JP2013105200A - Driving support device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a driving support device for adequately performing plural driving supports.SOLUTION: A driving support device 1 includes a support device 4 that can output driving support information corresponding to plural driving supports for supporting driving of a vehicle 2, and a control device 5 that controls the support device 4 on the basis of priorities of the plural driving supports and driving operation of the vehicle 2 and changes the driving support information output from the support device 4. Consequently, the driving support device 1 can adequately perform plural driving supports.

Description

  The present invention relates to a driving support device.

  As a conventional driving support device that is mounted on a vehicle and outputs information for supporting driving of the vehicle by a driver, for example, Patent Document 1 discloses an information providing device. This information providing device has a function of transmitting and receiving information to and from a roadside device installed at a predetermined position on the road, and provides information that prompts temporary stop support.

JP 2010-134838 A

  By the way, the information providing apparatus described in Patent Document 1 changes the information mode provided to the driver based on the driving behavior of the driver such as the speed and position of the vehicle, the downshift, the brake operation, and the accelerator operation. However, for example, there is room for further improvement in order to appropriately perform a plurality of driving assistances.

  The present invention has been made in view of the above circumstances, and an object thereof is to provide a driving support device capable of appropriately performing a plurality of driving support.

  In order to achieve the above object, a driving support apparatus according to the present invention includes a support apparatus capable of outputting driving support information corresponding to a plurality of driving supports for supporting driving of a vehicle, and priority of the plurality of driving supports. And a control device that controls the support device and changes the driving support information output from the support device based on the driving degree and the driving operation on the vehicle.

  In the driving support device, the plurality of driving support may be support related to different driving operations.

  In the driving support device, the control device controls the supporting device when the plurality of driving support start conditions are satisfied, and the driving support corresponding to the driving support having a high priority. And outputting the driving support information corresponding to the driving priority with the second highest priority after the driving operation corresponding to the driving support with the higher priority is performed. it can.

  Further, in the driving support device, the control device may include the priority level even when the driving support start conditions are satisfied, and when the driving support end condition with the high priority is satisfied. Until the driving operation corresponding to the high driving support is performed, the output of the driving support information corresponding to the driving support having the high priority may be continued.

  The driving assistance apparatus according to the present invention has an effect that a plurality of driving assistances can be appropriately performed.

FIG. 1 is a schematic configuration diagram illustrating a vehicle control system according to the embodiment. FIG. 2 is a conceptual diagram illustrating start / end conditions for signal assistance in the driving assistance apparatus according to the embodiment. FIG. 3 is a conceptual diagram illustrating start / end conditions for right turn support in the driving support apparatus according to the embodiment. FIG. 4 is a schematic diagram illustrating an example of signal support in the driving support apparatus according to the embodiment. FIG. 5 is a schematic diagram illustrating an example of right turn support in the driving support device according to the embodiment. FIG. 6 is a schematic diagram illustrating an example of the operation of the driving support apparatus according to the comparative example. FIG. 7 is a schematic diagram illustrating an example of the operation of the driving support apparatus according to the embodiment. FIG. 8 is a flowchart illustrating an example of control in the driving support apparatus according to the embodiment. FIG. 9 is a flowchart illustrating an example of control in the driving support apparatus according to the modification.

  Embodiments according to the present invention will be described below in detail with reference to the drawings. In addition, this invention is not limited by this embodiment. In addition, constituent elements in the following embodiments include those that can be easily replaced by those skilled in the art or those that are substantially the same.

[Embodiment]
FIG. 1 is a schematic configuration diagram illustrating a vehicle control system according to the embodiment, FIG. 2 is a conceptual diagram illustrating start / end conditions of signal assistance in the driving assistance device according to the embodiment, and FIG. 3 is according to the embodiment. FIG. 4 is a schematic diagram illustrating an example of signal support in the driving support apparatus according to the embodiment, and FIG. 5 is a driving support apparatus according to the embodiment. FIG. 6 is a schematic diagram illustrating an example of the operation of the driving support device according to the comparative example, and FIG. 7 illustrates an example of the operation of the driving support device according to the embodiment. FIG. 8 is a flowchart illustrating an example of control in the driving support apparatus according to the embodiment. FIG. 9 is a flowchart illustrating an example of control in the driving support apparatus according to the modification.

  The driving assistance apparatus 1 of this embodiment is applied to the vehicle control system 3 mounted on the vehicle 2 as shown in FIG. The driving support device 1 includes an HMI (Human Machine Interface) device 4 as a support device and an ECU (Electronic Control Unit) 5 as a control device. The driving support apparatus 1 supports the driving of the vehicle 2 by the driver by the ECU 5 controlling the HMI apparatus 4 according to the situation and outputting various driving support information (HMI information).

  The vehicle control system 3 of the present embodiment is a so-called infrastructure cooperation type driving support system that performs driving support by communicating using, for example, a roadside device arranged on the roadside. The vehicle control system 3 acquires various information such as signal information, oncoming vehicle information, and pedestrian information from, for example, a roadside machine. In the vehicle control system 3, the driving support device 1 provides driving support information to the driver based on these various pieces of information. Thereby, the driving assistance device 1 provides guidance assistance for the driving operation by the driver.

  Note that the vehicle 2 includes any one of an engine, a motor, and the like as a traveling power source for rotationally driving the drive wheels. The vehicle 2 may be any type of vehicle such as a hybrid vehicle that includes both an engine and a motor, a conveyor vehicle that includes an engine but does not include a motor, and an EV vehicle that includes a motor but does not include an engine. .

  Specifically, the vehicle control system 3 includes an HMI device 4, an ECU 5, a radio wave media receiver (Antenna) 6, a GPS (Global Positioning System) receiver (Antenna) 7, a database 8, a vehicle information network. 9 etc. are comprised. The HMI device 4 and the ECU 5 constitute the driving support device 1.

  The HMI device 4 performs driving support that supports driving of the vehicle 2. The HMI device 4 can output driving support information that is information for supporting driving of the vehicle 2. The HMI device 4 provides driving assistance by providing driving assistance information to the driver. The HMI device 4 is an in-vehicle device. The HMI device 4 includes, for example, a display 41, a speaker 42, and the like provided in the vehicle interior of the vehicle 2. The display 41 is a visual information display device that outputs visual information (graphic information, character information). The speaker 42 is an auditory information (voice) output device that outputs auditory information (voice information, sound information). As the HMI device 4, an existing device in the passenger compartment of the vehicle 2, for example, a display 41 or a speaker 42 of a navigation system may be used. The HMI device 4 provides information by outputting visual information, auditory information, etc., and guides the driving operation of the driver. The HMI device 4 supports the driving operation of the driver by providing such information. The HMI device 4 is electrically connected to the ECU 5 and controlled by the ECU 5.

  The ECU 5 is a control unit that performs overall control of the vehicle control system 3 including the HMI device 4 and the like. The ECU 5 is configured as an electronic circuit mainly composed of a known microcomputer including a CPU, a ROM, a RAM, and an interface, for example.

  The radio wave media receiver 6 is a device that acquires various infrastructure information by radio communication using radio wave media. The radio wave media receiver 6 acquires dynamic infrastructure information around the vehicle 2 that can be acquired by cooperating with the infrastructure. For example, the radio wave media receiver 6 acquires various infrastructure information from the radio wave media device 20 or the like. The radio wave media device 20 is a device that is provided outside the vehicle 2 and distributes infrastructure information to the vehicle 2. The radio wave media device 20 is, for example, a road-vehicle communication device (roadside device) such as an optical beacon installed on the roadside. In addition, the radio wave media device 20 may include, for example, an inter-vehicle communication device mounted on another vehicle. Further, the radio wave media device 20 includes, for example, a device for exchanging information using a communication infrastructure such as the Internet via a VICS (registered trademark) (Vehicle Information and Communication System) center or the like. But you can.

  Dynamic infrastructure information acquired by the radio wave media receiver 6 includes, for example, preceding vehicle information, subsequent vehicle information, oncoming vehicle information, pedestrian information, intersection information, signal information, construction / traffic regulation information, traffic jam information, emergency vehicles Including at least one of information, information on an accident history database, and the like. The oncoming vehicle information includes, for example, at least one of the presence / absence of an oncoming vehicle, the vehicle speed of the oncoming vehicle, and information on the arrival time (TTC: Time To Collation) of the oncoming vehicle. In addition, the pedestrian information includes, for example, at least one of information on the presence or absence of a pedestrian and the presence or absence of a bicycle on the right or left pedestrian crossing of the vehicle 2. The intersection information includes, for example, at least one of intersection shape information, intersection stop position information, and the like. The shape of the intersection includes, for example, a crossroad, a T-junction, a Y-junction, a scramble intersection, a rotary intersection, and the like. Further, for example, the signal information is signal signal information such as a traffic light position ahead of the vehicle 2 in the traveling direction, position information such as a stop line, a green signal, a yellow signal, a red signal, a blue arrow, a yellow arrow lighting cycle and a signal change timing. Etc. at least one of The radio wave media receiver 6 is electrically connected to the ECU 5 and outputs a signal related to infrastructure information to the ECU 5.

  The GPS receiver 7 is a device that detects the current position of the vehicle 2. The GPS receiver 7 receives a GPS signal representing the position information (GPS information) of the vehicle 2 distributed by the GPS satellite 30. The GPS receiver 7 is electrically connected to the ECU 5 and outputs the received GPS signal to the ECU 5.

  The database 8 stores various information. The database 8 stores static infrastructure information such as map information including road information, dynamic infrastructure information acquired by the radio wave media receiver 6, various information obtained by actual traveling of the vehicle 2, learning information, and the like. To do. For example, the road information includes at least one of road gradient information, road surface state information, road shape information, restricted vehicle speed information, road curvature (curve) information, and the like. Information stored in the database 8 is appropriately referred to by the ECU 5, and necessary information is read out. Although the database 8 is illustrated as being mounted on the vehicle 2 here, the database 8 is not limited to this, and is provided in an information center or the like outside the vehicle 2, and is connected to the ECU 5 via the radio wave media receiver 6 or the like. May be referred to as appropriate, and necessary information may be read out.

  The vehicle information network 9 includes a CAN (Control Area Network) constructed as an in-vehicle network. The vehicle information network 9 includes an actuator ECU that controls various actuators of the vehicle control system 3 and a transmission path connected to sensors. The ECU 5 is connected to the actuator ECU and sensors via the vehicle information network 9. The ECU 5 acquires various vehicle information from the state detection device or the like via the vehicle information network 9. The state detection device detects a state quantity and a physical quantity related to a running state of the vehicle 2 and an actual operation on the vehicle 2 by the driver. The vehicle information includes, for example, vehicle speed (hereinafter also referred to as “vehicle speed”) information of the vehicle 2, accelerator opening information corresponding to an operation amount (depression amount) of the accelerator pedal by the driver, and a brake pedal by the driver. At least one of master cylinder pressure information corresponding to the operation amount (depression amount), information on the operating state of the winker (direction indicator), and the like.

  The ECU 5 described above includes infrastructure information acquired by the radio wave media receiver 6, position (GPS) information acquired by the GPS receiver 7, vehicle information acquired via the vehicle information network 9, and various types of information stored in the database 8. Electric signals corresponding to information, driving signals of each unit, control commands, and the like are input. The ECU 5 controls each part of the vehicle control system 3 including the HMI device 4 and the like in accordance with these input electric signals and the like.

  And the driving assistance apparatus 1 performs the assistance which urges | provides a predetermined driving operation with respect to a driver | operator, when ECU5 controls the HMI apparatus 4 according to a condition, and performs driving assistance. The driving support device 1 performs driving support by the HMI device 4 outputting various driving support information in accordance with control by the ECU 5, and recommends driving operation to the driver, typically driving with change. Provide guidance support to encourage operation.

  The ECU 5 of this embodiment can control the HMI device 4 and execute a plurality of driving assistances. The HMI device 4 can output driving support information corresponding to a plurality of driving supports (services). The ECU 5 executes driving support by the HMI device 4 by starting and executing an installed driving support application program (hereinafter also referred to as “support application”).

  Here, the plurality of driving assistances are assistances related to different driving operations. The ECU 5 includes a plurality of safe driving support apps that alert the driver according to the situation. The ECU 5 of the present embodiment includes, for example, a signal app as the first support app and a right turn app as the second support app. The ECU 5 can execute signal support by the HMI device 4 by executing the signal application. In the case of signal support, the HMI device 4 outputs driving support information (signal support information) corresponding to this signal support. On the other hand, the ECU 5 can execute the right turn support by the HMI device 4 by executing the right turn application. In the case of right turn support, the HMI device 4 outputs driving support information (right turn support information) corresponding to this right turn support. The signal support is support related to deceleration and stop operations by the driver according to the traffic light. On the other hand, right turn support is support related to a right turn operation by a driver according to an intersection.

  More specifically, the signal application (signal support) is used when, for example, the driver does not take a deceleration action even though the traffic light at the intersection in front of the vehicle 2 represents a stop. It is a support application (driving support) that alerts the driver. Here, the state in which the traffic light indicates the stop is typically a state in which a red signal is lit. On the other hand, when the right turn application (right turn support) turns right at an intersection ahead of the traveling direction of the vehicle 2, for example, the driver makes a right turn action even if an oncoming vehicle or a pedestrian approaches and exists. It is a support application (driving support) that alerts the driver when trying to take it.

  For example, when the signal application is executed alone at one intersection, the ECU 5 determines that a preset signal support start condition (hereinafter may be referred to as “signal application start condition”) is satisfied. Implement the app and start signal support. The ECU 5 ends the signal application and ends the signal support when it is determined that a preset signal support end condition (hereinafter may be referred to as “signal application end condition”) is satisfied. In this case, for example, as illustrated in FIG. 2, the ECU 5 determines that the signal support start condition is satisfied when all of the following conditions (1-1) to (1-4) are satisfied. For example, as illustrated in FIG. 2, the ECU 5 satisfies the signal support end condition when any of the following conditions (1-5) to (1-7) (OR condition) is satisfied. It is determined that The ECU 5 determines a signal support start condition and a signal support end condition based on infrastructure information, current position information of the vehicle 2, vehicle information of the vehicle 2, various information stored in the database 8, and the like.

[Signal support start condition (AND condition)]
(1-1) The traffic light ahead of the vehicle 2 in the traveling direction is a red light.
(1-2) The accelerator is on.
(1-3) The vehicle speed is higher than a preset support start vehicle speed.
(1-4) In order to stop at the stop line, a certain deceleration or more is required.

[Signal support end condition (OR condition)]
(1-5) The traffic light ahead of the traveling direction of the vehicle 2 is other than a red signal.
(1-6) The vehicle 2 is stopped (vehicle speed = 0).
(1-7) The vehicle 2 has passed the stop line.

  Similarly, for example, when the right turn application is executed alone at one intersection, the ECU 5 determines that a preset right turn support start condition (hereinafter may be referred to as “right turn application start condition”) is satisfied. When the right turn app is executed, right turn support is started. Further, the ECU 5 ends the right turn application and ends the right turn support when it is determined that a predetermined right turn support end condition (hereinafter may be referred to as “right turn application end condition”) is satisfied. In this case, for example, as illustrated in FIG. 3, the ECU 5 determines that the right turn support start condition is satisfied when all of the following conditions (2-1) and (2-2) are satisfied. For example, as illustrated in FIG. 3, the ECU 5 determines that the right turn support end condition is satisfied when any of the following conditions (2-3) to (2-4) is satisfied. . The ECU 5 determines a right turn support start condition and a right turn support end condition based on infrastructure information, current position information of the vehicle 2, vehicle information of the vehicle 2, various information stored in the database 8, and the like.

[Right turn support start condition (AND condition)]
(2-1) The right turn turn signal is on.
(2-2) Within a support start distance (predetermined distance) set in advance up to the stop line.

[Right turn support end condition (OR condition)]
(2-3) The right turn turn signal is off.
(2-4) The vehicle 2 has passed the intersection.

  Next, an example of signal support and right turn support in the driving support device 1 will be described with reference to FIGS. 4 and 5.

  As shown in FIG. 4, the vehicle 2 is traveling toward the intersection. When the signal application (signal support) start condition is satisfied when the vehicle 2 reaches the point A1, the ECU 5 executes the signal application and starts signal support by the HMI device 4. For example, the ECU 5 controls the HMI device 4 to provide sound and screen support. As an example, the ECU 5 controls the display 41 and outputs a display message (visual information) such as “Signal attention!” From the display 41 as driving support information corresponding to signal support. At the same time, for example, the ECU 5 controls the speaker 42 and outputs a squeaking sound (auditory information) such as “pip beep” from the speaker 42 as driving support information corresponding to signal support. As a result, the driving support device 1 alerts the driver to prompt the driver to decelerate and stop as the driving operation, and provides driving support to the driver. The ECU 5 terminates the signal application and terminates the signal assistance by the HMI device 4 when a signal application (signal assistance) termination condition is satisfied, for example, when the traffic light turns blue when the vehicle 2 reaches the point A2. As a result, the driving support device 1 stops the squeak noise and hides the HMI display such as the display message.

  On the other hand, as shown in FIG. 5, the ECU 5 executes the right turn app and starts the right turn support by the HMI device 4 when the right turn app (right turn support) start condition is satisfied when the vehicle 2 reaches the point B1. For example, the ECU 5 controls the HMI device 4 to provide sound and screen support. As an example, the ECU 5 controls the display 41 to output a display message such as “caution to turn right” from the display 41 as driving support information corresponding to the right turn support. In addition, for example, the ECU 5 controls the speaker 42 and outputs a squeak sound such as “pong” from the speaker 42 as driving support information corresponding to right turn support. As a result, the driving assistance device 1 alerts the driver to prompt a safe right turn operation as a driving operation, and provides driving assistance to the driver. When the vehicle 2 turns right and passes through the intersection and the right turn app (right turn support) end condition is satisfied at the point B2, the ECU 5 ends the right turn app and ends the right turn support by the HMI device 4. As a result, the driving support device 1 stops the squeak noise and hides the HMI display such as the display message.

  The driving support device 1 configured as described above basically gives priority to driving support having a high priority (priority order) in a state where both the signal support start condition and the right turn support start condition are satisfied. To implement. The ECU 5 selects a support app to be executed according to the priority assigned to each support app in a state where the start conditions of the plurality of support apps are satisfied.

  For example, when the signal support start condition and the right turn support start condition are both established, the traffic light at the intersection in front of the vehicle 2 is a red signal. For this reason, the driver of the vehicle 2 must stop at the stop line before the intersection before turning right at the intersection. Therefore, in this case, the signal assistance is a driving assistance with higher priority for the driver than the right turn assistance. In other words, the signal application and the right turn app are the support apps with the higher priority of the signal app, and the right turn app becomes the support app with the second highest priority after the signal app (signal app> right turn app).

  In a state where both the signal support start condition and the right turn support start condition are satisfied, the ECU 5 basically executes the signal application with priority over the right turn application, and executes the signal support with priority. Further, for example, when the right turn support start condition is satisfied when the signal support start condition is not satisfied, the ECU 5 executes the right turn application and executes the right turn support. At this time, when the signal support start condition is satisfied while the right turn application is being executed, the ECU 5 ends the right turn application, executes the signal application having a higher priority, and performs signal support.

  By the way, when the start conditions of a plurality of support apps are satisfied, the driving support device 1 executes the support application with a high priority selected by the ECU 5, for example, and immediately prioritizes as soon as the end condition is satisfied. If a support application with a high degree is started, the driver may feel uncomfortable.

  FIG. 6 is a schematic diagram illustrating an example of the operation of the driving support apparatus according to the comparative example. As illustrated in FIG. 6, the ECU of the driving support apparatus according to the comparative example executes the signal application and starts the signal support by the HMI apparatus 4 when the signal application start condition is satisfied when the vehicle 2 reaches the point C1. To do. The ECU according to the comparative example controls the display 41 and the speaker 42 to output driving support information corresponding to signal support. Thereafter, when the right turn application start condition is satisfied when the vehicle 2 reaches the point C2, the ECU according to the comparative example continues to execute the signal application having a high priority. Therefore, the HMI device 4 continues to output driving support information corresponding to signal support. Thereby, the driving assistance device according to the comparative example continues to present driving assistance information corresponding to the signal assistance to the driver by the HMI device 4.

  The ECU according to the comparative example terminates the signal application and terminates the signal support by the HMI device 4 when the signal application termination condition is satisfied, for example, when the traffic light turns blue when the vehicle 2 reaches the point C3. . Thereby, the HMI device 4 ends the presentation of the driving support information corresponding to the signal support. Then, the ECU according to the comparative example executes the right turn application with the next highest priority and starts the right turn support by the HMI device 4. That is, the HMI device 4 switches the driving support information presented to the driver from driving support information corresponding to signal support to driving support information corresponding to right turn support. Thereby, the driving support device according to the comparative example starts to present driving support information corresponding to the right turn support by the HMI device 4 to the driver. The ECU according to the comparative example ends the right turn application and ends the right turn support by the HMI device 4 when the right turn application (right turn support) end condition is satisfied when the vehicle 2 reaches the point C4.

  In this case, the driving support device according to the comparative example is configured such that the content of the driving support information presented by the HMI device 4 to the driver who is about to decelerate and stop according to the driving support information corresponding to the signal support is It will suddenly change at the point C3 where the signal application termination condition is established. That is, the content of the driving support information presented to the driver by the HMI device 4 is the driving support corresponding to the right turn support from the driving support information corresponding to the signal support at the point C3 regardless of whether or not the driver performs the driving operation. It will suddenly switch to information. As a result, the driving support device according to the comparative example may give the driver a sense of incongruity and may cause annoyance or confusion.

  Furthermore, the above-mentioned uncomfortable feeling may be caused by a plurality of driving operations based on different driving operations by the driver, such as a signal support for a driver who goes straight at an intersection and a right turn support for a driver who turns right at an intersection. When the start conditions of support (support application) are satisfied at the same time, it tends to be larger. That is, in the driving support device 1, the start conditions for a plurality of driving assistances (supporting applications) based on different driving operations by the driver are satisfied at the same time, such as signal assistance for deceleration and stop operations and right turn assistance for right turn operations. In some cases, it is desirable to appropriately perform the plurality of driving assistances.

  On the other hand, in the driving assistance device 1 of the present embodiment, the ECU 5 controls the HMI device 4 based on the plurality of driving assistance priorities and the driving operation of the driver with respect to the vehicle 2. Change the driving support information to be output. The ECU 5 appropriately switches the driving assistance information to be presented to the driver based on the driving assistance priority and the driving operation of the driver in a state where a plurality of driving assistance start conditions are satisfied. Accordingly, the driving support device 1 can appropriately switch the driving support information and present it to the driver based on not only the driving support priority but also the actual driving operation of the driver. Can be performed appropriately.

  Specifically, as shown in FIG. 1, the ECU 5 functionally conceptually includes a vehicle travel position calculation unit 51, a vehicle behavior calculation unit 52, a driving intention calculation unit 53, and a support application start / end determination unit 54. And the implementation support application selection part 55 and the information presentation part 56 are provided.

  The vehicle travel position calculation unit 51 calculates the current travel position of the vehicle 2. Based on the GPS signal received by the GPS receiver 7, the vehicle travel position calculation unit 51 measures and calculates position information of the vehicle 2, for example, GPS information (X coordinate; X, Y coordinate; Y).

  The vehicle action calculation unit 52 calculates an actual action (Action) in the vehicle (own vehicle) 2. The vehicle behavior calculation unit 52 actually describes how the vehicle 2 is moving based on infrastructure information, current position information of the vehicle 2, vehicle information of the vehicle 2, various information stored in the database 8, and the like. Is detected. The vehicle behavior calculation unit 52 detects, for example, deceleration, stop, right / left turn, turn signal on / off, etc. of the vehicle 2.

  The driving intention calculation unit 53 calculates the driving intention of the driver. The driving intention calculation unit 53 estimates the driving behavior of the driver based on the infrastructure information, the current position information of the vehicle 2, the vehicle information of the vehicle 2, various information stored in the database 8, and the like. Detect driving intentions. The driving intention calculation unit 53 detects, for example, a driver's intention to turn left or right, a deceleration stop intention, and the like.

  The support application start / end determination unit 54 performs start determination and end determination of the support application. The support application start / end determination unit 54 calculates the vehicle 2 position information calculated by the vehicle travel position calculation unit 51, the behavior (movement) of the vehicle 2 calculated by the vehicle behavior calculation unit 52, and the driving calculated by the driving intention calculation unit 53. Based on the driver's intention to drive, etc., start determination and end determination of the signal application and the right turn application are performed. The ECU 5 performs the signal application start conditions (1-1) to (1-4), the signal application end conditions (1-5) to (1-7), the right turn application start conditions (2-1), (2- 2) The right turn application end conditions (2-3) to (2-4) are determined, and the start determination and end determination of the signal application and the right turn application are performed.

  The implementation support application selection unit 55 selects a support application to be actually implemented. The implementation support application selection unit 55 selects a support application to be implemented based on the determination result by the support application start / end determination unit 54, the priority of driving support, the driving operation of the driver with respect to the vehicle 2, and the like. For example, the implementation support application selection unit 55 basically selects a support application to be implemented according to the priority assigned to each support application in a state where the start conditions of the plurality of support applications are satisfied. And the implementation assistance application selection part 55 switches the assistance application to implement according to the driver | operator's driving operation with respect to the vehicle 2, so that it may mention later.

  The information presentation unit 56 presents the driving support information to the driver by controlling the HMI device 4 and outputting the driving support information from the HMI device 4. Here, the information presentation unit 56 controls the display 41 and outputs visual information as driving support information from the display 41. In addition, the information presentation unit 56 controls the speaker 42 and outputs auditory information as driving support information from the speaker 42. The information presentation unit 56 outputs driving support information corresponding to the support application selected by the implementation support application selection unit 55 from the HMI device 4. When the signal application is selected by the implementation support application selecting unit 55, the information presenting unit 56 displays driving messages corresponding to the signal application, such as a display message of “Signal attention!” And a squeak sound of “buzzy”. Information is output from the HMI device 4. When the right turn app is selected by the implementation support app selection unit 55, the information presenting unit 56 displays driving support information corresponding to the right turn app, such as a “right turn caution” display message and a “pong” squeak sound. Output from the HMI device 4.

  With the above configuration, the ECU 5 controls the HMI device 4 and changes the driving support information output from the HMI device 4 based on a plurality of driving assistance priorities and the driving operation of the driver with respect to the vehicle 2. In other words, the ECU 5 switches between the signal application (signal support) and the right turn application (right turn support) based on the plurality of driving support priorities and the driving operation of the driver with respect to the vehicle 2 by the above configuration.

  Then, the ECU 5 performs driving support in the following manner when a plurality of driving support, here, start conditions for signal support and right turn support are satisfied. That is, the ECU 5 controls the HMI device 4 and first outputs driving support information corresponding to signal support having a high priority. Thereafter, the ECU 5 outputs driving support information corresponding to right turn support with the next highest priority after a driving operation corresponding to signal support with a higher priority, in this case, the vehicle 2 is decelerated and stopped.

  That is, the ECU 5 outputs driving support information corresponding to the signal support, changes the mode of the driving support information after the driver performs the deceleration and stop operations of the vehicle 2, and changes the driving support information to the right turn support. Switch. In other words, the ECU 5 does not immediately terminate the signal assistance, but performs a driving operation corresponding to the signal assistance even when the signal assistance termination condition other than the conditions regarding the deceleration and stop operations of the vehicle 2 is satisfied. Until then, the driving assistance information corresponding to the signal assistance is continuously output.

  In this case, the above components of the ECU 5 generally operate as follows. That is, the support application start / end determination unit 54 determines whether the start condition for each driving support (signal support, right turn support) is satisfied. The implementation support application selection unit 55 selects the driving support (signal support) having the highest priority among the established driving supports. The information presentation unit 56 presents driving assistance information corresponding to the selected driving assistance (signal assistance) from the HMI device 4 to the driver. Then, the implementation support application selection unit 55 determines whether or not the driving operation expected to the driver (deceleration and stop operation of the vehicle 2) is performed by the driving assistance that has been performed with priority. When it is determined that the driving operation expected from the driver is being performed, the execution support application selecting unit 55 selects the driving support (right turn support) having the next highest priority. The information presentation unit 56 presents driving support information corresponding to the selected driving support (right turn support) from the HMI device 4 to the driver. When it is determined that the driving operation expected from the driver is not performed, the execution support application selecting unit 55 continues the state in which the driving support (signal support) having the highest priority is selected. The information presentation unit 56 continues to present driving assistance information corresponding to the continued driving assistance (signal assistance) from the HMI device 4 to the driver.

  FIG. 7 is a schematic diagram illustrating an example of the operation of the driving support device 1 of the present embodiment. As illustrated in FIG. 7, when the signal application start condition is satisfied when the vehicle 2 reaches the point D1, the ECU 5 executes the signal application and starts signal support by the HMI device 4. The ECU 5 controls the display 41 and the speaker 42 to output driving support information corresponding to signal support.

  Thereafter, when the right turn application start condition is satisfied when the vehicle 2 reaches the point D2, the ECU 5 continues to execute the signal application having a high priority. Therefore, the HMI device 4 continues to output driving support information corresponding to signal support. Thereby, the driving assistance device 1 continues to present driving assistance information corresponding to the signal assistance to the driver by the HMI device 4.

  The ECU 5 decelerates the vehicle 2 by the driver expected in response to the signal support when the signal application end condition is satisfied, for example, when the traffic light turns blue when the vehicle 2 reaches the point D3, Monitor whether a stop operation has been performed. If the ECU 5 determines that the driver has not decelerated or stopped the vehicle 2, the ECU 5 continues the signal application and continues the signal support by the HMI device 4 even if the signal application end condition is satisfied.

  When the ECU 2 determines that the driver has decelerated or stopped the vehicle 2 when the vehicle 2 has reached the point D4 (or has passed the stop line after confirming safety), the signal application Is finished, and the signal support by the HMI device 4 is finished, and the right turn application having the next highest priority is executed to start the right turn support by the HMI device 4. Thereby, the HMI device 4 ends the presentation of the driving support information corresponding to the signal support, and instead starts to present the driving support information corresponding to the right turn support. That is, the HMI device 4 switches the driving support information presented to the driver from driving support information corresponding to signal support to driving support information corresponding to right turn support. Then, when the right turn app (right turn support) end condition is satisfied when the vehicle 2 reaches the point D5, the ECU 5 ends the right turn app and ends the right turn support by the HMI device 4.

  The ECU 5 decelerates the vehicle 2 by the driver when the right turn application end condition is satisfied midway while the signal application is being executed in a state where both the signal application start condition and the right turn application start condition are satisfied. Regardless of whether or not there is a stop operation, the signal application is terminated when the signal application termination condition is satisfied.

  As a result, in the state where the signal support start condition and the right turn support start condition are both established, the driving support device 1 has a high priority signal support until the driving operation expected from the driver by the signal support is completed. Can be continued, and it is possible not to shift to right turn support. Therefore, for example, the driving support device 1 indicates that the content of the driving support information presented by the HMI device 4 to the driver who is about to decelerate and stop according to the driving support information corresponding to the signal support is the end of the signal application. It is possible to suppress a sudden change when the condition is satisfied. Therefore, the driving assistance device 1 can suppress the driver from feeling uncomfortable, and can suppress annoyance or confusion.

  Furthermore, the driving support device 1 can appropriately switch the driving support information to the driver based on not only the driving support priority but also the actual driving operation of the driver, Support can be provided appropriately. Thereby, the driving assistance device 1 considers the actual driving operation of the driver even when the start conditions of a plurality of driving assistances (support applications) based on different driving operations by the driver are satisfied at the same time. Driving assistance can be realized, and driving assistance that does not give the driver a sense of incongruity can be realized.

  Next, an example of control by the ECU 5 in the driving support device 1 will be described with reference to the flowchart of FIG. Note that these control routines are repeatedly executed at a control cycle of several ms to several tens of ms.

  First, the ECU 5 determines whether or not a signal application start condition is satisfied (ST1). When it is determined that the signal application start condition is satisfied (ST1: Yes), the ECU 5 executes the signal application and starts signal support by the HMI device 4. Thereby, the HMI device 4 presents driving support information corresponding to signal support (ST2).

  Next, the ECU 5 determines whether or not a signal application end condition is satisfied (ST3). When it is determined that the signal application termination condition is not satisfied (ST3: No), the ECU 5 returns to ST2, repeatedly executes the subsequent processes, and continues the signal support. When it is determined that the signal application end condition is satisfied (ST3: Yes), the ECU 5 determines whether the right turn application start condition is satisfied (ST4).

  When it is determined that the right-turn application start condition is satisfied (ST4: Yes), the ECU 5 determines whether the vehicle 2 has stopped or passed through an intersection (ST5). When it is determined that the vehicle 2 has not stopped and the intersection has not passed (ST5: No), the ECU 5 returns to ST2 and repeatedly executes the subsequent processes to continue signal support.

  When the ECU 5 determines that the vehicle 2 has stopped or passed through the intersection (ST5: Yes), the signal application is terminated and the signal support by the HMI device 4 is terminated, and the right turn application is performed and the HMI device 4 performs Start right turn support. Thereby, the HMI device 4 ends the presentation of the driving support information corresponding to the signal support, and switches the information to be presented to the driving support information corresponding to the right turn support (ST6).

  Then, the ECU 5 determines whether or not the right turn application termination condition is satisfied (ST9). When it is determined that the right turn application termination condition is not satisfied (ST9: No), the ECU 5 returns to ST1 and repeatedly executes the subsequent processes.

  When it is determined that the right turn application termination condition is satisfied (ST9: Yes), the ECU 5 terminates the support application, hides (not presents) the driving support information from the HMI device 4 (ST10), and performs the current control. End the cycle and move to the next control cycle.

  When it is determined in ST1 that the signal application start condition is not satisfied (ST1: No), the ECU 5 determines whether the right turn application start condition is satisfied (ST7). When it is determined that the right turn application start condition is not satisfied (ST7: No), the ECU 5 returns to ST1 and repeatedly executes the subsequent processes.

  When it is determined that the right turn application start condition is satisfied (ST7: Yes), the ECU 5 executes the right turn application and starts the right turn support by the HMI device 4. Thereby, the HMI device 4 presents driving support information corresponding to the right turn support (ST8). Thereafter, the ECU 5 proceeds to ST9.

  If it is determined in ST4 that the right turn application start condition is not satisfied (ST4: No), the ECU 5 proceeds to ST10.

  Note that the driving support device 1 of the present embodiment can be configured such that once the right turn application is started, the right turn application is continued as it is even if the signal application is established halfway and the right turn support is continued. In this case, as illustrated in FIG. 9, when it is determined in ST9 that the right-turn application termination condition is not satisfied (ST9: No), the ECU 5 does not return to ST1 but returns to ST8 and thereafter. Repeat the process and continue right turn support.

  According to the driving support device 1 according to the embodiment described above, the HMI device 4 and the ECU 5 are provided. The HMI device 4 can output driving support information corresponding to a plurality of driving supports that support driving of the vehicle 2. The ECU 5 controls the HMI device 4 based on a plurality of driving assistance priorities and the driving operation for the vehicle 2 and changes the driving assistance information output from the HMI device 4.

  Therefore, the driving support device 1 can appropriately switch the driving support information and present it to the driver based on the actual driving operation of the driver, and can appropriately perform a plurality of driving support. As a result, the driving assistance device 1 can adjust the plurality of driving assistances so that the driver is not confused even when a plurality of driving assistance start conditions are satisfied at the same time. Thereby, the driving assistance apparatus 1 can implement | achieve the driving assistance which does not give discomfort to a driver | operator, and can perform an effective driving assistance to a driver | operator.

  The driving support apparatus according to the above-described embodiment of the present invention is not limited to the above-described embodiment, and various modifications can be made within the scope described in the claims.

  In the above description, the control device has been described as being shared by the ECU 5, but is not limited thereto. For example, the control device may be configured separately from the ECU 5 and may exchange information such as a detection signal, a drive signal, and a control command with each other.

  In the above description, the driving operation that the driving support device guides to the driver, that is, the driving operation that the driving support device supports, has been described as a stop operation or a right turn operation, but is not limited thereto. The driving operation supported by the driving support device includes, for example, an acceleration request operation (accelerator on operation), a brake request operation (brake on operation), an acceleration request operation release operation (accelerator off operation), and a brake request operation release operation (brake Off operation), speed change operation, steering operation, and the like. That is, although the plurality of driving assistances performed by the driving assistance device have been described as signal assistance and right turn assistance, the present invention is not limited to this. The plurality of driving assistances may be driving assistance other than signal assistance and right turn assistance, or may include other driving assistance in addition to signal assistance and right turn assistance. It only has to be done. Moreover, the priority of driving assistance may change according to the state of the vehicle.

  In the above description, the support device has been described as outputting visual information and auditory information as driving support information, but is not limited thereto. The support device may include, for example, a tactile information output device that outputs tactile information such as steering wheel vibration, seat vibration, and pedal reaction force as driving support information.

DESCRIPTION OF SYMBOLS 1 Driving assistance apparatus 2 Vehicle 3 Vehicle control system 4 HMI apparatus (support apparatus)
5 ECU (control device)
6 Radio wave media receiver 7 GPS receiver 8 Database 9 Vehicle information network 20 Radio wave media device 30 GPS satellite 41 Display 42 Speaker 51 Vehicle travel position calculator 52 Vehicle behavior calculator 53 Driving intention calculator 54 Support application start / end determination unit 55 Implementation Support Application Selection Unit 56 Information Presentation Unit

Claims (4)

A support device capable of outputting driving support information corresponding to a plurality of driving supports for supporting driving of the vehicle,
And a control device that controls the support device and changes the driving support information output from the support device based on the priority of the plurality of driving support and a driving operation on the vehicle. ,
Driving assistance device. The plurality of driving assistances are assistances related to the different driving operations.
The driving support device according to claim 1. The control device controls the support device when each of the plurality of driving support start conditions is satisfied, outputs the driving support information corresponding to the driving support having a high priority, and the priority. After the driving operation corresponding to the driving support having a high degree is performed, the driving support information corresponding to the driving support having the second highest priority is output.
The driving support device according to claim 1 or 2. The control device corresponds to the driving assistance having a high priority even when the driving assistance start conditions are satisfied, and the driving assistance ending condition having a high priority is satisfied. Until the driving operation is performed, the output of the driving support information corresponding to the driving support having a high priority is continued.
The driving support device according to any one of claims 1 to 3.

Images