JP2013257768A - Drive support device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a drive support device capable of reducing discomfort of a driver caused by incapability of grasping a relation between information obtained by visual sense and an alarm.SOLUTION: A drive support device 2 includes: a moving body information acquisition unit 76 that acquires information of a moving body 110 around a vehicle 1; an alarm issuing unit 80 that issues an alarm to a driver on the basis of the moving body information acquired by the moving body information acquisition unit 76; and an alarm termination unit 82 that terminates the alarm on the basis of the moving body information acquired by the moving body information acquisition unit 76.

Description

  The present invention relates to a driving support device.

  In recent years, driving assistance devices that provide various driving assistance to a driver of a traveling vehicle have been proposed. For example, the approaching vehicle detection device described in Patent Document 1 determines whether or not a vehicle existing around the host vehicle is approaching based on the ambient sound collected by the sound collecting unit. Outputs information about surrounding vehicles on the monitor. Thus, an approaching vehicle such as an intersection existing in the blind spot area is detected based on the ambient sound, and the approaching vehicle is notified to the driver.

JP 2000-98015 A

  However, when an alarm is issued in a state where another vehicle exists in the driver's field of view, the driver may not be able to grasp which vehicle the alarm is for. In this case, the driver may not be able to properly recognize the relationship between the information obtained by vision and the warning, and may feel uncomfortable.

  This invention is made in view of the above, Comprising: It is providing the driving assistance device which can reduce a driver | operator's uncomfortable feeling resulting from not being able to grasp | ascertain the relationship between the information obtained visually, and an alarm. Objective.

  In order to solve the above-described problems and achieve the object, a driving support apparatus according to the present invention acquires a moving body information acquisition unit that acquires information on a moving body around the host vehicle and the moving body information acquisition unit. Warning means for warning the driver based on the moving body information, and when the warning is given by the warning means, the warning is terminated based on the moving body information acquired by the moving body information acquisition means. And an alarm end means.

  Further, in the driving support device, when the warning end means can estimate that the moving body has passed in front of the host vehicle based on the moving body information acquired by the moving body information acquiring means, It is preferable to end the alarm.

  In the driving support device, the warning end means estimates based on the moving body information that another moving body exists even when the moving body can be estimated to have passed in front of the host vehicle. If possible, it is preferable to continue the alarm.

  The driving support apparatus further includes support end time determining means for determining a support end time, which is a time for ending the alarm, based on the moving body information acquired by the moving body information acquiring means, and the warning end Preferably, the means terminates the alarm when the support end time determined by the support end time determination means is reached.

  In the driving support apparatus, the support end time determining unit calculates a time for the moving body to pass in front of the host vehicle, which is calculated based on the moving body information acquired by the moving body information acquiring unit. It is preferable to determine the support end time.

  The driving support apparatus further includes moving body passage determining means for determining whether or not the moving body has passed in front of the host vehicle based on the moving body information acquired by the moving body information acquiring means. The alarm ending means preferably ends the alarm when the moving body passage determining means determines that the moving body has passed in front of the host vehicle.

  The driving support device according to the present invention has an effect that it is possible to reduce a driver's uncomfortable feeling due to the inability to grasp the relationship between information obtained by vision and an alarm.

FIG. 1 is a schematic diagram of a vehicle including a driving support apparatus according to an embodiment. FIG. 2 is a schematic view of the inside of the vehicle shown in FIG. FIG. 3 is an AA arrow view of FIG. 4 is a detailed view of a portion B in FIG. FIG. 5 is a main part configuration diagram of the driving support device shown in FIG. 1. FIG. 6 is an explanatory diagram for driving assistance when entering an intersection. FIG. 7 is an explanatory diagram of a range visually recognized by the driver and a detection range by the sensor. FIG. 8 is a flowchart when driving assistance is performed by the driving assistance apparatus according to the embodiment. FIG. 9 is a main part configuration diagram illustrating a modified example of the driving support apparatus according to the embodiment.

  Hereinafter, an embodiment of a driving support device according to the present invention will be described 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 diagram of a vehicle including a driving support apparatus according to an embodiment. The vehicle 1 including the driving support device 2 according to the embodiment includes an engine 5 that is an internal combustion engine as a power source, and the power generated by the engine 5 is transmitted to the wheels 3 via a drive device such as the transmission 6. It is possible to run. Further, the vehicle 1 is provided with a brake device that is a braking means that brakes the vehicle 1 that is running by braking the wheels 3, and a brake hydraulic pressure control device 10 that controls the hydraulic pressure when the brake device is operated. Is provided. Further, the drive device is provided with a vehicle speed sensor 21 which is a vehicle speed detection means for detecting the vehicle speed by detecting the rotational speed of the output shaft of the drive device.

  In addition, the vehicle 1 is provided with an accelerator pedal 15 and a brake pedal 16 that are used when the driver performs a driving operation. Among these, an operation amount of the accelerator pedal 15 is detected in the vicinity of the accelerator pedal 15. An accelerator sensor 22 is provided. Further, the brake hydraulic pressure control device 10 is provided with a brake pressure sensor 23 that detects an operation amount of the brake pedal 16 by detecting a brake pressure that is a hydraulic pressure when the brake pedal 16 is operated.

  Further, the vehicle 1 is provided with a steering wheel 17 that is used when the driver steers the steering wheel. The steering wheel 17 is connected to an EPS (Electric Power Steering) device 12 that is an electric power steering device. Yes. Thereby, the steering wheel 17 is provided via the EPS device 12 so as to be able to steer front wheels that are steering wheels. Further, the EPS device 12 thus provided is provided with a steering angle sensor 24 which is a steering angle detection means for detecting a steering angle which is a rotation angle of the steering wheel 17.

  The vehicle 1 is equipped with a camera 31, a running sound sensor 32, and a radar sensor 33 as environmental information acquisition means for acquiring environmental information around the host vehicle 1. Among these, the camera 31 is provided as an imaging unit that acquires image information around the vehicle 1 by imaging the surroundings of the vehicle 1 such as the front of the vehicle 1. For example, the camera 31 is installed in the vehicle and can capture images of other vehicles, the environment of the road on which the vehicle 1 travels, and the like by photographing the front through the front window. The camera 31 is a direct sensor capable of detecting a detection target within a range where light from the detection target reaches.

  The traveling sound sensor 32 is disposed near the front end of the vehicle 1 and is provided as sound collecting means for detecting sound information around the vehicle 1 and acquiring sound information. For example, a plurality of the traveling sound sensors 32 are disposed on a front bumper or the like of the vehicle 1, and the traveling sound sensors 32 can detect surrounding sound information including the direction of the sound. ing. Thereby, the traveling sound sensor 32 is based on sound information transmitted from the surroundings of the vehicle 1 and the echo sound of the sound emitted from the vehicle 1, and the presence of a shield around the vehicle 1 and the front of the vehicle 1. It is possible to detect the presence and the direction of approach of a moving body such as another vehicle that moves in a blind spot area on a road that intersects at a located intersection.

  The radar sensor 33 is provided as a three-dimensional information acquisition unit that acquires three-dimensional information of objects around the vehicle 1 by using a detection wave. The radar sensor 33 is disposed in front of a bumper on the front side of the vehicle 1, and includes a transmission unit that transmits detection waves such as electromagnetic waves, infrared rays, lasers, and ultrasonic waves, and a reception unit that receives reflected waves of the detection waves. And have. The radar sensor 33 configured as described above transmits a detection wave from the front end of the vehicle 1 to the front or both sides of the vehicle 1 by transmitting a detection wave from the transmission unit, and the detection wave reflected by the detection object. A detection target can be detected by receiving the reflected wave at the receiving unit. That is, the radar sensor 33 is a direct sensor that can detect a detection target in an area where a detection wave reaches.

  FIG. 2 is a schematic view of the inside of the vehicle shown in FIG. FIG. 3 is an AA arrow view of FIG. 4 is a detailed view of a portion B in FIG. In the vehicle, an alarm device 50 that constitutes driving support means for notifying the driver of predetermined information is installed on the dashboard 40. Specifically, in the vicinity of the lower end of the front window 41 on the dashboard 40 It is arranged. The alarm device 50 includes a display unit 51 that visually informs a driver of information and a buzzer 52 that informs information by sound. The alarm device 50 includes the display unit 51 and the buzzer 52 as described above, thereby enabling driving assistance by notification using sound and light.

  Moreover, the operation mode switch 55 which switches the operation mode of the driving assistance device 2 which concerns on this embodiment is provided in the vehicle. The driving support device 2 can switch the operation mode between an automatic mode that automatically operates and a manual mode in which the driver switches between ON and OFF of the operation. It is a switch to switch between mode and manual mode. The steering wheel 17 is provided with a steering switch 56 that can be switched ON and OFF when the operation mode switching switch 55 is switched to the manual mode. Among these, the steering switch 56 is provided as support request means for switching between driving support operation and stop at the driver's will.

  These engine 5, transmission 6, brake hydraulic control device 10, EPS device 12, vehicle speed sensor 21, accelerator sensor 22, brake pressure sensor 23, rudder angle sensor 24, camera 31, traveling sound sensor 32, radar sensor 33, alarm The device 50, the operation mode changeover switch 55, and the steering switch 56 are connected to an ECU (Electronic Control Unit) that is mounted on the vehicle 1 and controls each part of the vehicle 1. As the ECU, a travel control ECU 60 that performs travel control of the vehicle 1 and a drive support ECU 70 that performs drive support control, which is control for assisting the driver while the vehicle 1 is traveling, are provided.

  FIG. 5 is a main part configuration diagram of the driving support device shown in FIG. 1. Among the components connected to the ECU, the driving state of the vehicle 1 such as the engine 5, the transmission device 6, the brake hydraulic pressure control device 10, the EPS device 12, and the like that are activated when the vehicle 1 is traveling and the vehicle speed sensor 21 are detected. The detection means is connected to the travel control ECU 60. The travel control ECU 60 is also connected to detection means for detecting the state of the driving operation by the driver, such as the accelerator sensor 22, the brake pressure sensor 23, and the rudder angle sensor 24. On the other hand, devices used for driving support control, such as the camera 31, the alarm device 50, the operation mode changeover switch 55, and the steering switch 56, are connected to the driving support ECU 70.

  In addition, the travel control ECU 60 and the driving support ECU 70 are connected to each other so that information and signals can be exchanged. The hardware configuration of the travel control ECU 60 and the driving support ECU 70 is a known configuration including a processing unit including a CPU (Central Processing Unit) and a storage unit such as a RAM (Random Access Memory). Is omitted.

  Among these ECUs, the travel control ECU 60 includes an engine control unit 61 that controls the operation of the engine 5, a brake control unit 62 that controls the braking force by controlling the brake hydraulic pressure control device 10, and the vehicle speed sensor 21. A vehicle speed acquisition unit 63 that is a vehicle speed acquisition unit that acquires vehicle speed information from the detection result of the vehicle; an accelerator opening acquisition unit 64 that acquires an accelerator operation amount that is an operation amount of the accelerator pedal 15 from the detection result of the accelerator sensor 22; The brake operation acquisition unit 65 that acquires the brake operation amount that is the operation amount of the brake pedal 16 from the detection result of the brake pressure sensor 23, and the steering state of the steering wheel 17 is acquired from the detection result of the steering angle sensor 24. A steering angle acquisition unit 66. Among these, the accelerator opening acquisition part 64, the brake operation acquisition part 65, and the rudder angle acquisition part 66 are provided as driving operation acquisition means for acquiring information on the driving operation of the driver.

  In addition, the driving support ECU 70 includes an operation state control unit 71 that controls the operation state of the driving support control based on the states of the operation mode changeover switch 55 and the steering switch 56, a camera control unit 72 that controls the camera 31, and travel A traveling sound sensor control unit 73 that controls the sound sensor 32, a radar control unit 74 that controls the radar sensor 33, an intersection determination unit 75 that determines the presence or absence of an intersection that requires driving assistance, and the vicinity of the host vehicle 1 A mobile body information acquisition unit 76 which is mobile body information acquisition means for acquiring information on the mobile body.

  Further, the driving support ECU 70 is a support determining unit that determines whether to provide driving assistance to the driver based on the moving body information acquired by the moving body information acquisition unit 76 and changes the mode of driving support. When a warning is executed by the support determination unit 78, an alarm execution unit 80 which is an alarm means for executing an alarm for the driver by operating the alarm device 50 as driving support, and the alarm execution unit 80 is executing an alarm, the mobile body An alarm ending unit 82 which is an alarm ending unit for ending an alarm when it can be estimated that a moving body around the host vehicle 1 has passed in front of the host vehicle 1 based on the moving body information acquired by the information acquisition unit 76; A support end time determination unit 84 that is a support end time determination unit that determines a support end time that is a time to end the alarm based on the mobile body information acquired by the mobile body information acquisition unit 76. .

  The driving support device 2 according to the present embodiment is configured as described above, and the operation thereof will be described below. During normal traveling of the vehicle 1, the driver operates the accelerator pedal 15 and the brake pedal 16, whereby the actuators such as the engine 5 and the brake hydraulic pressure control device 10 are operated, and the vehicle 1 is operated by the driver. Drive accordingly. For example, the engine control unit 61 included in the travel control ECU 60 controls the engine 5 according to the accelerator operation amount acquired by the accelerator opening acquisition unit 64 based on the detection result of the accelerator sensor 22, thereby requesting the driver. A driving force along the line is generated.

  Further, by operating the brake pedal 16, a hydraulic pressure for operating the brake device is generated in the brake hydraulic pressure control device 10, and the brake device is operated by this hydraulic pressure to generate a braking force. As described above, the brake hydraulic pressure, which is the hydraulic pressure generated by the brake hydraulic control device 10 when the brake pedal 16 is operated, is detected by the brake pressure sensor 23 and acquired by the brake operation acquisition unit 65. The brake operation acquisition unit 65 acquires the brake hydraulic pressure as a driver's brake operation amount.

  Further, when the vehicle 1 travels, the travel state of the vehicle 1 is detected by sensors provided in each part of the vehicle 1 and is used for travel control of the vehicle 1. For example, the vehicle speed information detected by the vehicle speed sensor 21 is acquired by the vehicle speed acquisition unit 63 included in the travel control ECU 60, and is used when travel control is performed using the vehicle speed information.

  In addition, the driving support device 2 according to the present embodiment can perform driving support by alerting the driver when the vehicle 1 is traveling. Specifically, in order to prevent collision with other vehicles such as other vehicles moving on the road intersecting the road on which the host vehicle 1 travels, the vehicle travels with more attention than normal travel. When the host vehicle 1 enters an intersection that needs to be operated, driving assistance can be performed.

  The driving support performed by the driving support device 2 is performed by the alarm device 50 using image information captured by the camera 31, sound information detected by the traveling sound sensor 32, and three-dimensional information detected by the radar sensor 33. That is, in the driving support device 2 according to the present embodiment, the image information detected by the camera 31, the running sound sensor 32, and the radar sensor 33 provided as environmental information acquisition means for acquiring environmental information around the host vehicle 1 and Based on the sound information and the three-dimensional information, the alarm device 50 is controlled, and driving assistance is executed by warning the driver.

  FIG. 6 is an explanatory diagram for driving assistance when entering an intersection. The driving assistance in the driving assistance device 2 will be described. When the vehicle 1 is traveling on the traveling road 101 that is the road on which the host vehicle 1 is traveling, there is a temporary stop line 104 in the traveling direction of the vehicle 1. Driving assistance is executed when there is an intersection 103 that requires attention, such as the intersection 103. Whether or not there is an intersection 103 that requires more attention in the traveling direction of the vehicle 1 and needs driving assistance is determined based on the traveling state of the vehicle 1 and the driving operation state of the driver. Specifically, the vehicle speed acquired by the vehicle speed acquisition unit 63 is equal to or lower than a predetermined speed, and the accelerator operation amount acquired by the accelerator opening acquisition unit 64 and the brake operation amount acquired by the brake operation acquisition unit 65 are respectively When it is equal to or less than the predetermined reference value, the intersection determination unit 75 of the driving support ECU 70 determines that there is an intersection 103 that needs driving support.

  That is, when the vehicle 1 enters the intersection 103 where driving assistance such as alerting the driver needs to be performed, that is, the intersection 103 that needs to travel more carefully, the driver reduces the vehicle speed, Further, at least one of the accelerator pedal 15 and the brake pedal 16 is completely returned, and the other is completely returned, or enters with a slight depression. As a result, the accelerator operation amount and the brake operation amount are both equal to or less than a predetermined reference value, the vehicle 1 slowly enters the intersection 103 with both the accelerator operation amount and the brake operation amount being small, and the vehicle speed being low. To do. That is, the driver slowly enters the own vehicle 1 into the intersection 103 while confirming the state of a moving body such as the crossing vehicle 112 that moves on the crossing road 102 that intersects the traveling road 101.

  When entering the intersection 103 where driving assistance is required, the intersection determination unit 75 makes the travel of the vehicle 1 because the accelerator operation amount and the brake operation amount are both reduced and the vehicle speed is low. If the state and the driving state of the driver satisfy these conditions except in the stopped state, it is determined that the vehicle 1 is facing such an intersection 103.

  When the intersection determination unit 75 determines that the driving assistance device 2 has entered such an intersection 103, the driving assistance device 2 is switched to a state in which driving assistance is activated by the operation mode switching switch 55 or the steering switch 56. Perform assistance. As this driving support, a warning is given to the driver by operating the warning device 50 by the warning execution unit 80 of the driving support ECU 70.

  The operation mode changeover switch 55 and the steering switch 56 for switching whether or not the driving assistance can be executed will be described. Driving assistance by the driving assistance device 2 is automatically performed when the vehicle enters the intersection 103 by switching the operation mode changeover switch 55. It is possible to switch between execution and arbitrary execution by the driver. The operation mode change-over switch 55 is operated when the vehicle 1 enters the intersection 103, when the vehicle 1 enters the intersection 103, an auto mode that automatically performs driving support according to the state of the host vehicle 1 and the surrounding environment. It is possible to switch to a manual mode in which the driver can select whether or not to perform support.

  Further, when the operation mode changeover switch 55 is in the manual mode, ON / OFF of driving assistance at the time of entering the intersection 103 is switched by switching ON / OFF of the steering switch 56 disposed on the steering wheel 17. It is possible to switch. The states of the operation mode changeover switch 55 and the steering switch 56 are acquired by the operation state control unit 71 included in the driving support ECU 70, and the driving support ECU 70 operates according to the state of the switch acquired by the operation state control unit 71. Perform support control.

  That is, the operation state control unit 71 enters the intersection 103 with respect to the alarm execution unit 80 when the operation mode switch 55 is in the auto mode, and when the operation mode switch 55 is in the manual mode and the steering switch 56 is ON. Execute driving assistance at the time. On the other hand, the operation state control unit 71 prevents the alarm execution unit 80 from executing driving assistance when the operation mode changeover switch 55 is in the manual mode and the steering switch 56 is OFF.

  For this reason, when the operation mode changeover switch 55 is switched to the auto mode, the driving support device 2 moves the vehicle 1 to the intersection 103 where driving support is required based on the traveling state of the vehicle 1 and the driving state of the driver. Every time it is determined that the vehicle enters, driving support control is performed.

  On the other hand, when the operation mode changeover switch 55 is switched to the manual mode, the driving assistance device 2 has its own vehicle in the intersection 103 where it is determined that driving assistance is necessary with the steering switch 56 being ON. When 1 enters, driving support control is performed. In addition, when the operation mode changeover switch 55 is switched to the manual mode and the steering switch 56 is turned off, the driving assistance device 2 operates even when the vehicle 1 enters the intersection 103 where it is determined that driving assistance is necessary. Does not perform support control.

  When the operation mode changeover switch 55 and the steering switch 56 are in a driving support permission state, when driving support is performed, image information captured by the camera 31, sound information detected by the traveling sound sensor 32, radar sensor 33 Based on the three-dimensional information detected in step 1, environmental information around the host vehicle 1 is acquired. For example, the camera control unit 72 included in the driving assistance ECU 70 controls the camera 31 and the camera 31 detects image information around the host vehicle 1. Based on the image information, the driving body information acquisition unit 76 included in the driving support ECU 70 has information on the moving body 110 such as the crossing vehicle 112 and the bicycle 115 traveling on the crossing road 102 near the intersection 103 in front of the host vehicle 1. Get in.

  Moreover, when acquiring the environmental information around the own vehicle 1 based on the sound information, the traveling sound sensor control unit 73 included in the driving support ECU 70 controls the traveling sound sensor 32 to obtain the sound information around the own vehicle 1. Detected by the running sound sensor 32. Based on the sound information, the moving body information acquisition unit 76 acquires information on the crossing vehicle 112 traveling on the crossing road 102 near the intersection 103 in front of the host vehicle 1. Specifically, based on a change in the volume of sound detected by the traveling sound sensor 32, a time difference between sounds detected by the plurality of traveling sound sensors 32, and the like, the ambient noise around the host vehicle 1 and the crossing vehicle 112 emit. Information on the crossing vehicle 112 is obtained by separating the sound.

  Further, when acquiring environmental information around the host vehicle 1 based on the three-dimensional information, the radar control unit of the driving support ECU 70 controls the radar sensor 33 so that the three-dimensional information of objects around the host vehicle 1 is obtained. To detect. Based on this three-dimensional information, the moving body information acquisition unit 76 acquires information on the moving body 110 such as the crossing vehicle 112 and the bicycle 115 traveling on the crossing road 102.

  The warning executed by the warning execution unit 80 as driving support for the driver is based on the moving body information acquired by the moving body information acquiring unit 76 based on the moving body information acquired by the driving support ECU 70. Determined by In other words, the warning for the driver is executed when the support determination unit 78 determines that the driving support is performed.

  When it is determined that the driving support is to be performed, the driving support mode is further changed based on the environmental information around the own vehicle 1 acquired based on the detection result of the camera 31 or the like. That is, the driving support mode is changed by changing the support level of the driving support by the support determining unit 78 based on the environmental information around the host vehicle 1 acquired by the moving body information acquiring unit 76. Specifically, the support determination unit 78 changes the driving support support level based on the moving direction and moving speed of the moving body 110 moving on the intersection road 102, the distance between the host vehicle 1 and the moving body 110, and the like. .

  For example, when the moving body information acquired by the moving body information acquisition unit 76 indicates that the crossing vehicle 112 is approaching the host vehicle 1, the support determination unit 78 executes the warning execution unit 80. Increase the driving support level. That is, when the moving body information indicates that there is an approaching vehicle approaching the host vehicle 1 on the intersection road 102, the support determination unit 78 determines to increase the support level of the driving support. Do.

  On the other hand, even when the moving body information indicates that there is a crossing vehicle 112 on the crossing road 102, the distance from the own vehicle 1 to the crossing vehicle 112 is long, or the approaching speed to the own vehicle 1 is low. The support determination unit 78 lowers the driving support support level executed by the alarm execution unit 80. That is, even when the crossing vehicle 112 exists on the crossing road 102, when the moving body information indicates that the possibility that the crossing vehicle 112 is in contact with the host vehicle 1 is low, the support determining unit 78 Decide to lower the driving assistance level.

  Furthermore, when the moving body information indicates that the crossing vehicle 112 is away from the host vehicle 1 even when the crossing vehicle 112 exists on the crossing road 102, the support determining unit 78 performs driving support. Make decisions not to make.

  The driving support level that is changed according to the state of the crossing vehicle 112 is changed according to the degree of stimulus intensity with respect to the driver's vision and hearing. That is, when a warning to be given as driving assistance is performed by causing the display unit 51 of the alarm device 50 to emit predetermined light, the stimulation intensity can be increased by changing the amount of light or the color at the time of light emission or by blinking. Change the driving support level. More specifically, when the driving support level is increased, for example, by blinking the light emitting part, increasing the amount of light at the time of light emission, increasing the brightness, and changing the color to a prominent color such as red. Strengthen the stimulus intensity for human vision. On the other hand, when the driving support level is lowered, the driver's vision is stimulated by turning on the light emitting part, reducing the amount of light at the time of light emission, lowering the brightness, and making the color lighter. Reduce strength.

  Further, in the case where an alarm to be performed as driving assistance is performed by generating an alarm sound from the buzzer 52 of the alarm device 50, the driving assistance support level is obtained by changing the volume and frequency of the alarm sound generated from the buzzer 52. To change. More specifically, when the driving support level is increased, for example, the alarm intensity is continuously increased, the volume of the alarm sound is increased, or the sound is increased to increase the stimulation intensity for the driver's hearing. Strengthen. On the other hand, when lowering the driving support level, the stimulation intensity for the driver's hearing is weakened by sounding the alarm sound only once, decreasing the volume of the alarm sound, and decreasing the sound.

  FIG. 7 is an explanatory diagram of a range visually recognized by the driver and a detection range by the sensor. The traveling sound sensor 32 can also detect the traveling sound of the intersecting vehicle 112 at a blind spot from the driver by the shield 105 located in the vicinity of the intersection 103, and the radar sensor 33 is arranged at the front end of the vehicle 1. Therefore, the situation of the cross road 102 can be recognized before the driver. For this reason, the sensor detection range 120, which is a range in which the environment information detection means such as the radar sensor 33 can detect the state of the intersection road 102 near the intersection 103, allows the driver to visually detect the state of the intersection road 102. It is wider than the driver detection range 125, which is a range that can be performed.

  Thereby, the environment information detecting means such as the radar sensor 33 can detect the state of the crossing road 102 at an earlier stage than the driver visually detects, and based on the environment information detected by the environment information detecting means. The warning to be executed is performed at an earlier stage than when the driver detects the state of the crossing road 102. In response to this warning, the driver can safely enter the intersection 103 by performing a driving operation that avoids contact with the moving body 110 such as the crossing vehicle 112.

  In addition, as described above, when the warning is performed by the alarm execution unit 80 at the support level determined by the support determination unit 78, the mobile unit 110 is based on the mobile unit information acquired by the mobile unit information acquisition unit 76. Can be estimated that the vehicle has passed in front of the host vehicle 1, the warning is ended by the warning end unit 82 of the driving support ECU 70. When the alarm execution unit 80 is executing an alarm, the alarm end unit 82 determines whether or not the moving body 110 such as the crossing vehicle 112 has passed in front of the host vehicle 1 based on the moving body information. When the determination is made and it is determined that the mobile object 110 has passed in front of the host vehicle 1, the alarm is terminated.

  That is, the warning end unit 82 is the support determination unit 78, and the mobile body 110 that is the basis for the decision to perform driving support among the mobile body information acquired by the mobile body information acquisition unit 76 is Whether or not the vehicle has passed ahead is determined based on the moving body information. Specifically, whether or not the moving body 110 has passed in front of the host vehicle 1 is determined at the contact point 108 where the host vehicle 1 and the moving body 110 are in contact at an intersection 103 in front of the host vehicle 1. This is performed using the estimated contact point arrival time TTC, which is the time until the moving body 110 arrives (see FIG. 6).

  The predicted contact point arrival time TTC is calculated in advance by the support end time determination unit 84 of the driving support ECU 70 based on the moving body information when the driving support is executed, and the predicted contact point arrival time TTC is alerted. It is determined as the support end time, which is the time to end. That is, the support end time determination unit 84 determines the time during which the moving body 110 passes in front of the host vehicle 1 as the support end time. The alarm end unit 82 determines that the mobile object 110 has passed in front of the host vehicle 1 when the elapsed time after calculation of the predicted contact point arrival time TTC has passed the estimated contact point arrival time TTC determined as the support end time. To do.

  Based on this determination, the warning end unit 82 estimates that the moving body 110 has passed in front of the host vehicle 1, and if there is no other moving body 110 that should alert the driver, the warning execution unit 82 A control signal is transmitted to 80, and the alarm device 50 operated by the alarm execution unit 80 is stopped. This terminates the alarm.

  On the other hand, even when the warning end unit 82 determines that the moving body 110 that is the basis for the driving assistance has passed in front of the host vehicle 1, the other movement that should alert the driver When the presence of the body 110 is detected based on the moving body information, the control signal for stopping the alarm device 50 is not transmitted. That is, the warning end unit 82 indicates that another moving body 110 is present even if it can be estimated that the moving body 110 that is the basis of the decision to perform driving support has passed in front of the host vehicle 1. If it can be estimated based on the information, the alarm is continued.

  That is, since the sensor detection range 120 is wider than the driver detection range 125, the driving support apparatus 2 often issues an alarm by detecting the moving body 110 that is not detected by the driver. When the mobile object 110 that is the basis of the alarm passes through the front of the host vehicle 1 and the necessity of paying attention to the mobile object 110 is reduced, the alarm is terminated. As a result, the driver can recognize the moving body 110 that has been alerted by the driving support device 2 when an alarm is issued from the alarm device 50.

  On the other hand, when the alarm is issued from the alarm device 50, if the alarm continues after the moving body 110 such as the crossing vehicle 112 passes in front of the own vehicle 1, the driver It becomes possible to recognize that the moving body 110 exists on the cross road 102.

  Further, when the alarm is ended as described above, the content to be ended is changed according to the state of the moving body 110. For example, when the speed of the intersecting vehicle 112 is high and the vehicle 1 passes in front of the host vehicle 1 in a short time, the display on the display unit 51 of the alarm device 50 is instantaneously terminated. On the other hand, when the speed of the crossing vehicle 112 is slow and the vehicle 1 passes slowly in front of the host vehicle 1, the display brightness and display area on the display unit 51 are gradually reduced and the process ends slowly.

  Next, an outline of a processing procedure when driving support is performed by the driving support device 2 according to the present embodiment will be described. FIG. 8 is a flowchart when driving assistance is performed by the driving assistance apparatus according to the embodiment. In the following processing, when the operation mode changeover switch 55 is in the auto mode, or when the operation mode changeover switch 55 is in the manual mode and the steering switch 56 is ON, the intersection 103 exists in front of the host vehicle 1. Then, when it is determined by the intersection determination unit 75, it is called and executed.

  When the driving assistance flow is called while the vehicle 1 is traveling, first, an intersection target is detected (step ST101). This detection is performed by the moving body information acquisition unit 76 based on the detection result of the environment information acquisition means such as the radar sensor 33. That is, by acquiring the moving body information by the moving body information acquisition unit 76, the information of the moving body 110 that moves on the intersection road 102 that intersects the traveling road 101 in front of the host vehicle 1 is detected as the intersection target information. .

  Next, the vehicle state is detected (step ST102). This own vehicle state is obtained by acquiring the traveling state of the vehicle 1 by the vehicle speed acquisition unit 63 or the like that the traveling control ECU 60 has, and by acquiring the driving operation state of the driver by the accelerator opening degree acquiring unit 64 or the like that the traveling control ECU 60 has. Do by. Thereby, the traveling state of the own vehicle 1 and the state of the driving operation of the driver are detected as the current own vehicle state.

  Next, it is determined whether or not driving assistance is necessary (step ST103). This determination is performed by the intersection determination unit 75 and the support determination unit 78 included in the driving support ECU 70. That is, driving assistance is provided in front of the host vehicle 1 based on the traveling state of the host vehicle 1 acquired by the vehicle speed acquiring unit 63 and the accelerator opening acquiring unit 64 included in the traveling control ECU 60 and the driving operation state of the driver. The intersection determination unit 75 determines whether or not the necessary intersection 103 exists. Further, based on the moving body information acquired by the moving body information acquisition unit 76, the support determination unit 78 determines whether or not there is a moving body 110 that may come into contact with the host vehicle 1 on the cross road 102. .

  When the intersection determination unit 75 and the support determination unit 78 determine that the intersection 103 exists in front of the host vehicle 1 and the moving body 110 that may contact the host vehicle 1 exists on the intersection road 102. It is determined that driving assistance is necessary. On the other hand, if it is determined that the intersection 103 does not exist in front of the host vehicle 1 or if it is determined that the moving body 110 that may contact the host vehicle 1 does not exist on the intersection road 102, driving Judge that assistance is not necessary. When it is determined by the determinations at the intersection determination unit 75 and the support determination unit 78 that driving support is not necessary (No determination at step ST103), the processing procedure is exited.

  On the other hand, when it is determined that the driving support is necessary based on the determinations at the intersection determination unit 75 and the support determination unit 78 (step ST103, Yes determination), next, the support content is determined (step ST103). ST104). This determination is based on the moving body information acquired by the moving body information acquisition unit 76, and the support determination unit 78 determines the driving assistance level.

  Next, driving assistance is executed (step ST105). Specifically, driving assistance by issuing an alarm to the driver is performed by operating the alarm device 50 by the alarm execution unit 80 of the driving assistance ECU 70. At that time, the driving support by the warning is executed at the support content determined by the support determination unit 78, that is, the support level determined by the support determination unit 78.

  Next, the support end time is determined (step ST106). The contact point arrival expected time TTC is used as the support end time which is the time to end the driving support. That is, the support end time determination unit 84 calculates the contact point arrival expected time TTC as the support end time based on the mobile body information acquired by the mobile body information acquisition unit 76.

  Next, it is determined whether or not driving assistance can be terminated (step ST107). This determination is based on whether or not the elapsed time since the start of the driving support by activating the alarm device 50 has exceeded the predicted contact point arrival time TTC, which is the support end time. 82. That is, the warning end unit 82 determines that the driving support may be ended when the elapsed time since the start of the driving support has passed the support end time, and starts the driving support. If the elapsed time since the start has not reached the support end time, it is determined that the driving support is not ended.

  When it is determined by the determination at the alarm end unit 82 that the driving support is not to be ended (No determination at step ST107), the driving of the driving support is performed by continuously operating the alarm device 50 at the alarm executing unit 80. Continue (step ST105).

  On the other hand, when it is determined that the driving support may be ended by the determination in the alarm end unit 82 (step ST107, Yes determination), the support end content is determined (step ST108). That is, when ending the alarm in the alarm device 50 in accordance with the speed of the mobile object 110 acquired by the mobile object information acquisition unit 76, the method of ending, for example, instantaneously ending or slowly ending. Is determined by the alarm end unit 82.

  Next, the driving support is terminated (step ST109). That is, the control signal for ending the driving support is transmitted from the warning end unit 82 to the warning execution unit 80 including the support end content determined by the warning end unit 82. Thus, the alarm execution unit 80 ends the operation of the alarm device 50 in accordance with the support end content determined by the alarm end unit 82, and ends the alarm in the alarm device 50.

  The driving support apparatus 2 according to the above embodiment has the moving body information acquired by the moving body information acquisition unit 76 when the alarm execution unit 80 operates the alarm device 50 to warn the driver. Since the alarm is terminated by the alarm end unit 82, the driver can recognize the moving body 110 that is the basis of the alarm. As a result, it is possible to reduce the driver's uncomfortable feeling due to the inability to grasp the relationship between the information obtained by vision and the warning.

  In addition, the warning end unit 82 is configured to end the warning when it can be estimated that the moving body 110 has passed in front of the host vehicle 1 based on the moving body information acquired by the moving body information acquisition unit 76. Can more reliably recognize the moving body 110 that is the basis of the alarm. As a result, it is possible to more reliably reduce the driver's uncomfortable feeling caused by the inability to grasp the relationship between the information obtained by visual observation and the warning.

  In addition, the driving support device 2 includes a support end time determination unit 84 that determines a support end time based on the mobile body information acquired by the mobile body information acquisition unit 76, and the alarm end unit 82 includes a support end time. When the support end time determined by the determination unit 84 is reached, the alarm is ended. For this reason, the alarm end unit 82 can end the alarm at a more appropriate timing based on the state of the moving body 110. As a result, the driver's uncomfortable feeling can be more reliably reduced.

  In addition, the support end time determination unit 84 determines, as the support end time, a predicted contact point arrival time TTC that is calculated based on the moving body information and is a time for the moving body 110 to pass in front of the host vehicle 1. An appropriate time for the driver to recognize the moving body 110 that is the basis of the warning can be determined as the support end time. Further, since the alarm is terminated after the moving body 110 passes in front of the host vehicle 1, the alarm can be terminated after the possibility that the moving body 110 contacts the host vehicle 1 is eliminated. As a result, it is possible to reduce the driver's uncomfortable feeling while avoiding contact between the moving body 110 and the host vehicle 1.

[Modification]
In the driving support device 2 according to the above-described embodiment, the estimation as to whether or not the mobile object 110 has passed in front of the host vehicle 1 is whether or not the support end time determined by the support end time determination unit 84 has elapsed. However, the estimation of whether or not the moving body 110 has passed in front of the host vehicle 1 may be performed by other methods.

  FIG. 9 is a main part configuration diagram illustrating a modified example of the driving support apparatus according to the embodiment. For example, as shown in FIG. 9, the mobile body that determines whether or not the mobile body 110 has passed in front of the host vehicle 1 based on the mobile body information acquired by the mobile body information acquisition unit 76 in the driving support ECU 70. A mobile body passage determination unit 90 that is a passage determination unit may be provided, and the warning may be terminated based on the determination by the mobile body passage determination unit 90. That is, the alarm end unit 82 estimates that the mobile body 110 has passed in front of the host vehicle 1 when the mobile body passage determination unit 90 determines that the mobile body 110 has passed in front of the host vehicle 1. Good.

  Specifically, the moving body passage determination unit 90 continuously acquires moving body information, and determines whether the moving body 110 has passed in front of the host vehicle 1 using the moving body information. The moving body passage determination unit 90 uses, for example, image information in front of the host vehicle 1 captured by the camera 31 to determine whether the moving body 110 in the image information has passed in front of the host vehicle 1. Thus, it is determined whether or not the mobile object 110 has passed in front of the host vehicle 1. When the mobile body passage determination unit 90 determines that the mobile body 110 has passed in front of the host vehicle 1 by this determination, the alarm end section 82 may end the alarm.

  Thus, by terminating the alarm based on the determination by the moving body passage determination unit 90, the alarm can be terminated after the moving body 110 actually passes the front of the host vehicle 1, and more reliably. In addition, the alarm can be terminated after the possibility that the moving body 110 contacts the host vehicle 1 is lost. As a result, the driver's discomfort can be reduced more reliably while avoiding contact between the moving body 110 and the host vehicle 1.

  In the driving support device 2 according to the above-described embodiment, the camera 31, the running sound sensor 32, and the radar sensor 33 are used as the environmental information acquisition unit. However, the environment in which the environmental information around the host vehicle 1 is acquired. In addition to or instead of these, other environmental information acquisition means may be used as the information acquisition means. Regardless of the detection form, the environmental information acquisition means can acquire environmental information around the host vehicle 1 in a wider range than the driver can recognize visually, or information on the intersection road 102 can be obtained. As long as it can be acquired before the driver recognizes, the detection form of the environmental information is not limited.

  Further, in the driving support device 2 according to the above-described embodiment, the driving support for the driver is only an alarm using the alarm device 50, but the driving support may be performed by other methods. For example, by adjusting the driving force and braking force regardless of the driving operation of the driver, or by transmitting the steering torque for urging to steer in the safe direction to the driver via the EPS device 12. Alternatively, driving assistance for avoiding contact between the moving vehicle 110 such as the crossing vehicle 112 and the host vehicle 1 may be performed. The driving assistance is not limited as long as the vehicle 1 can travel safely.

  Further, when the driving assistance is performed by the driving force, the braking force, the steering torque, etc., when the assistance level is changed, it is preferable to change the intervention amount of the driving assistance control for these controls. In other words, when driving support is performed at a high support level, the amount of driving support control intervention for these controls is increased, and when driving support is performed at a low support level, driving support for these controls is increased. By reducing the amount of control intervention, the driving assistance mode is changed. Thereby, even when driving assistance is performed other than warning to the driver, driving assistance can be appropriately executed according to the state of the moving body 110 moving on the intersection road 102.

  Further, in the driving support device 2 according to the above-described embodiment, the driving support support level is changed according to the mobile body information acquired by the mobile body information acquisition unit 76, but the support level may be constant. Similarly, the content at the end of the alarm need not be changed according to the moving body information, and the alarm may be ended by one kind of end method. In this way, by fixing the support level and the method of ending support, the control and the structure can be simplified, so that the manufacturing cost can be reduced.

  In the driving support device 2 according to the above-described embodiment, the operation mode changeover switch 55 and the steering switch 56 are provided. However, only one of these switches or both of them may not be provided. Good. Regardless of the installation state of the switch, appropriate driving support can be executed by performing the above-described processing in a state where driving support is permitted.

  Further, the driving support device 2 may appropriately combine the configurations and controls used in the above-described embodiments and modifications, or may use a configuration other than the above-described configurations and controls. Regardless of the configuration of the driving support device 2 and the control method, when the warning is given to the driver, the driving is ended by ending the warning so that the driver can recognize the moving body 110 that is the basis of the warning. It is possible to reduce a person's uncomfortable feeling.

1 Vehicle 2 Driving Support Device 5 Engine 10 Brake Hydraulic Control Device 15 Accelerator Pedal 16 Brake Pedal 31 Camera 32 Travel Sound Sensor 33 Radar Sensor 50 Alarm Device 60 Travel Control ECU
61 Engine Control Unit 62 Brake Control Unit 63 Vehicle Speed Acquisition Unit 64 Accelerator Opening Acquisition Unit 65 Brake Operation Acquisition Unit 66 Steering Angle Acquisition Unit 70 Driving Support ECU
71 operation state control unit 72 camera control unit 73 traveling sound sensor control unit 74 radar control unit 75 intersection determination unit 76 moving body information acquisition unit (moving body information acquisition unit)
78 Support decision unit 80 Alarm execution unit (alarm means)
82 Alarm end section (alarm end means)
84 Support end time determination unit (support end time determination means)
90 Moving object passage determination unit (moving object passage determination means)
101 traveling road 102 intersection road 103 intersection 110 moving body 112 intersection vehicle

Claims (6)

Mobile body information acquisition means for acquiring information on mobile bodies around the host vehicle;
Warning means for warning the driver based on the moving body information acquired by the moving body information acquiring means;
An alarm ending unit for ending the alarm based on the mobile body information acquired by the mobile body information acquiring unit when the alarm unit performs the alarm;
A driving support apparatus comprising:   The warning end means ends the warning when it can be estimated that the moving body has passed in front of the host vehicle based on the moving body information acquired by the moving body information acquiring means. The driving support device according to claim 1.   Even if it can be estimated that the moving body has passed in front of the host vehicle, the alarm ending means may be configured to issue the warning if it can be estimated based on the moving body information that another moving body exists. The driving support apparatus according to claim 2, wherein the driving support apparatus continues. Based on the mobile body information acquired by the mobile body information acquisition means, comprising support end time determination means for determining a support end time that is a time to end the alarm,
The driving support device according to claim 1, wherein the warning end unit ends the warning when the support end time determined by the support end time determination unit is reached.   The support end time determining means determines, as the support end time, a time during which the moving body passes in front of the host vehicle, which is calculated based on the moving body information acquired by the moving body information acquiring means. The driving support device according to claim 4, wherein Based on the mobile body information acquired by the mobile body information acquisition means, comprising mobile body passage determination means for determining whether or not the mobile body has passed in front of the host vehicle,
2. The driving support device according to claim 1, wherein the warning end unit ends the warning when the moving body passage determining unit determines that the moving body has passed in front of the host vehicle. .

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