JP2013228928A - Driving support device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a driving support device capable of suppressing discomfort to a driver due to a plurality of different alarms being issued in a short time.SOLUTION: A driving support device includes: a driver's consciousness degradation determination system 2 which issues an alarm when the consciousness of a driver is degraded, a lane deviation prevention support system 3 which issues an alarm when a vehicle deviates from a lane, a collision avoidance support system 4 which issues an alarm when there is a possibility of colliding with a preceding vehicle, an alarm mediation part 5 for mediating alarm issuance signals sent from the driver's consciousness degradation determination system 2, the lane deviation prevention support system 3 and the collision avoidance support system 4, and an alarm output part 6 for outputting an alarm mediated by the alarm mediation part 5. The alarm mediation part 5, when predicting that an alarm is to be issued by a driving support system within a predetermined period of time, prohibits issuance of an alarm by another driving support system whose priority is lower than the driving support system which is predicted to issue the alarm.

Description

  The present invention relates to a driving support device including a plurality of driving support systems that generate a warning to a driver.

  2. Description of the Related Art Conventionally, there is known a driving support device that detects a driving abnormality of a driver and outputs an alarm. Patent Document 1 detects a degree of wobbling of a traveling vehicle, and a driver according to the detected degree of wobbling. Discloses a driving support system for alarming a meandering operation.

JP 2011-227551 A

  However, as such a driving support system, in addition to the one disclosed in Patent Document 1, a driving awareness lowering determination system (IDM) that generates an alarm when the driver's consciousness decreases, or an alarm when the vehicle deviates from the lane There is a lane departure prevention support system (LDW) that generates a warning, a collision avoidance support system (FCS) that generates a warning when there is a possibility of a collision with a vehicle ahead.

  Each of these driving support systems avoids the driver's driving abnormality by generating an alarm, but if a different alarm is generated from a plurality of driving support systems in a short time, It may make you feel uncomfortable.

  Therefore, an object of the present invention is to provide a driving support device that suppresses the driver from feeling uncomfortable by generating a plurality of different alarms in a short time.

  A driving support device according to the present invention is a driving support device including a plurality of driving support systems that generate an alarm to a driver, predicts the occurrence of an alarm within a predetermined time by a plurality of driving support systems, and When the occurrence of an alarm within a predetermined time is predicted by any one of the driving support systems, the priority of the driving support system of the plurality of driving support systems is predicted to be higher than that of the driving support system predicted to generate the alarm. It is characterized by prohibiting the generation of warnings by a low driving support system.

  According to the driving support device according to the present invention, since the generation of the warning by the driving support system having a lower priority than the driving support system predicted to generate the warning is prohibited, the warning having a relatively high importance is generated. However, it is possible to suppress a plurality of types of alarms from being generated at the same time. Thereby, it can suppress giving a driver discomfort.

  Further, according to the present invention, the prohibition of the alarm generation by the driving support system in which the generation of the alarm is prohibited can be canceled when a predetermined time elapses after the generation of the alarm by the driving support system is prohibited. In this way, by canceling the prohibition of alarm generation when a predetermined time has elapsed, an alarm with a relatively low importance can be generated when an alarm with a relatively high importance is not generated.

  In the present invention, the plurality of driving support systems include a collision avoidance support system and a lane departure prevention support system, and the priority of the collision avoidance support system is set higher than the priority of the lane departure prevention support system. Can be. On the other hand, it is assumed that the plurality of driving support systems includes a collision avoidance support system and a lane departure prevention support system, and the priority order of the lane departure prevention support system is set higher than the priority order of the collision avoidance support system. You can also.

  In addition, the present invention provides that when the number of alarms generated per predetermined time by a driving support system among a plurality of driving support systems is equal to or more than a predetermined number, the priority of the driving support system is a plurality of driving Within the support system, the number of alarms generated per predetermined time may be set to be higher than the priority order of the driving support system that is less than the predetermined number. By changing the priority order in this way, it is possible to preferentially issue an alarm from the driving support system that is likely to generate an alarm.

  In addition, the present invention provides that the number of alarms generated per predetermined time by any one of the plurality of driving support systems is the highest among the plurality of driving support systems, and the alarms are generated per predetermined time. When the number of times is a predetermined number or more, the priority order of the driving support system can be set to be the highest among the plurality of driving support systems. By changing the priority order in this way, it is possible to clearly distinguish the priority order of the driving support system. Therefore, it is possible to effectively alert only one type of alarm.

  In addition, the present invention sets the priority order among a plurality of driving support systems when a predetermined time has elapsed after setting the priority order of the driving support system based on the number of times the alarm is generated per predetermined time. It is possible to return to the priority order before the priority order is set on the basis of the number of occurrences. Thus, it is possible to prevent a warning from being generated from a specific driving support system by returning the priority order that has been changed after a predetermined time has elapsed.

  According to the present invention, it is possible to prevent the driver from feeling uncomfortable by generating a plurality of different alarms in a short time.

It is a block diagram which shows the structure of the driving assistance device which concerns on embodiment. It is a block diagram which shows the function structure of a driving consciousness fall determination system. It is a block diagram which shows the function structure of a lane departure prevention assistance system. It is a block diagram which shows the function structure of a collision avoidance assistance system. It is a flowchart which shows the processing operation of the alarm arbitration part in 1st Embodiment. It is a flowchart which shows the processing operation of the alarm adjustment part in 2nd Embodiment. It is a flowchart which shows the processing operation of the alarm arbitration part in 3rd Embodiment. It is a flowchart which shows the processing operation of the alarm adjustment part in 4th Embodiment. It is a flowchart which shows the processing operation of the alarm arbitration part in 5th Embodiment.

  Embodiments of a driving assistance device according to the present invention will be described below with reference to the drawings. In addition, the same code | symbol is attached | subjected about the element which is the same or it corresponds in each figure, and the overlapping description is abbreviate | omitted.

[First Embodiment]
FIG. 1 is a diagram illustrating a configuration of a driving assistance device according to the embodiment. As shown in FIG. 1, the driving support device 1 is mounted on a vehicle and supports driving of a driver. A driving awareness lowering determination system 2 (IDM), a lane departure prevention support system 3 (LDW), The collision avoidance support system 4 (FCS), the alarm mediation unit 5 and the alarm output unit 6 are provided.

  The driving consciousness decrease determination system 2 is a driving support system that generates an alarm when the driver's consciousness decreases. As shown in FIG. 2, the driving awareness reduction determination system 2 includes a host vehicle speed detection unit 21, a host vehicle position detection unit 22 within a white line, a steering angle detection unit 23, a consciousness reduction determination unit 24, and a reference determination unit 25. And a determination execution determination unit 26 and an alarm generation unit 27.

  The own vehicle speed detection unit 21 detects the vehicle speed of the own vehicle.

  The own vehicle position detection unit 22 in the white line detects a lane in which the host vehicle is traveling, and detects an offset amount of the host vehicle with respect to the center of the lane, a yaw angle of the host vehicle, a curvature of the lane, and the like. .

  The steering angle detector 23 detects the steering angle operated by the driver.

  The consciousness decrease determination unit 24 determines a driver's consciousness decrease. That is, the consciousness lowering determination unit 24 detects a specific movement in the lane (vehicle behavior) and steering operation from the detection result of the in-white vehicle position detection unit 22 and the detection result of the steering angle detection unit 23. It is determined that the driver's consciousness has decreased.

  The reference determination unit 25 is used by the consciousness decrease determination unit 24 to determine a criterion for determining a driver's consciousness decrease.

  The determination execution determination unit 26 determines whether or not the driver's consciousness decrease is determined by the consciousness decrease determination unit 24 based on the detection result of the host vehicle speed detection unit 21. For example, if the host vehicle speed detected by the host vehicle speed detection unit 21 is less than a predetermined threshold, the determination execution determination unit 26 permits the determination by the consciousness decrease determination unit 24, and the host vehicle speed detected by the host vehicle speed detection unit 21 is If it is equal to or greater than the predetermined threshold, the determination by the consciousness decrease determination unit 24 is prohibited.

  The alarm generation unit 27 determines whether or not to generate an alarm based on the determination result of the consciousness decrease determination unit 24. That is, when the alarm generation unit 27 determines that the driver's consciousness is reduced by the consciousness decrease determination unit 24, the alarm adjustment unit 5 generates an alarm generation signal for generating a consciousness decrease alarm indicating that the consciousness is reduced. If the driver's consciousness is determined not to be lowered by the consciousness reduction determination unit 24, the alarm generation signal is not transmitted to the alarm arbitration unit 5.

  The lane departure prevention support system 3 is a driving support system that generates an alarm when the vehicle departs from the lane. As shown in FIG. 3, the lane departure prevention support system 3 includes functions of a host vehicle speed detection unit 31, a host vehicle position detection unit 32 within the white line, a TLC calculation unit 33, and an alarm generation unit 34. .

  The own vehicle speed detection unit 31 detects the vehicle speed of the own vehicle.

  The own vehicle position detection unit 32 in the white line detects a lane in which the host vehicle is traveling, and detects an offset amount of the host vehicle with respect to the center of the lane, a yaw angle of the host vehicle, a curvature of the lane, and the like. .

  The TLC calculating unit 33 predicts a time TLC (Time to Lane Crossing) from the detection result of the own vehicle speed detecting unit 31 or the own vehicle position detection within the white line until the vehicle deviates from the own lane (the tire of the own vehicle steps on the white line). Is calculated.

  The alarm generation unit 34 determines whether or not to generate an alarm based on the calculation result of the TLC calculation unit 33. In other words, the alarm generation unit 34 indicates that the predicted time TLC calculated by the TLC calculation unit 33 is less than a predetermined threshold, indicating that the vehicle has deviated from the own lane or may deviate from the own lane. An alarm generation signal for generating a lane departure alarm is transmitted to the alarm arbitration unit 5, and if the expected time TLC calculated by the TLC calculation unit 33 is equal to or greater than a predetermined threshold, the alarm generation signal is not transmitted to the alarm arbitration unit 5 .

  The collision avoidance support system 4 is a driving support system that generates an alarm when there is a possibility of a collision with a preceding vehicle. As illustrated in FIG. 4, the collision avoidance support system 4 includes functions of a host vehicle speed detection unit 41, a preceding vehicle information detection unit 42, a TTC calculation unit 43, and an alarm generation unit 44.

  The own vehicle speed detection unit 41 detects the vehicle speed of the own vehicle.

  The preceding vehicle information detection unit 42 detects a preceding vehicle using a camera, a millimeter wave radar, or the like, and measures the distance and relative speed with the detected preceding vehicle.

  The TTC calculation unit 43 calculates an expected time TTC (Time To Collation) until the host vehicle collides with the preceding vehicle based on the detection result of the own vehicle speed detection unit 41 and the detection result of the preceding vehicle information detection unit 42. is there.

  The alarm generation unit 44 determines whether or not to generate an alarm based on the calculation result of the TTC calculation unit 43. In other words, the alarm generation unit 44 generates an alarm generation signal for generating a front vehicle collision alarm indicating that there is a possibility of a collision with the preceding vehicle when the expected time TTC calculated by the TTC calculation unit 43 is less than a predetermined threshold. If the expected time TLC calculated by the TLC calculator 33 and transmitted to the alarm adjuster 5 is equal to or greater than a predetermined threshold, the alarm occurrence signal is not transmitted to the alarm adjuster 5.

  The alarm arbitration unit 5 mediates the alarm generation signal transmitted from the driving awareness lowering determination system 2, the lane departure prevention support system 3, and the collision avoidance support system 4.

  The alarm arbitration unit 5 has a function of setting priorities of the driving awareness lowering determination system 2, the lane departure prevention support system 3, and the collision avoidance support system 4. This priority may be any order, for example, may be set based on legal requirements, and a plurality of systems may have the same priority. In this case, for example, the alarm arbitration unit 5 sets the priority of the collision avoidance support system 4 higher than the priority of the lane departure prevention support system 3, or sets the priority of the lane departure prevention support system 3 to the collision. It can be set higher than the priority order of the avoidance support system 4.

  In addition, the alarm arbitration unit 5 has a function of predicting whether or not an alarm is generated within a predetermined time from the driving awareness lowering determination system 2, the lane departure prevention support system 3, and the collision avoidance support system 4. The occurrence prediction of an alarm can be obtained based on whether or not the driving support system tends to generate an alarm. For example, the occurrence of an alarm in the driving awareness lowering determination system 2 can be predicted based on the number of detections of specific movements in the lane and the number of steering operations, the degree of deviation from a predetermined reference, and its increasing tendency. The occurrence of an alarm in the lane departure prevention support system 3 can be predicted based on a decreasing tendency of the expected time TLC. The occurrence of an alarm in the collision avoidance support system 4 can be predicted based on a decreasing tendency of the expected time TTC.

  In addition, the alarm arbitration unit 5 has a function of arbitrating an alarm generation signal transmitted from the driving awareness lowering determination system 2, the lane departure prevention support system 3 and the collision avoidance support system 4 and causing the alarm output unit 6 to generate an alarm. I have. The arbitration of the alarm generation signal is prioritized over the driving support system in which an alarm is predicted to be generated for a predetermined time when an alarm is predicted to be generated within a predetermined time from any driving support system. It is forbidden to generate an alarm by a low driving support system. That is, when an alarm generation signal is transmitted from a driving support system having the same priority as a driving support system predicted to generate an alarm or a driving support system having a higher priority than a driving support system predicted to generate an alarm. The alarm output unit 6 outputs an alarm based on the alarm generation signal. On the other hand, when an alarm generation signal is transmitted from a driving support system having a lower priority than the driving support system predicted to generate an alarm, the alarm output unit 6 does not output an alarm based on the alarm generation signal.

  The alarm output unit 6 outputs an alarm adjusted by the alarm arbitration unit 5. The alarm output unit 6 includes an audio output device that outputs an audio alarm, a display device that outputs an image or video alarm, and the like.

  Next, with reference to FIG. 5, the processing operation of the alarm arbitration unit 5 in the driving support device 1 will be described. FIG. 5 is a flowchart showing the processing operation of the alarm arbitration unit in the first embodiment. Note that the processing operation of the alarm arbitration unit 5 described below is repeatedly performed from turning on the vehicle engine to turning it off. In addition, the alarm arbitration unit 5 sets priorities of the driving awareness lowering determination system 2, the lane departure prevention support system 3, and the collision avoidance support system 4 in advance. In this case, for example, the priority of the collision avoidance support system 4 is set higher than the priority of the lane departure prevention support system 3, or the priority of the lane departure prevention support system 3 is set to the priority of the collision avoidance support system 4. It can be set higher than the rank.

  First, the alarm mediation unit 5 predicts the occurrence of an alarm in the driving awareness reduction determination system 2, the lane departure prevention support system 3, and the collision avoidance support system 4 (step S1).

  Then, when the warning mediation unit 5 predicts the occurrence of an alarm within a predetermined time by any one of the driving support system, the lane departure prevention support system 3 and the collision avoidance support system 4. (Step S2: YES), a driving support system that is predicted to generate an alarm within a predetermined time is set as a driving support system that tends to generate an alarm, and is prioritized over the driving support system that is prone to generate an alarm for a predetermined time. The generation of an alarm by the driving support system having a low level is prohibited (step S3). Then, the process is once ended, and the process is repeated again from step S1. Note that when a predetermined time elapses after the generation of the alarm is prohibited in step S3, the prohibition of the alarm generation by the driving support system in which the generation of the alarm is prohibited in step S3 is canceled.

  On the other hand, if the alarm arbitration unit 5 determines that an alarm is not generated within a predetermined time from any of the driving support systems (step S2: NO), the process is once terminated without performing any particular process, and from step S1 again. Repeat the process.

  Here, a case is considered in which the priority order of the collision avoidance support system 4 is set higher than the priority orders of the lane departure prevention support system 3 and the driving awareness lowering determination system 2. In this case, if the occurrence of an alarm within a predetermined time by the collision avoidance support system 4 is predicted, the alarm generated from the collision avoidance support system 4 is permitted, but the lane departure prevention support system 3 and the driving awareness lowering determination system 2 are permitted. Alarms generated from are prohibited.

  On the other hand, let us consider a case where the priority order of the lane departure prevention support system 3 is set higher than the priority orders of the collision avoidance support system 4 and the driving awareness lowering determination system 2. In this case, if an alarm is predicted to be generated within a predetermined time by the lane departure prevention support system 3, the alarm generated from the lane departure prevention support system 3 is permitted, but the collision avoidance support system 4 and the driving awareness reduction determination system are permitted. Alarms generated from 2 are prohibited.

  As described above, according to the driving support device 1 according to the present embodiment, since the generation of the warning by the driving support system having a lower priority than the driving support system predicted to generate the warning is prohibited, it is relatively important. It is possible to suppress the generation of a plurality of types of alarms at the same time while generating a high alarm. Thereby, it can suppress giving a driver discomfort.

  Also, by canceling the prohibition of alarm generation after a predetermined time has elapsed, an alarm with a relatively low importance can be generated when an alarm with a relatively high importance is not generated.

[Second Embodiment]
Next, the driving support apparatus 1 according to the second embodiment will be specifically described. The driving support device 1 according to the second embodiment is basically the same as the driving support device 1 according to the first embodiment, and only the alarm mediation unit 5 is different from the driving support device 1 according to the first embodiment. To do. For this reason, below, only the part which is different from the driving assistance apparatus 1 which concerns on 1st Embodiment is demonstrated, and description of the same part as the driving assistance apparatus 1 which concerns on 1st Embodiment is abbreviate | omitted.

  The alarm arbitration unit 5 has a function of setting priorities of the driving awareness lowering determination system 2, the lane departure prevention support system 3, and the collision avoidance support system 4. This priority order may be any order, and may be set based on legal requirements, for example. Further, this priority order may be set fixedly or dynamically, and a plurality of systems may have the same priority order. In this case, for example, the alarm arbitration unit 5 sets the priority of the collision avoidance support system 4 higher than the priority of the lane departure prevention support system 3 in advance, or sets the priority of the lane departure prevention support system 3. Can be set higher than the priority of the collision avoidance support system 4.

  In addition, the alarm arbitration unit 5 has a function of arbitrating an alarm generation signal transmitted from the driving awareness lowering determination system 2, the lane departure prevention support system 3 and the collision avoidance support system 4 and causing the alarm output unit 6 to generate an alarm. I have. The alarm generation signal is arbitrated by a driving support system having a lower priority than the driving support system in which the alarm is generated for a predetermined time when an alarm is generated within a predetermined time from any driving support system. Is prohibited. In other words, if a warning signal is sent from a driving support system that has the same priority as the driving support system that issued the warning or a driving support system that has a higher priority than the driving support system that issued the warning, The alarm output unit 6 outputs an alarm based on the signal. On the other hand, when an alarm generation signal is transmitted from a driving support system having a lower priority than the driving support system in which the alarm is generated, the alarm output unit 6 does not output an alarm based on the alarm generation signal.

  Next, with reference to FIG. 6, the processing operation of the alarm arbitration unit 5 in the driving assistance device 1 according to the present embodiment will be described. FIG. 6 is a flowchart showing the processing operation of the alarm arbitration unit in the second embodiment. Note that the processing operation of the alarm arbitration unit 5 described below is repeatedly performed from turning on the vehicle engine to turning it off. In addition, the alarm arbitration unit 5 sets priorities of the driving awareness lowering determination system 2, the lane departure prevention support system 3, and the collision avoidance support system 4 in advance. In this case, for example, the priority of the collision avoidance support system 4 is set higher than the priority of the lane departure prevention support system 3, or the priority of the lane departure prevention support system 3 is set to the priority of the collision avoidance support system 4. It can be set higher than the rank.

  First, the alarm arbitration unit 5 detects whether or not an alarm is generated in the driving awareness lowering determination system 2, the lane departure prevention support system 3, and the collision avoidance support system 4 (step S11).

  Then, when the alarm mediation unit 5 detects the occurrence of an alarm by any one of the driving awareness reduction determination system 2, the lane departure prevention support system 3, and the collision avoidance support system 4 (step S12: YES). For a predetermined time, the generation of an alarm by the driving support system having a lower priority than the driving support system in which the generation of the alarm is detected is prohibited (step S13). Then, the process is once ended, and the process is repeated again from step S1. Note that when a predetermined time elapses after prohibiting the generation of the alarm in step S13, the prohibition of the alarm generation by the driving support system in which the generation of the alarm is prohibited in step S13 is canceled.

  On the other hand, if the alarm arbitration unit 5 cannot detect that an alarm has been generated from any driving support system (step S12: NO), the alarm arbitration unit 5 ends the process once without performing any particular process, and performs the process from step S1 again. repeat.

  As described above, according to the driving support device 1 according to the present embodiment, since the generation of an alarm by the driving support system having a lower priority than the driving support system in which the alarm is generated is prohibited, the comparison is performed by a simple process. It is possible to suppress the generation of a plurality of types of alarms at the same time while generating an alarm with a high level of importance. Thereby, it can suppress giving a driver discomfort.

[Third Embodiment]
Next, the driving support apparatus 1 according to the third embodiment will be specifically described. The driving support apparatus 1 according to the third embodiment dynamically changes the priority order among the plurality of driving support systems in the driving support apparatus 1 according to the first embodiment. For this reason, below, only the part which is different from the driving assistance apparatus 1 which concerns on 1st Embodiment is demonstrated, and description of the same part as the driving assistance apparatus 1 which concerns on 1st Embodiment is abbreviate | omitted.

  In addition to the function of the driving support device 1 according to the first embodiment, the alarm arbitration unit 5 is based on the alarm generation tendency in the driving awareness lowering determination system 2, the lane departure prevention support system 3, and the collision avoidance support system 4. In addition, a function of dynamically changing the priority order of the driving awareness lowering determination system 2, the lane departure prevention support system 3, and the collision avoidance support system 4 is provided. That is, the alarm arbitration unit 5 predicts the priority of the driving support system in which the warning is predicted among the driving consciousness degradation determination system 2, the lane departure prevention support system 3, and the collision avoidance support system 4. Change the setting so that it is higher than the priority of the driving support system that has not been set.

  Next, with reference to FIG. 7, the processing operation of the alarm arbitration unit 5 in the driving assistance device 1 according to the present embodiment will be described. FIG. 7 is a flowchart showing the processing operation of the alarm arbitration unit in the third embodiment. Note that the processing operation of the alarm arbitration unit 5 described below is repeatedly performed from turning on the vehicle engine to turning it off. In addition, the alarm arbitration unit 5 sets priorities of the driving awareness lowering determination system 2, the lane departure prevention support system 3, and the collision avoidance support system 4 in advance. In this case, for example, the priority of the collision avoidance support system 4 is set higher than the priority of the lane departure prevention support system 3, or the priority of the lane departure prevention support system 3 is set to the priority of the collision avoidance support system 4. It can be set higher than the rank.

  The alarm arbitration unit 5 first predicts the occurrence of an alarm in the driving awareness lowering determination system 2, the lane departure prevention support system 3, and the collision avoidance support system 4 (step S21).

  The alarm arbitration unit 5 predicts the occurrence of an alarm within a predetermined time by any one of the driving awareness reduction determination system 2, the lane departure prevention support system 3, and the collision avoidance support system 4 (step S22: YES), the driving consciousness deterrence determination system 2, the lane departure prevention support system 3 and the collision avoidance support system 4 in which the priority of the driving support system predicted to generate an alarm is given as the driving consciousness decrease determination system 2, lane The setting is changed so as to be higher than the priority order of the driving support system that is not predicted to generate an alarm in the departure prevention support system 3 and the collision avoidance support system 4 (step S23). When a predetermined time has elapsed after the priority order is changed in step S23, the priority order of the driving awareness lowering determination system 2, the lane departure prevention support system 3, and the collision avoidance support system 4 is changed before the setting change in step S23. Return to priority.

  Then, the alarm arbitration unit 5 sets the driving support system predicted to generate an alarm within a predetermined time in step S22 as a driving support system that tends to generate an alarm, and the driving support system that tends to generate the alarm for a predetermined time. The generation of an alarm by the driving support system having a lower priority than that is prohibited (step S24). Then, the process is once ended, and the process is repeated again from step S21. Note that when the predetermined time elapses after the generation of the alarm is prohibited in step S24, the prohibition of the alarm generation by the driving support system in which the generation of the alarm is prohibited in step S24 is canceled.

  On the other hand, if the alarm arbitration unit 5 determines that no alarm is generated from any driving support system in step S22 (step S22: NO), the process is once terminated without performing any particular process, and the process from step S21 is performed again. repeat.

[Fourth Embodiment]
Next, the driving support apparatus 1 according to the fourth embodiment will be specifically described. The driving support device 1 according to the fourth embodiment dynamically changes the priority order among a plurality of driving support systems in the driving support device 1 according to the second embodiment. For this reason, below, only the part which is different from the driving assistance apparatus 1 which concerns on 2nd Embodiment is demonstrated, and description of the same part as the driving assistance apparatus 1 which concerns on 2nd Embodiment is abbreviate | omitted.

  In addition to the function of the driving support device 1 according to the second embodiment, the alarm arbitration unit 5 receives the warning signal transmitted from the driving awareness lowering determination system 2, the lane departure prevention support system 3, and the collision avoidance support system 4. Based on the detection frequency (warning occurrence frequency), it has a function of dynamically changing the priority order of the driving awareness lowering determination system 2, the lane departure prevention support system 3, and the collision avoidance support system 4. That is, the alarm arbitration unit 5 is a priority order of the driving support system in which the number of alarms generated per predetermined time is equal to or greater than the predetermined number of times in the driving awareness lowering determination system 2, the lane departure prevention support system 3, and the collision avoidance support system 4. In the driving awareness lowering determination system 2, the lane departure prevention support system 3, and the collision avoidance support system 4 so that the number of alarms generated per predetermined time is higher than the priority order of the driving support system that is less than the predetermined number of times. Change settings.

  Next, with reference to FIG. 8, the processing operation of the alarm arbitration unit 5 in the driving assistance device 1 according to the present embodiment will be described. FIG. 8 is a flowchart showing the processing operation of the alarm arbitration unit in the fourth embodiment. Note that the processing operation of the alarm arbitration unit 5 described below is repeatedly performed from turning on the vehicle engine to turning it off. In addition, the alarm arbitration unit 5 sets priorities of the driving awareness lowering determination system 2, the lane departure prevention support system 3, and the collision avoidance support system 4 in advance. In this case, for example, the priority of the collision avoidance support system 4 is set higher than the priority of the lane departure prevention support system 3, or the priority of the lane departure prevention support system 3 is set to the priority of the collision avoidance support system 4. It can be set higher than the rank.

  First, the alarm arbitration unit 5 detects whether or not an alarm has occurred in the driving awareness lowering determination system 2, the lane departure prevention support system 3, and the collision avoidance support system 4 (step S31). Whether or not an alarm has occurred can be determined based on whether or not an alarm generation signal has been received from each driving support system.

  When the alarm arbitration unit 5 detects that an alarm is generated from any one of the driving consciousness determination determination system 2, the lane departure prevention support system 3, and the collision avoidance support system 4 (step S32: YES). ), The driving support system that has detected the occurrence of this alarm determines whether or not the number of occurrences of the alarm per predetermined time is greater than or equal to the predetermined number (step S33).

  If the alarm arbitration unit 5 determines that the number of alarms generated per predetermined time is greater than or equal to the predetermined number of times (step S33: YES), the priority of the driving support system that detected the alarm generation in step S32 is reduced to driving consciousness. Among the determination system 2, the lane departure prevention support system 3, and the collision avoidance support system 4, the setting is changed so that the number of alarms generated per predetermined time is higher than the priority order of the driving support system that is less than the predetermined number (step) S34). When a predetermined time has elapsed after the priority order setting is changed in step S33, the priority order of the driving awareness lowering determination system 2, the lane departure prevention support system 3 and the collision avoidance support system 4 is changed before the setting change in step S33. Return to priority.

  On the other hand, if the alarm arbitration unit 5 determines in step S33 that the number of alarms generated per predetermined time is not greater than or equal to the predetermined number (step S33: NO), it does not change the priority setting.

  Then, the alarm arbitration unit 5 prohibits the generation of an alarm by the driving support system having a lower priority than the driving support system in which the generation of the alarm is detected in step S32 for a predetermined time (step S35). Then, once the process is finished, the process is repeated from step S31 again. Note that when a predetermined time elapses after prohibiting the generation of the alarm in step S35, the prohibition of the alarm generation by the driving support system in which the generation of the alarm is prohibited in step S35 is canceled.

  On the other hand, if the alarm arbitration unit 5 determines that no alarm is generated from any driving support system in step S32 (step S32: NO), the process is once terminated without performing any particular process, and the process from step S31 is performed again. repeat.

[Fifth Embodiment]
Next, the driving support apparatus 1 according to the fifth embodiment will be specifically described. The driving support device 1 according to the fifth embodiment dynamically changes the priority order among the plurality of driving support systems in the driving support device 1 according to the second embodiment. For this reason, below, only the part which is different from the driving assistance apparatus 1 which concerns on 2nd Embodiment is demonstrated, and description of the same part as the driving assistance apparatus 1 which concerns on 2nd Embodiment is abbreviate | omitted.

  In addition to the function of the driving support device 1 according to the second embodiment, the alarm arbitration unit 5 receives the warning signal transmitted from the driving awareness lowering determination system 2, the lane departure prevention support system 3, and the collision avoidance support system 4. Based on the detection frequency (warning occurrence frequency), it has a function of dynamically changing the priority order of the driving awareness lowering determination system 2, the lane departure prevention support system 3, and the collision avoidance support system 4. In other words, the alarm mediation unit 5 has the highest number of alarms per predetermined time among the driving awareness reduction determination system 2, the lane departure prevention support system 3, and the collision avoidance support system 4, and the alarm arbitration unit 5 The priority of the driving support system having the number of occurrences equal to or greater than the predetermined number of times is set and changed so as to be the highest among the driving awareness reduction determination system 2, the lane departure prevention support system 3, and the collision avoidance support system 4.

  Next, with reference to FIG. 9, the processing operation of the alarm arbitration unit 5 in the driving support device 1 according to the present embodiment will be described. FIG. 9 is a flowchart showing the processing operation of the alarm arbitration unit in the fifth embodiment. Note that the processing operation of the alarm arbitration unit 5 described below is repeatedly performed from turning on the vehicle engine to turning it off. In addition, the alarm arbitration unit 5 sets priorities of the driving awareness lowering determination system 2, the lane departure prevention support system 3, and the collision avoidance support system 4 in advance. In this case, for example, the priority of the collision avoidance support system 4 is set higher than the priority of the lane departure prevention support system 3, or the priority of the lane departure prevention support system 3 is set to the priority of the collision avoidance support system 4. It can be set higher than the rank.

  First, the alarm arbitration unit 5 detects whether or not an alarm has occurred in the driving awareness lowering determination system 2, the lane departure prevention support system 3, and the collision avoidance support system 4 (step S41). Whether or not an alarm has occurred can be determined based on whether or not an alarm generation signal has been received from each driving support system.

  When the alarm arbitration unit 5 detects that an alarm is generated from any one of the driving consciousness degradation determination system 2, the lane departure prevention support system 3, and the collision avoidance support system 4 (step S42: YES). ), The driving support system that has detected the occurrence of this alarm determines whether or not the number of occurrences of the alarm per predetermined time is greater than or equal to the predetermined number (step S43).

  If the alarm arbitration unit 5 determines that the number of alarms generated per predetermined time is equal to or greater than the predetermined number of times (step S43: YES), the driving support system that has detected the alarm generation in step S42 then reduces driving awareness. In the determination system 2, the lane departure prevention support system 3, and the collision avoidance support system 4, it is determined whether or not the number of alarms generated per predetermined time is the highest (step S44).

  When the driving support system that has detected the occurrence of the alarm in step S42 determines that the number of alarm occurrences per predetermined time is the highest (step S44: YES), the alarm arbitration unit 5 detects the occurrence of the alarm in step S42. The priority of the driving support system is changed so as to be the highest among the driving awareness lowering determination system 2, the lane departure prevention supporting system 3, and the collision avoidance supporting system 4 (step S45). When a predetermined time has elapsed after the priority order is changed in step S45, the priority order of the driving awareness lowering determination system 2, the lane departure prevention support system 3, and the collision avoidance support system 4 is changed before the setting change in step S45. Return to priority.

  On the other hand, when the alarm arbitration unit 5 determines in step S43 that the number of alarm occurrences per predetermined time is not greater than or equal to the predetermined number (step S43: NO), the alarm occurrence number per predetermined time is the highest in step S44. If it is determined that there are not many (step S44: NO), the priority setting is not changed.

  Then, the alarm arbitration unit 5 prohibits the generation of an alarm by the driving support system having a lower priority than the driving support system in which the generation of the alarm is detected in step S42 for a predetermined time (step S46). Then, the process is once ended, and the process is repeated again from step S41. Note that when a predetermined time elapses after the alarm generation is prohibited in step S46, the alarm generation prohibition by the driving support system in which the alarm generation is prohibited in step S46 is canceled.

  On the other hand, if the alarm arbitration unit 5 determines that no alarm is generated from any driving support system in step S42 (step S42: NO), the process is once terminated without performing any particular process, and the process from step S41 is performed again. repeat.

  The preferred embodiment of the present invention has been described above, but the present invention is not limited to the above embodiment. For example, in the above-described embodiment, it has been described that the warning generation prohibition condition is that a predetermined time has elapsed, but it can be changed to various conditions such as a specific operation of the driver and a specific behavior of the vehicle.

In the third to fifth embodiments, the example in which the priority order of the driving support system is dynamically changed has been described. However, the condition for dynamically changing the priority order is not particularly limited. Various conditions can be set.
In the third to fifth embodiments, the priority order is changed and the priority order is restored when a predetermined time has elapsed. However, it is not always necessary to restore the priority order.

  In the third embodiment, it has been described that the priority setting is changed when the number of alarms generated by any driving support system is equal to or greater than the predetermined number of times per predetermined time. If the driving assistance system continues to generate alarms with the same content, it may be possible to change the priority setting, and after any driving assistance system generates a specific content warning condition The priority setting may be changed when an alarm having the same content is generated only during a predetermined time.

  The predetermined time and the predetermined number of times are arbitrary times and the number of times that can be appropriately set, and may be a preset time and the number of times, or may be a time and the number of times that are set later. Good.

DESCRIPTION OF SYMBOLS 1 ... Driving assistance apparatus, 2 ... Driving consciousness fall judgment system, 3 ... Lane departure prevention assistance system, 4 ... Collision avoidance assistance system, 5 ... Alarm arbitration part, 6 ... Alarm output part, 21 ... Own vehicle speed detection part, 22 ... White line own vehicle position detection unit, 23 ... steering angle detection unit, 24 ... consciousness determination unit, 25 ... reference determination unit, 26 ... determination execution determination unit, 27 ... alarm generation unit, 31 ... own vehicle speed detection unit, 32 ... White line own vehicle position detection unit, 33 ... calculation unit, 34 ... alarm generation unit, 41 ... own vehicle speed detection unit, 42 ... preceding vehicle information detection unit, 43 ... calculation unit, 44 ... alarm generation unit.

Claims (7)

A driving support device comprising a plurality of driving support systems for generating an alarm to a driver,
Predicting the occurrence of an alarm within a predetermined time by the plurality of driving support systems,
When occurrence of an alarm within a predetermined time is predicted by any one of the plurality of driving support systems, the driving support system predicted to generate an alarm among the plurality of driving support systems. Is also characterized by prohibiting the generation of warnings by the driving support system of low priority,
Driving assistance device. After prohibiting the generation of an alarm by the driving support system, when a predetermined time elapses, canceling the prohibition of the generation of an alarm by the driving support system for which the generation of an alarm is prohibited,
The driving support device according to claim 1. The plurality of driving support systems include a collision avoidance support system and a lane departure prevention support system,
The priority order of the collision avoidance support system is set higher than the priority order of the lane departure prevention support system,
The driving support device according to claim 1 or 2. The plurality of driving support systems include a collision avoidance support system and a lane departure prevention support system,
The priority order of the lane departure prevention support system is set higher than the priority order of the collision avoidance support system,
The driving support device according to claim 1 or 2. When the number of alarms generated per predetermined time by any one of the plurality of driving support systems is equal to or more than a predetermined number of times, the priority of the driving support system is the priority among the plurality of driving support systems. Then, the number of occurrences of the alarm per predetermined time is set to be higher than the priority order of the driving support system that is less than the predetermined number of times,
The driving assistance device according to any one of claims 1 to 4. Of the plurality of driving support systems, the number of occurrences of an alarm per predetermined time by the driving support system is the largest among the plurality of driving support systems, and the number of alarms generated per predetermined time is the predetermined number of times. In the case of the above, the priority of the driving support system is set to be the highest among the plurality of driving support systems,
The driving assistance device according to any one of claims 1 to 4. After the priority order of the driving support system is set based on the number of times the alarm is generated per predetermined time, when the predetermined time has elapsed, the priority order among the plurality of driving support systems is set to the number of times the alarm is generated per predetermined time. Based on the priority order before the priority order is set based on,
The driving support device according to claim 5 or 6.

Images