JP2013196633A - Drive support device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a drive support device that avoids annoying a driver with excessive attention attraction.SOLUTION: The drive support device that supports a vehicle drive by a driver includes: a staggering degree calculation section 11 which calculates the degree of staggering of a vehicle on the basis of a travel state of the vehicle; and an attention attraction section 12 which determines whether driver's attention needs to be attracted on the basis of the degree of staggering, and attracts the driver's attention when determining that the driver's attention needs to be attracted. The attention attraction section 12 finishes attracting the attention when the degree of staggering decreases during the attraction of the attention.

Description

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

  Conventionally, as a driving support device that supports a driver's driving, when a driver's driving consciousness is determined to be reduced based on the amount of change in steering torque, it is determined that A device that outputs an alarm during a time is known (see, for example, Patent Document 1).

JP 2003-154960 A

  However, in the above-described conventional driving support device, even if the driver immediately regains driving consciousness due to the alarm, the alarm continues to be output for a predetermined time, so the driver is bothered by excessive alarm output. I could feel that.

  Then, an object of this invention is to provide the driving assistance device which can avoid making a driver | operator feel annoyance by excessive alerting.

  In order to solve the above-described problem, the present invention is a driving support device that supports driving of a vehicle by a driver, and includes a wobbling degree calculating unit that calculates a wobbling degree of the vehicle based on a running state of the vehicle, and a wobbling degree. Based on whether or not it is necessary to alert the driver, and when it is determined that the driver needs to be alerted, a warning means is provided for alerting the driver. The means is characterized in that the alerting is terminated when the degree of wobbling decreases during alerting.

  According to the above driving support device, when the concentration of driving decreases and the vehicle fluctuates, it is determined that it is necessary to call attention from the degree of vehicle wobbling, and the driver's attention is given. The ability to concentrate on driving can be restored. In addition, when the driver recovers concentration and the degree of vehicle wandering is reduced, the alert is terminated, and it is bothered by giving excessive attention to the driver who has started to recover the concentration on driving. It is possible to avoid making you feel it.

In the driving support device, the alerting means alerts the driver when the degree of wandering exceeds the first threshold, and the degree of wandering is set lower than the first threshold during the alerting. The alerting may be terminated when it falls below the threshold.
According to the above driving support device, by appropriately setting the first threshold value and the second threshold value, the driver starts alerting at an effective timing, and the driving force regains the concentration on driving. The alerting can be terminated before the person feels annoyed.

In the above driving assistance device, the alerting means may alert the driver by displaying an indicator or a display.
According to the driving support apparatus, sufficient alerting to the driver can be performed by visual stimulation.

In the above driving support device, the alerting means may end alerting when the vehicle is stopped for a predetermined time during alerting.
According to the above driving support device, when the driver stops and rests driving, the alerting can be terminated, so that it is possible to avoid making the driver during the rest feeling annoyed. .

In the above driving support device, the alerting means is alerting the driver when the vehicle is in a stopped state, the vehicle shift position is the parking position, and the vehicle door is opened. May be terminated.
According to the driving support device, when the driver switches driving with another person, the alerting can be terminated, so that it is possible to avoid making the driver who is changing feel annoyance. it can.

  According to the present invention, it is possible to avoid making the driver feel bothersome due to excessive alerting.

1 is a block diagram showing an embodiment of a driving support apparatus according to the present invention. (A) It is a figure for demonstrating the amplitude of the fluctuation used for calculation of the fluctuation degree. (B) It is a figure for demonstrating the period of the fluctuation used for calculation of the fluctuation degree. It is a flowchart which shows the flow of control of the driving assistance device which concerns on this invention.

  DESCRIPTION OF EMBODIMENTS Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the drawings.

  As shown in FIG. 1, a driving support device 1 according to the present embodiment is mounted on a vehicle and supports driving of the vehicle by a driver, and an ECU [Electronic Control Unit] that comprehensively controls the device. 2 is provided.

  The ECU 2 is an automobile device computer for electronic control, and includes a CPU (Central Processing Unit), a ROM (Read Only Memory), a RAM (Random Access Memory), and the like. A vehicle speed sensor 3, a yaw rate sensor 4, a steering angle sensor 5, a white line detection camera 6, a shift position sensor 7, a door opening / closing sensor 8, and an indicator 9 are connected to the ECU 2.

  The vehicle speed sensor 3 is attached to a vehicle wheel, for example, and acquires wheel speed information (vehicle speed information) related to the wheel speed. The vehicle speed sensor 3 transmits wheel speed information related to the acquired wheel speed to the ECU 2.

  The yaw rate sensor 4 is attached to the vehicle body of the vehicle, for example, and detects the yaw rate applied to the vehicle. The yaw rate sensor 4 transmits yaw rate information related to the detected yaw rate to the ECU 2.

  The steering angle sensor 5 is attached to a steering rod of a vehicle, for example, and detects the steering angle of the steering operated by the driver. The steering angle sensor 5 transmits steering angle information related to the detected steering angle to the ECU 2.

  The white line detection cameras 6 are provided, for example, on the left and right sides of the front part of the vehicle, respectively, and take images of white lines on the road around the vehicle. The white line detection camera 6 transmits white line imaging information regarding the captured white line image to the ECU 2.

  The shift position sensor 7 is attached, for example, around the shift lever, and detects the position (shift position) of the shift lever operated by the driver. The shift position sensor 7 transmits shift position information related to the detected position of the shift lever to the ECU 2.

  The door opening / closing sensor 8 is attached to each door of the vehicle, for example, and detects opening / closing of each door. The door opening / closing sensor 8 transmits the detected door opening / closing information on the opening / closing of each door to the ECU 2.

  The indicator 9 is provided, for example, on the instrument panel of the vehicle, and transmits various warning contents to the driver by lighting up. In the present embodiment, the fact that the driver's concentration is lowered and the vehicle is staggered is transmitted to the driver. The indicator 9 is turned on in response to a control signal from the ECU 2.

  As shown in FIG. 1, the ECU 2 includes a wobbling degree calculation unit 11, a attention calling unit 12, and an indicator control unit 13.

  The wobbling degree calculation unit 11 of the ECU 2 calculates the wobbling degree as an index for determining the wobbling of the vehicle. Note that the wobbling degree calculation unit 11 does not calculate the wobbling degree because it is not wobbling when the speed of the vehicle is equal to or lower than a predetermined speed (for example, a slow running state).

  The wobbling degree calculation unit 11 calculates the wobbling degree of the vehicle based on the running state of the vehicle. The wobbling degree calculation unit 11 obtains a time-series change in the lateral position of the vehicle in the white line (that is, in the lane) based on information from the various sensors 3 to 6 that detect the traveling state of the vehicle, and obtains the lateral position of the vehicle thus obtained. The wobbling degree of the vehicle is calculated using the time series change. Here, FIG. 2A is a diagram for explaining the amplitude of the fluctuation used for the calculation of the degree of the fluctuation. FIG. 2B is a diagram for explaining the amplitude of the fluctuation used for calculating the degree of the fluctuation.

  2A and 2B, the vehicle is indicated by M, white lines on both sides of the vehicle M are indicated by L1 and L2, and the time series change of the lateral position of the vehicle M is indicated by R. The time-series change R of the horizontal position of the vehicle M represents the horizontal position of the vehicle M in the white line as the vertical axis and the time t as the horizontal axis.

  In the situation shown in FIG. 2 (a), the wobbling degree calculation unit 11 performs the horizontal movement of the vehicle M within the white line based on the wheel speed information (vehicle speed information), yaw rate information, steering angle information, and white line image information of the vehicle M. A time series change R of the position is calculated.

  Further, the wobbling degree calculation unit 11 obtains the maximum peak Pmax and the minimum peak Pmin for the time-series change R of the calculated lateral position. The maximum peak Pmax and the minimum peak Pmin are respective vertices (peaks) in the wave-like time series change R having alternately peaks and valleys.

  The maximum peak Pmax is a peak closest to the white line L2 in each mountain portion of the time series change R. The maximum peak Pmax is a peak closest to the white line L1 in each valley portion of the time series change R. In FIG. 2, two peaks are illustrated as the maximum peaks Pmax1, Pmax2 and the minimum peaks Pmin1, Pmin2.

  As shown in FIG. 2A, the wobbling degree calculation unit 11 calculates the difference between the horizontal positions of adjacent peaks as wobbling amplitudes H1 to H3. Further, as shown in FIG. 2B, the wobbling degree calculation unit 11 calculates the time intervals between adjacent peaks as wobbling periods C1 to C3. Note that the numbers of peaks, amplitudes, and periods are merely examples, and numbers appropriate for calculating the degree of wobbling are calculated.

  The wobbling degree calculation unit 11 basically calculates that the wobbling degree is higher as the calculated wobbling amplitudes H1 to H3 are larger and the wobbling cycles C1 to C3 are smaller and the wobbling degree is larger.

  For example, the wobbling degree calculation unit 11 determines whether or not the wobbling amplitude H1 is larger than a predetermined amplitude threshold for the set of maximum peak Pmax1 and minimum peak Pmin1, and the wobbling cycle C1 is a predetermined cycle threshold. It is determined whether it is smaller. When the wobbling amplitude H1 is larger than the predetermined threshold value and the wobbling period C1 is smaller than the predetermined threshold value, the wobbling degree calculating unit 11 determines that the vehicle is wobbling and increases the wobbling degree counter. Let In order to avoid erroneous determination, an upper limit threshold value may be provided for the amplitude so that an excessively large amplitude is not used for the determination, and a lower limit threshold value may be provided for the period so that a period that is too small is not used for the determination.

  On the other hand, the wobbling degree calculation unit 11 determines that the vehicle is not wobbling when it is determined that the wobbling amplitude H1 is equal to or smaller than the predetermined threshold value or when the wobbling period C1 is determined to be equal to or larger than the predetermined threshold value. Then, the wobble degree counter is initialized (set to zero). In other words, the wobbling degree calculation unit 11 increases the wobbling degree counter only while the peak for which it is determined that the vehicle is wobbling continues.

  Note that, when it is determined that the vehicle is not wobbling, the wobbling degree calculation unit 11 may be configured to decrease the counter instead of initializing the wobbling degree counter.

  In the alerting unit 12 of the ECU 2, determination of the start and end of alerting to the driver is performed. Further, the indicator control unit 13 of the ECU 2 performs control such as turning on and off the indicator 9.

  The alerting unit 12 includes an alerting start determination unit 14 and an alerting end determination unit 15. The attention start determination unit 14 determines whether or not the driver needs to be alerted. The alerting start determination unit 14 determines whether or not the driver needs to be alerted based on the degree of vehicle wander calculated by the stagger degree calculating unit 11.

  Specifically, when the alert start determination unit 14 determines that the vehicle wandering degree counter has exceeded the first threshold, it determines that alerting is necessary because the driver's concentration has decreased. To do. The first threshold value is a value that is appropriately set according to the necessity of alerting the driver. The first threshold value may be set for each driver for each driver, and the value may be changed according to a situation such as nighttime or rainy weather.

  When the alerting start determination unit 14 determines that alerting is necessary, the indicator control unit 13 turns on the indicator 9. The alerting start determination unit 14 starts alerting the driver by turning on the indicator 9. In addition, you may alert by blinking of the indicator 9. FIG.

  The alert end determination unit 15 determines whether to end alert. The alerting end determination unit 15 determines that the alerting is to be terminated when the driver recovers his / her concentration in driving or when the alerting is unnecessary. The alert end determination unit 15 determines whether or not the driver has recovered the concentration based on the vehicle wobble degree calculated by the wobble degree calculation unit 11.

  The alert end determination unit 15 determines that the driver has recovered the concentration when it is determined that the degree of vehicle wobble has fallen below the second threshold during alerting. The second threshold is a value that is appropriately set so that the driver does not feel bothered by excessive alerting. The second threshold is set to a value lower than the first threshold. The second threshold value may be set for each driver for each driver, and the value may be changed according to a situation such as nighttime or rainy weather. When it is determined that the driver has recovered the concentration, the alert end determination unit 15 ends the alert by turning off the indicator 9 by the indicator control unit 13.

  In addition, the alerting end determination unit 15 determines whether or not the alerting is unnecessary, such as when the driver stops and starts resting during alerting. Situations that do not require attention include situations where the driver stops and rests driving, as well as situations where the driver temporarily stops and switches driving with another person.

  Based on the wheel speed information of the vehicle speed sensor 3 and the shift position information of the shift position sensor 7, the alert end determination unit 15 recognizes whether or not the driver has started resting. Specifically, the alert end determination unit 15 determines that the driver has started resting when the vehicle is stopped (the vehicle speed is 0 km / h) and the shift position is the parking position for a predetermined time. Recognize and determine that the situation has become unnecessary.

  Further, the alert end determination unit 15 determines whether or not the driver has switched driving to another person based on the wheel speed information of the vehicle speed sensor 3, the shift position information of the shift position sensor 7, and the door opening / closing sensor 8. Recognize Specifically, the alert end determination unit 15 recognizes the change of the driver when the vehicle is stopped, the shift position is the parking position, and the vehicle door is opened and closed. It is determined that a situation that does not require arousal has occurred.

  In addition, the alert end determination unit 15 determines that the alert is not required when sufficient time has elapsed since the alert is started or when the vehicle is in an ignition OFF state. When the alert end determination unit 15 determines that the alert is unnecessary, the indicator control unit 13 turns off the indicator 9 to end the alert.

  Next, a control flow of the driving support device 1 according to the present embodiment will be described. FIG. 3 is a flowchart showing a control flow of the driving support device 1.

  As shown in FIG. 3, the ECU 2 of the driving assistance apparatus 1 acquires various data such as wheel speed information and white line imaging information as step S1. In the next step S2, the wobbling degree calculation unit 11 of the ECU 2 calculates the wobbling degree of the vehicle. The wobbling degree calculation unit 11 calculates the wobbling degree of the vehicle based on the acquired various data.

  In step S3, it is determined by the alert start determination unit 14 of the ECU 2 whether or not the driver needs to be alerted. When the wandering degree calculated by the wobbling degree calculating unit 11 exceeds the first threshold value, the attention calling start determination unit 14 determines that the driver's concentration is reduced and that attention is required. If it is determined that attention is required, the process proceeds to step S4. On the other hand, when the degree of fluctuation does not exceed the first threshold value, the process ends and the process returns to step S1.

  In step S4, alerting to the driver is started. The driver is alerted by turning on the indicator 9 by the indicator control unit 13. In addition to the lighting of the indicator 9, a warning such as sound may be given.

  Thereafter, in step S5, it is determined by the attention end determination unit 15 of the ECU 2 whether or not to end the attention. The alerting end determination unit 15 determines to end the alerting when it is determined that the driver has recovered the concentration based on various data, or when it is determined that the alerting is no longer necessary.

  The alerting end determination unit 15 determines that the driver has recovered the concentration when the degree of wobbling of the vehicle decreases. In addition, the alert end determination unit 15 determines that the alert is no longer necessary when the driver's break or driver change is recognized based on various data. The alerting end determination unit 15 determines that the alerting is unnecessary even when a sufficient time has elapsed since the alerting started or when the vehicle is in an ignition OFF state.

  The alerting end determination unit 15 repeats Step S5 until it is determined that the alerting ends. In addition, when the alerting end determination unit 15 determines to end the alerting, the process proceeds to step S6.

  In step S <b> 6, the alerting is ended by turning off the indicator 9 by the indicator control unit 13. Thereafter, the determination is repeated again from step S1.

  According to the driving support apparatus 1 according to the present embodiment described above, when the driver's ability to concentrate on driving decreases and the vehicle fluctuates, it is determined that it is necessary to call attention from the degree of vehicle wobbling. The driver's ability to concentrate on driving can be recovered by calling attention. In addition, when the driver recovers concentration and the degree of vehicle wandering is reduced, the alert is terminated, and it is bothered by giving excessive attention to the driver who has started to recover the concentration on driving. It is possible to avoid making you feel it. In addition, by displaying an indicator provided on the instrument panel, the driver can be alerted sufficiently by giving a visual stimulus.

  Further, in the driving support apparatus 1, the driver is alerted when the degree of wandering exceeds the first threshold, and the second threshold is set such that the degree of wandering is lower than the first threshold during the alerting. If it falls below, the alert will end. For this reason, by appropriately setting the first threshold value and the second threshold value, alerting the driver at an effective timing is started, and the driver who has regained concentration on driving is bothered. You can end the alert before you feel it.

  Further, in this driving support device 1, when the vehicle has been stopped for a predetermined time, the driver can recognize that the break has started and end the alerting. Therefore, the driver during the break is bothered. You can avoid making me feel.

  Further, in the driving support device 1, when the vehicle is in a stopped state, the vehicle shift position is the parking position, and the vehicle door is opened during alerting, it is recognized that the driver is replaced. Thus, the alerting can be terminated, so that it is possible to avoid annoying the driver who is changing.

  The present invention is not limited to the embodiment described above.

  For example, it is not always necessary to use the above-mentioned degree of wandering as an index for wobbling determination, and various data can be used. In addition, the method for calculating the degree of wobbling is not limited to the above-described method, and may be a mode that takes into account the speed of the vehicle and the traveling environment such as the road surface and the climate.

  Further, the alerting to the driver is not limited to the display by the indicator, and when the display (including the display of the portable information terminal) used for navigation or the like is provided, the alerting by displaying the display may be performed. Moreover, a warning by voice may be performed together, or a warning only by voice may be issued.

DESCRIPTION OF SYMBOLS 1 ... Driving assistance device 3 ... Vehicle speed sensor 4 ... Yaw rate sensor 5 ... Steering angle sensor 6 ... White line detection camera 7 ... Shift position sensor 8 ... Door opening / closing sensor 9 ... Indicator 11 ... Fluctuation degree calculation part (fluctuation degree calculation means) 12 ... Attention calling unit (attention calling means) 13 ... Indicator control unit 14 ... Attention calling start determining unit 15 ... Attention calling end determining unit C1-C3 ... Period H1-H3 ... Amplitude L1, L2 ... White line M ... Vehicle Pmax1, Pmax2 ... Maximum Peak Pmin1, Pmin2 ... Minimum peak R ... Time series change of lateral position in the white line of the vehicle

Claims (5)

A driving support device that supports driving of a vehicle by a driver,
A wobbling degree calculating means for calculating a wobbling degree of the vehicle based on a running state of the vehicle;
An alerting means for determining whether or not alerting to the driver is necessary based on the degree of wandering and for alerting the driver when it is determined that alerting to the driver is necessary When,
With
The driving assistance device according to claim 1, wherein the alerting means terminates alerting when the degree of wobbling is reduced during alerting.   The alerting means alerts the driver when the degree of wobbling exceeds a first threshold, and the degree of wandering is set lower than the first threshold during the alerting. The driving support device according to claim 1, wherein the alerting is terminated when the threshold value is below the threshold value.   The driving assistance device according to claim 1 or 2, wherein the alerting means alerts the driver by displaying an indicator or a display.   The driving assistance device according to any one of claims 1 to 3, wherein the alerting unit terminates alerting when the stop state of the vehicle continues for a predetermined time during alerting. The alerting means terminates alerting during alerting when the vehicle is in a stopped state, the vehicle shift position is a parking position, and the vehicle door is opened. The driving support device according to any one of claims 1 to 4.

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