of the vehicle in which confirmation operations for all the monitor items have not been executed, at the next time, the driver is notified of confirmation operations which have not been executed (S206).

Description

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

  Conventionally, various types of information that provide various information for driving operation to the driver have been proposed (see, for example, Patent Document 1).

JP 2006-1377 A

  By the way, one of the major factors causing traffic accidents is a lack of confirmation from the driver. Thus, it is conceivable to eliminate a driver's confirmation omission by mounting a vehicle driving support device that notifies the driver of the confirmation operation on the vehicle. However, in such a vehicle driving support apparatus, if the driver is uniformly notified of the driving operation, the frequency of notification increases, which causes the driver to feel bothered. For example, when a vehicle turns left at an intersection, it is necessary to visually check the state of traffic lights, pedestrians and bicycles on a pedestrian crossing, blind spots on the left rear, etc. However, there is a problem that the driver will feel annoyed if the alert is given uniformly.

  The present invention has been made in view of the above problems, and an object of the present invention is to make it possible to carry out notification for a confirmation operation more comfortably.

  In order to achieve the above object, the invention according to claim 1 is a vehicle driving support device that supports driving operation of a vehicle driver, specifies a situation around the vehicle, and the situation around the vehicle is preliminarily determined. Situation determination means for determining whether or not a driver's confirmation operation should be monitored based on whether or not a specific situation is prepared, and a situation where the driver's confirmation operation should be monitored by the situation determination means If it is determined, the monitoring item specifying means for specifying the monitoring item of the driver's confirmation operation in the situation around the vehicle and the information for determining the implementation status of the driver's confirmation operation are acquired, and the driving Confirmation operation execution determining means for determining whether or not a confirmation operation has been performed for all of the monitoring items specified by the monitoring item specifying means based on information for determining the implementation status of the confirmation operation of the user, and performing the confirmation operation If it is determined that the confirmation operation for all the monitoring items is not performed by the determination means, the storage control means for storing the confirmation operation that has not been performed in the storage means, and the next situation around the vehicle are all the monitoring items. And a notification means for notifying the driver of the confirmation operation that has not been performed when the confirmation operation is not performed.

  According to such a configuration, the situation around the vehicle is specified, and whether or not the driver's confirmation operation should be monitored based on whether or not the situation around the vehicle corresponds to a specific situation prepared in advance. If it is determined that the situation where the driver's confirmation operation should be monitored, the monitoring items for the driver's confirmation operation in the situation around the vehicle are identified, and the implementation status of the driver's confirmation operation is determined. To determine whether the confirmation operation for all the monitoring items has been performed based on the information for determining the implementation status of the driver's confirmation operation. If it is determined that the confirmation operation that has not been performed is stored in the storage unit, and the next situation around the vehicle matches the situation in which the confirmation operation for all of the monitoring items has not been performed, Implemented Since inform the driver about a yellowish checking operation, for example, without alerting takes place uniformly for any driver can implement notification for more comfortable confirmation operation.

  The invention according to claim 2 further includes a confirmation operation characteristic determination unit that identifies a characteristic of the driver's confirmation operation, and the notification unit is configured according to the characteristic of the driver's confirmation operation specified by the confirmation operation characteristic determination unit. The notification method for the confirmation operation that has not been performed is changed.

  According to such a configuration, the notification method for the confirmation operation that has not been performed is changed depending on the characteristics of the driver's confirmation operation, so that it is possible to perform notification suitable for the driver.

  Further, as in the third aspect of the invention, it is provided with a line-of-sight trend detecting unit that detects a line-of-sight trend of the driver from an image obtained by photographing the driver's face, and the confirmation operation characteristic determining unit is provided by the line-of-sight trend detecting unit. The characteristic of the driver's confirmation operation can be identified from the detected driver's line-of-sight trend, and the notification means can change the notification method for the confirmation operation that has not been performed according to the driver's line-of-sight trend.

  Further, as in the invention described in claim 4, it is provided with a line-of-sight trend detection means for detecting a movement of the driver's line of sight from an image obtained by photographing the driver's face, and the confirmation operation execution determination means is performed by the line-of-sight trend detection means. The detected movement of the driver's line of sight can be acquired as information for determining the implementation status of the driver's confirmation operation.

  In addition, as in the fifth aspect of the invention, the situation where the driver's confirmation operation should be monitored includes a situation where the vehicle turns left at the intersection, a situation where the vehicle turns right at the intersection, and a vehicle where the vehicle stops on the shoulder It can be set as at least one of the situations which pass and avoid.

  According to the sixth aspect of the present invention, the situation determination means includes at least one of an image captured by a camera that captures the periphery of the vehicle, a vehicle position on a map specified by the navigation device, and a state of the direction indicating switch. The situation around the vehicle can be specified based on the situation.

It is a figure which shows the structure of the vehicle driving assistance device which concerns on one Embodiment of this invention. Flowchart of confirmation operation storage process by control unit It is a figure for demonstrating a monitoring item. Flowchart of notification processing by control unit It is an example of a display of the icon showing the confirmation operation which was not implemented. It is a display example in the case of changing the display position of an icon representing a confirmation operation that has not been performed according to the movement of the driver's line of sight.

  A configuration of a vehicle driving support apparatus according to an embodiment of the present invention is shown in FIG. The vehicle driving support device 1 is mounted on a vehicle and supports a driver's driving operation. The vehicle driving support device 1 includes a vehicle front camera 10, a line-of-sight trend detection device 11, a head-up display 12, a speaker 13, and a control unit 14. A navigation device 20 and a direction indicating switch 30 are connected to the control unit 14.

  The vehicle front camera 10 is a camera for photographing the front of the vehicle, and outputs the photographed image to the control unit 14.

  The line-of-sight trend detection device 11 includes a driver's seat camera (not shown) that captures the driver's face, and performs image recognition processing on the image captured by the driver's seat camera to calculate the driver's line-of-sight direction. Then, the movement of the driver's line of sight is detected, and information for specifying the movement of the driver's line of sight is output to the control unit 14.

  The head-up display 12 includes a projection device that projects an optical image, and a reflecting mirror (none of which is shown) that reflects the optical image irradiated from the projection device and projects it onto a combiner provided on the windshield. The display is performed so that the virtual image is visually recognized from the occupant through the combiner.

  The speaker 13 outputs a sound corresponding to the sound signal input from the control unit 14.

  The control unit 14 is configured as a computer including a CPU, a memory, a RAM, a ROM, a flash memory, an I / O, and the like, and the CPU performs various processes according to a program stored in the ROM.

  The navigation device 20 includes a position detector, a map data acquisition unit, an operation unit, a control unit, and the like (all not shown). The control unit of the navigation device 20 acquires map data around the current position from the current position specifying process and map data acquiring unit that specifies the current position based on information for specifying the current position input from the position detector. Map display processing to display the vehicle position mark superimposed on the map around the current position, destination search processing to search for the destination according to the user's operation on the operation unit, optimum guidance from the departure point to the destination There are route search processing for searching for a route, travel guidance processing for performing travel guidance according to a guide route, and the like.

  The direction indicating switch 30 outputs a signal corresponding to the position of the direction indicating lever so as to extend from the steering column to the right side of the steering. When the tip of the direction indicator lever is pushed down below the neutral position, a signal indicating "right turn" is output from the direction indicator switch 30, and when the tip of the direction indicator lever is pushed up above the neutral position, the direction indicator A signal indicating “left turn” is output from the switch 30, and a signal indicating “neutral position” is output from the direction indicating switch 30 when the tip of the direction indicating lever is operated to the neutral position.

  The control unit 14 can recognize which region of the vehicle has been viewed by the driver based on the driver's line-of-sight trend detected by the line-of-sight trend detection device 11. For example, when the traffic light is included in the captured image of the vehicle front camera 10 and the line of sight faces upward, it can be recognized that the state of the traffic light is being confirmed. In addition, when a signal indicating “turn left” is input from the direction indicating switch 30 and the intersection image is included in the captured image of the vehicle front camera 10, the oncoming vehicle is confirmed. It can be recognized as a thing. In addition, when a signal indicating “left turn” is input from the direction indication switch 30 and the intersection image is included in the captured image of the vehicle front camera 10 and the line of sight is in the left direction, the signal is provided on the left turn road. It can be recognized that pedestrians on a pedestrian crossing have been confirmed. In addition, when a signal indicating “turn left” is input from the direction indicating switch 30 and the line of sight is in the lower left direction, the left door mirror is visually confirmed to confirm the left rear to prevent a entanglement accident during the left turn. Can be recognized.

  Note that in the left rear confirmation operation for preventing a entanglement accident, there is a case where the user can look back and directly view the left rear. Therefore, a signal indicating “left turn” is input from the direction indicating switch 30, and the line-of-sight trend detection device 11 Even when it is determined that the left rear is directly viewed based on the information for identifying the driver's line of sight input, it can be recognized that the left rear is confirmed. .

  In addition, regarding the situation of turning right at the intersection, it is possible to recognize what area the driver is viewing and confirming based on the same concept.

  The control unit 14 identifies the situation around the vehicle from the image taken by the vehicle front camera 10, the vehicle position on the map identified by the navigation device 20 and the state of the direction indicating switch 30, and the situation around the vehicle is prepared in advance. If it is determined that the driver's confirmation operation should be monitored based on whether or not the driver's confirmation operation is to be monitored based on whether or not the vehicle is in a specific situation, the vehicle Information for identifying the monitoring items for the driver's confirmation operation in the surrounding situation, obtaining information for determining the implementation status of the driver's verification operation, and information for determining the implementation status of the driver's confirmation operation Based on the monitoring item identification means, it is determined whether or not the confirmation operation has been performed on all the monitoring items specified, and it is determined that the confirmation operation has not been performed on all the monitoring items If it is, performing the check operation storage processing of storing the checking operation has not been performed in the storage means.

  FIG. 2 shows a flowchart of the confirmation operation storing process. When the ignition switch of the vehicle is turned on according to the driver's operation, the vehicle driving support device 1 and the navigation device 20 are in an operating state, and the control unit 14 periodically performs the confirmation operation storing process shown in FIG.

  First, the situation around the vehicle is specified from the image taken by the vehicle front camera 10, the vehicle position on the map specified by the navigation device 20, and the state of the direction indicating switch 30 (S100). In the present embodiment, it is specified whether the vehicle is turning left at the intersection, whether the vehicle is turning right at the intersection, or passing through avoiding the vehicle stopped on the road shoulder.

  Next, it is determined whether or not the driver's confirmation operation should be monitored based on whether or not the situation around the vehicle corresponds to a specific situation prepared in advance (S102). In the present embodiment, the specific situation prepared in advance refers to a situation where the vehicle turns left at the intersection, a situation where the vehicle turns right at the intersection, and a situation where the vehicle passes by avoiding a vehicle stopped on the shoulder. Say.

  Here, when the situation around the vehicle does not correspond to the specific situation prepared in advance, the determination in S102 is NO and the process returns to S100. If the situation around the vehicle corresponds to a specific situation prepared in advance, the determination in S102 is YES, and then the monitoring item is specified (S104).

  For example, in the situation where the vehicle turns left at the intersection, as shown in FIG. 3, (1) Confirmation of traffic light status, (2) Confirmation of oncoming vehicle, (3) Pedestrian on pedestrian crossing provided on left turn road Etc. and (4) Confirmation of the left rear for prevention of entrainment accidents as monitoring items.

  Moreover, in the situation where the vehicle turns right at the intersection, (1) Confirmation of the traffic light, (2) Confirmation of the oncoming vehicle, and (3) Confirmation of pedestrians etc. on the pedestrian crossing provided on the right turn road Identify.

  Also, in the situation where the vehicle passes by avoiding the vehicle parked on the shoulder, (2) confirmation of the surroundings of the vehicle parked on the shoulder, and (2) if there is a lane on the right side, the right lane The right rear confirmation to prevent accidents in contact with other vehicles is specified as a monitoring item.

  Next, information for determining the implementation status of the driver's confirmation operation is acquired, and the monitoring item identified by the monitoring item identification means is based on the information for determining the implementation status of the driver's confirmation operation. It is determined whether or not a confirmation operation for all has been performed (S106). Specifically, as information for determining the implementation status of the driver's confirmation operation, the driver's line-of-sight trend identified by the line-of-sight trend detection device 11 is acquired, and based on the driver's line-of-sight trend. , It is determined whether or not a confirmation operation has been performed on all of the monitoring items identified in S104.

  Here, when confirmation operation with respect to all the monitoring items is not implemented, determination of S106 becomes NO and the situation where the vehicle was put and the confirmation operation which is not implemented are memorize | stored in flash memory (S108). For example, if the vehicle turns left at an intersection and the driver neglects to check the left rear to prevent an entanglement accident, the `` situation where the vehicle turns left at the intersection '' and `` the left rear to prevent an entanglement accident '' “Confirm” is stored in the flash memory. At this point in time, no alert is issued regarding the failure to confirm the left rear to prevent entrainment accidents.

  If the confirmation operation has been performed for all the monitoring items, the determination in S106 is YES, and the process ends without performing storage in the flash memory.

  When the situation around the vehicle matches the situation in which the confirmation operation for all the monitoring items is not performed, the control unit 14 performs a notification process for notifying the driver of the confirmation operation that has not been performed.

  FIG. 4 shows a flowchart of the notification process. The control unit 14 performs the process shown in FIG. 4 in parallel with the confirmation operation storage process shown in FIG.

  First, the situation around the vehicle is identified from the image taken by the vehicle front camera 10, the vehicle position on the map identified by the navigation device 20, and the state of the direction indicating switch 30 (S200). In the present embodiment, it is specified whether the vehicle is turning left at the intersection, whether the vehicle is turning right at the intersection, or passing through avoiding the vehicle stopped on the road shoulder.

  Next, the characteristics of the driver's confirmation operation are specified (S202). Specifically, the visual range of the driver and the speed of movement of the pupil are specified based on information for specifying the visual line trend input from the visual line trend detection device 11. The driver's visual range is specified in three levels: wide, middle, and border. Also, the speed of pupil movement is specified in three stages: high speed, middle side, and low speed.

  Next, it is determined whether or not the situation around the vehicle coincides with the situation where the confirmation operation has not been performed before (S204). For example, in a situation where the vehicle turns left at the intersection, the driver neglects to check the left rear to prevent an accident involving the vehicle, "the situation where the vehicle turns left at the intersection" and "confirms the left rear to prevent an accident involving the vehicle" Is stored in the flash memory, and again, if the situation around the vehicle is a situation where the vehicle turns left at the intersection, the determination in S204 is YES, and the confirmation operation that was not performed is notified (S206). Specifically, a display body (icon) representing a confirmation operation that has not been performed is displayed on the front window via the head-up display 12 and a warning sound is output from the speaker 13.

  FIG. 5 shows a display example of icons representing confirmation operations that have not been performed. In this figure, there are an icon 50a representing a left rear confirmation operation for preventing a rolling accident when the vehicle makes a left turn, and an icon 50b representing a confirmation operation of a pedestrian on a pedestrian crossing provided on the left turn road. It is shown.

  In the present embodiment, the display position of an icon representing a confirmation operation that has not been performed is changed according to the movement of the driver's line of sight. Specifically, in the case of the driver A with a narrow visual range, as shown in FIG. 6A, an icon representing a confirmation operation that has not been performed is displayed on the center of the windshield so as not to burden the driver. In the case of the driver B who is displayed in the vicinity and has a wide visual range, as shown in FIG. 6B, an icon representing a confirmation operation that has not been performed is displayed on the windshield so as not to obstruct the field of view as much as possible. Display on the edge. In addition, even if the driver has a wide visual range, if the driver has slow pupil movement, an icon indicating the confirmation operation that was not performed is placed near the center of the windshield so as not to burden the driver. In the case of a driver whose pupil moves quickly, an icon representing a confirmation operation that has not been performed is displayed on the end portion of the windshield so as not to obstruct the field of view as much as possible. In this way, the display position of the icon representing the confirmation operation that has not been performed is changed according to the visual range and the speed of movement of the pupil.

  According to the above-described configuration, whether or not the situation around the vehicle is to be monitored, and the driver's confirmation operation should be monitored based on whether or not the situation around the vehicle corresponds to a specific situation prepared in advance. If it is determined that the driver's confirmation operation should be monitored, the monitoring items for the driver's confirmation operation in the situation around the vehicle are identified, and the implementation status of the driver's confirmation operation is determined. Information is acquired, and it is determined whether or not the confirmation operation for all the monitoring items has been performed based on the information for determining the implementation status of the driver's confirmation operation. If it is determined that the confirmation operation has not been performed, the confirmation operation that has not been performed is stored in the storage unit, and the next time the situation around the vehicle coincides with the situation in which the confirmation operation for all of the monitoring items has not been performed, Not Because to inform the driver about the Tsu confirmation operation, for example, without warning is carried out uniformly for any driver, it is possible to carry out a notification for a more comfortable check operation.

  Moreover, since the notification method about the confirmation operation that has not been performed is changed depending on the characteristics of the confirmation operation of the driver, it is possible to perform notification suitable for the driver.

  Further, the apparatus includes a line-of-sight trend detection device 11 that identifies the movement of the driver's line of sight from an image obtained by photographing the driver's face. The notification method for the confirmation operation that has not been performed can be changed according to the characteristics of the driver and the driver's line of sight.

  In addition, a gaze trend detection device 11 that identifies a driver's gaze trend from an image of the driver's face is provided, and the driver's gaze trend identified by the gaze trend detection device 11 is confirmed by a driver's confirmation operation. It can be acquired as information for determining the implementation status.

  In addition, the situation where the driver's confirmation operation should be monitored is at least one of a situation where the vehicle turns left at the intersection, a situation where the vehicle turns right at the intersection, and a situation where the vehicle passes by avoiding the vehicle stopped on the shoulder. can do.

  Whether or not the driver's confirmation operation should be monitored based on at least one of an image captured by a camera that captures the periphery of the vehicle, a vehicle position on a map specified by a navigation device, and a state of a direction indicating switch. Can be determined.

  In addition, this invention is not limited to the said embodiment, Based on the meaning of this invention, it can implement with a various form.

  For example, in the above embodiment, the situation in which the driver's confirmation operation should be monitored for the situation where the vehicle turns left at the intersection, the situation where the vehicle turns right at the intersection, and the situation where the vehicle passes by avoiding the vehicle parked on the shoulder. However, for example, the situation where the driver joins the main line at the interchange, the situation where the lane is changed to the left lane, the situation where the lane is changed to the right lane, and the like may be specified as situations where the driver's confirmation operation should be monitored.

  In addition, the items to be monitored in each situation do not necessarily match the items described in the above embodiment.

  Further, in the above embodiment, it is determined whether or not the confirmation operation for all the monitoring items has been performed. If it is determined that the confirmation operation for all the monitoring items has not been performed, the confirmation operation that has not been performed is flushed. It is stored in the memory, and the next time the situation around the vehicle matches the situation where the confirmation operation for all of the monitoring items is not performed, it is configured to notify the driver about the confirmation operation that was not performed. It is determined that the confirmation operation for all of the items has not been performed, and after the confirmation operation that has not been performed is stored in the flash memory, it is determined that the confirmation operation for all of the monitoring items has been performed in the same situation around the vehicle. In such a case, the “confirmation operation that has not been performed” previously stored in the flash memory may be deleted or invalidated. Specifically, when it is determined YES in S106, a step of deleting or invalidating the “confirmed confirmation operation” stored in the flash memory may be added. By adopting such a configuration, since the notification is not performed if the confirmation operation is performed on all the monitoring items, the troublesomeness can be further reduced. In addition, if the confirmation operation is neglected, the notification is performed, and if the confirmation operation for all the monitoring items is performed, the notification is not performed, and it is possible to make it a habit not to neglect the confirmation operation, It is possible to improve the driving skill of the driver.

  Moreover, in the said embodiment, although the vehicle periphery was image | photographed using the vehicle front camera 10 which image | photographs the vehicle front, it is not limited to a vehicle front camera.

  Moreover, in the said embodiment, although the structure which projects a display body on a windshield using the head-up display 12 was shown, it is not limited to such a structure, For example, the indicator etc. which were provided in the meter You may comprise so that various information may be displayed using.

  The correspondence relationship between the configuration of the above embodiment and the configuration of the claims will be described. S100 and S200 correspond to status determination means, S104 corresponds to monitoring item identification means, and S106 corresponds to confirmation operation execution determination means. S108 corresponds to the storage control unit, S204 and S206 correspond to the notification unit, S202 corresponds to the confirmation operation characteristic determination unit, and the line-of-sight trend detection device 11 corresponds to the line-of-sight trend detection unit.

DESCRIPTION OF SYMBOLS 1 Vehicle driving assistance device 10 Vehicle front camera 11 Gaze trend detection device 12 Head-up display 13 Speaker 14 Control part 20 Navigation device 30 Direction indication switch

Claims (6)

A vehicle driving support device for supporting driving operation of a vehicle driver,
Situation determination that identifies the situation around the vehicle and determines whether or not the driver's confirmation operation should be monitored based on whether or not the situation around the vehicle corresponds to a specific situation prepared in advance Means,
A monitoring item specifying unit for specifying a monitoring item of the driver's confirmation operation in a situation around the vehicle, when it is determined by the situation determination unit that the driver's confirmation operation is to be monitored;
Information for determining the implementation status of the driver's confirmation operation is acquired, and the monitoring item identified by the monitoring item identification means based on the information for determining the implementation status of the driver's confirmation operation Confirmation operation execution determination means for determining whether or not a confirmation operation has been performed for all;
A storage control means for storing the confirmation operation that has not been performed in the storage means when the confirmation operation execution determination means determines that the confirmation operation for all of the monitoring items has not been performed;
Next, when the situation around the vehicle coincides with the situation where the confirmation operation for all of the monitoring items is not performed, a notification means for notifying the driver of the confirmation operation that is not performed is provided. A vehicle driving support device characterized by the above. A confirmation operation characteristic determining means for specifying a characteristic of the driver's confirmation operation;
The said notification means changes the notification method about the said confirmation operation which was not implemented by the characteristic of the said driver | operator's confirmation operation specified by the said confirmation operation characteristic determination means. Vehicle driving support device. Gaze trend detecting means for detecting a gaze trend of the driver from an image obtained by photographing the driver's face;
The confirmation operation characteristic determination means identifies the characteristics of the driver's confirmation operation from the driver's line-of-sight trend detected by the line-of-sight trend detection means,
The vehicle driving support device according to claim 2, wherein the notifying unit changes a notifying method for the confirmation operation that has not been performed according to a trend of the driver's line of sight. Gaze trend detecting means for detecting a gaze trend of the driver from an image obtained by photographing the driver's face;
The confirmation operation execution determination unit acquires the driver's line-of-sight trend detected by the line-of-sight trend detection unit as information for determining an implementation status of the driver's confirmation operation. The vehicle driving support device according to 1 or 2.   The situation where the driver's confirmation operation should be monitored is at least the situation where the vehicle turns left at the intersection, the situation where the vehicle turns right at the intersection, and the situation where the vehicle passes by avoiding the vehicle stopped on the shoulder. The vehicle driving support device according to claim 1, wherein the number is one.   The situation determination means identifies the situation around the vehicle based on at least one of an image photographed by a camera that photographs the periphery of the vehicle, a vehicle position on a map identified by a navigation device, and a state of a direction indication switch. The vehicle driving support device according to any one of claims 1 to 5, wherein

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