JP2014021767A - Emergency evacuation system - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an emergency evacuation system capable of recording images in a drive recorder at proper timing when supporting emergency evacuation.SOLUTION: An emergency evacuation system 1 starts to support emergency evacuation in response to an input operation for the start of emergency evacuation support and includes: a drive recorder 30 which temporarily holds and records images captured by imaging means 30a; and recording means 40 which, in response to an input operation for the start of emergency evaluation support, records images held from a second time set earlier than a first time when the input operation has been performed, out of images temporarily held in the drive recorder 30.

Description

  The present invention relates to an emergency evacuation device that performs emergency evacuation support when a driver of a vehicle becomes difficult to drive due to a decrease in consciousness or the like.

  The emergency evacuation device implements emergency evacuation support such as stopping the vehicle at a safe place when the driver of the vehicle becomes difficult to drive due to a decrease in consciousness or sudden illness. In the device described in Patent Document 1, when a driver's consciousness decrease is detected, a target road stop position is determined by detecting a road surrounding situation ahead, and the vehicle is automatically steered to the target stop position by rudder angle control and brake control. Force stop.

  Further, when a drive collision is detected, the drive recorder records captured images outside the vehicle for several tens of seconds before and after the collision. In the drive recorder described in Patent Document 2, when a vehicle collision is detected based on acceleration, images after the departure from the traveling lane of the vehicle are determined before the vehicle collision is recorded.

JP 2007-331652 A JP 2012-22610 A

  When emergency evacuation support is implemented with the emergency evacuation device, the driver is in a state of reduced awareness, so the situation before and after the emergency evacuation assistance (operations performed by the driver, vehicle control performed by the system, etc.) can be accurately determined. It may not be possible to grasp. Thus, it is conceivable to record an image when emergency evacuation support is implemented by a drive recorder. However, when recording is performed using the driving lane departure and subsequent as a trigger as in the above-described drive recorder, there is a possibility that images necessary for grasping the situation are not recorded. For example, the image after the departure from the driving lane alone can be used to determine whether the vehicle has deviated from the driving lane in order to stop the vehicle at a safe place by emergency evacuation assistance or the driver has deviated from the driving lane. Is difficult.

  Therefore, an object of the present invention is to provide an emergency evacuation device capable of recording an image of a drive recorder at an appropriate timing when implementing emergency evacuation support.

  An emergency evacuation device according to the present invention is an emergency evacuation device that starts emergency evacuation assistance by an input operation for starting emergency evacuation assistance, a drive recorder that temporarily holds and records an image captured by an imaging unit, When an input operation for starting emergency evacuation support is performed, among images temporarily stored in the drive recorder, a second time set earlier than the first time when the input operation is performed And a recording means for recording the retained image from a predetermined time.

  This emergency evacuation device implements emergency evacuation support when there is an input operation for starting emergency evacuation assistance by a driver who has determined that emergency evacuation assistance is necessary due to a decrease in consciousness or sudden illness. Moreover, the emergency evacuation device is provided with a drive recorder, and when performing emergency evacuation support, the drive recorder records at least an image captured by the imaging means. In particular, in the emergency evacuation device, the recording means temporarily holds the drive recorder from the second time (timing) earlier than the first time when the driver performs an input operation for starting emergency evacuation support. The recorded image is recorded. In this way, the emergency evacuation device can start image recording at an earlier timing based on the driver's intention for emergency evacuation assistance (input operation for starting emergency evacuation assistance), so the image was recorded from that early timing. It becomes easy to judge the situation when emergency evacuation support is implemented afterwards using images.

  In addition, as an imaging means, the thing which images the outside of a vehicle may be used, the inside of a vehicle (especially driver | operator's condition) may be imaged, and both outside and inside a vehicle may be sufficient. The input operation for starting the emergency evacuation support includes not only the operation of pressing a switch or button (for emergency evacuation support) by the driver, but also a predetermined voice (word for requesting emergency evacuation support) by the driver. It may be generated. In the emergency evacuation device, it is determined that there has been an input operation by detecting the pressing operation, the generation of sound, and the like.

  The emergency evacuation device of the present invention comprises a confirmation means for confirming the driver's intention to start emergency evacuation support before the emergency evacuation assistance starts when an input operation for starting emergency evacuation assistance is performed, the recording means, An image may be recorded when the confirmation means confirms the driver's intention to start emergency evacuation support.

  In this emergency evacuation device, when an input operation for starting emergency evacuation assistance is performed by the driver, the intention of the driver to start emergency evacuation assistance is confirmed by the confirmation means. The emergency evacuation device implements emergency evacuation support when the final intention of the driver can be confirmed after an input operation for starting emergency evacuation assistance by the driver. Further, in the emergency evacuation device, when the driver's intention can be confirmed after the input operation for starting the emergency evacuation support by the driver, the recording means starts from the second time earlier than the time of the input operation (first time). The image temporarily stored in the drive recorder is recorded.

  The driver's intention to start emergency evacuation support is not only the operation of pressing a switch or button (for emergency evacuation support) by the driver, but also the generation of a predetermined voice (requesting emergency evacuation support) by the driver, etc. But you can. The confirmation means confirms the driver's intention to start emergency evacuation support by detecting the pressing operation and the generation of voice. In addition, after an input operation for starting emergency evacuation support by the driver, the input operation by the driver is canceled even if there is no intention indication (switch, button, voice, etc.) from the driver for a predetermined time. When there is not, the structure which confirms the driver's intention of starting emergency evacuation assistance is also possible. As a method of canceling the input operation by the driver, for example, the input operation is canceled by pressing a switch or button of the input operation a plurality of times.

  The emergency evacuation device of the present invention includes a collision risk determination means for determining the collision risk of the host vehicle, and the recording means performs an input operation for starting emergency evacuation support, and the collision risk determination means. The image may be recorded when it is determined that the collision risk is high.

  In this emergency evacuation device, the risk of collision of the host vehicle is determined by the collision risk determination means. Then, the emergency evacuation device implements emergency evacuation assistance when the risk of collision of the host vehicle is high after an input operation for starting emergency evacuation assistance by the driver. Further, in the emergency evacuation device, when it is determined that the risk of collision is high after the input operation for starting the emergency evacuation support by the driver, the recording means starts from the second time earlier than the time (first time) of the input operation. The image temporarily stored in the drive recorder is recorded.

  The emergency evacuation device according to the present invention includes a consciousness decrease determination unit that determines a decrease in consciousness of the driver, and the recording unit performs an input operation for starting emergency evacuation support, and the consciousness decrease determination unit determines the driver's consciousness. An image may be recorded when it is determined that the consciousness is lowered.

  In this emergency evacuation device, it is determined whether or not the driver's consciousness is reduced by the consciousness reduction determination means. Then, the emergency evacuation device implements emergency evacuation support when the driver's consciousness decreases after the input operation for starting emergency evacuation assistance by the driver. Further, in the emergency evacuation device, when it is determined that the driver's consciousness is lowered after the input operation for starting the emergency evacuation support by the driver, the recording means starts from the second time earlier than the time point of the input operation (first time). The image temporarily stored in the drive recorder is recorded.

  Note that any conventional method may be applied as a method for determining a driver's consciousness decrease. For example, a determination is made from vehicle information such as steering (vehicle) wobbling detection, or an image of a driver captured by a camera. From the driver status recognized from

  In the emergency evacuation device of the present invention, the recording means may be configured to record an image on another in-vehicle electronic control unit when the recording capacity of the drive recorder is insufficient.

  Since the time from the start to the end of the emergency evacuation support is not fixed, if the drive recorder image is recorded from the second time earlier than the input operation time point (first time), the recording capacity of the drive recorder is reduced. There may be a shortage. Therefore, in the emergency evacuation device, when the recording capacity of the drive recorder is insufficient, the in-vehicle electronic control unit is caused to record images for the insufficient amount by the recording unit. As a result, even if image recording is started from an early timing, the image can be recorded until the end (for example, until the host vehicle is stopped by emergency evacuation support).

  The emergency evacuation device of the present invention may include a communication unit capable of communicating with a communication terminal outside the vehicle, and the communication unit may be configured to transmit an image of the drive recorder to the communication terminal outside the vehicle. With this configuration, it is possible to see the image of the drive recorder when emergency evacuation assistance is being carried out at an emergency center, ambulance, hospital, etc. outside the vehicle, and it is difficult to drive due to reduced consciousness, sudden illness, etc. You can check the driver status.

  In the emergency evacuation device of the present invention, it is preferable that the operation of the image capturing means of the drive recorder can be remotely controlled from the communication terminal outside the vehicle by communication with the communication terminal outside the vehicle by the communication means. With this configuration, even when the driver status cannot be confirmed with a normal image of the imaging means, an image in which the driver status can be confirmed can be obtained by changing the orientation of the imaging means, the zoom amount, and the like by remote operation.

  The emergency evacuation device of the present invention may include a sound acquisition unit that acquires sound in the vehicle, and the recording unit may record the sound acquired by the sound acquisition unit together with the image.

  The emergency evacuation device includes a voice acquisition unit, and acquires voice in the vehicle by the voice acquisition unit. In the emergency evacuation device, when an input operation for starting emergency evacuation support by the driver is performed, the recording unit records the sound together with the image from the second time earlier than the time of the input operation (first time). Do. In this way, by recording sound in addition to the image, it becomes easier to determine the situation later using the image and sound.

  According to the present invention, the image recording can be started at an earlier timing based on the intention display of the driver for emergency evacuation assistance (input operation for starting the emergency evacuation assistance), so the image recorded from the earlier timing is used. This makes it easier to determine the situation when emergency evacuation assistance is implemented after the fact.

It is a block diagram of the emergency evacuation apparatus which concerns on this Embodiment. It is operation | movement explanatory drawing of the emergency evacuation apparatus and driver which concern on this Embodiment. It is a flowchart which shows the flow of operation | movement of data retention of the drive recorder in the emergency evacuation apparatus which concerns on this Embodiment.

  Hereinafter, embodiments of an emergency evacuation device according to the present invention will be described 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.

  The emergency evacuation device according to the present embodiment performs the second confirmation of the intention to start the emergency evacuation support by the driver after the first switch operation (corresponding to the input operation for starting the emergency evacuation support) for requesting the emergency evacuation assistance by the driver. When the switch operation is detected, the vehicle is stopped at a safe place as emergency evacuation support. The emergency evacuation apparatus according to the present embodiment is linked with the drive recorder, and retains data such as an image of the drive recorder when performing emergency evacuation support. Furthermore, the emergency evacuation device according to the present embodiment uses the ECU of another system, and causes the ECU of the other system to hold the data of the drive recorder when the recording capacity of the memory of the drive recorder is insufficient. Moreover, the emergency evacuation apparatus according to the present embodiment uses a help net and transmits data of the drive recorder to an emergency center, an ambulance, a hospital, etc. via the help net.

  With reference to FIG.1 and FIG.2, the emergency evacuation apparatus 1 which concerns on this Embodiment is demonstrated. FIG. 1 is a configuration diagram of an emergency evacuation device according to the present embodiment. FIG. 2 is an operation explanatory diagram of the emergency evacuation device and the driver according to the present embodiment.

  The emergency evacuation device 1 holds the data of the drive recorder in conjunction with a switch operation for requesting emergency evacuation assistance by the driver. In particular, the emergency evacuation device 1 uses the timing (corresponding to the first time) when the first switch operation of the driver is performed as a trigger, and the drive recorder from a time earlier than that timing (corresponding to the second time). Therefore, the data retention period of the drive recorder is the predetermined time before the first switch operation until the vehicle stops. It is.

  Before specifically describing the emergency evacuation device 1, the operation of the emergency evacuation device 1 and the driver when emergency evacuation assistance is performed will be described with reference to FIG. The driver recognizes that driving is difficult due to deterioration of his / her condition (for example, low consciousness, sudden illness, drowsiness), and determines that emergency evacuation assistance is necessary. Perform the first ON operation.

  In the emergency evacuation device 1, when the first operation switch ON operation is detected, a preliminary explanation is given to the driver. As this prior explanation, for example, emergency evacuation support for forcibly stopping the vehicle by automatic driving on the vehicle system side is performed, and input operation by the driver is disabled during the emergency evacuation support. Then, the emergency evacuation device 1 asks the driver for confirmation of consent after giving the prior explanation. When the driver agrees with this, the sovereignty (authority) regarding the driving of the vehicle is transferred from the driver to the vehicle system side. In order to drive the vehicle safely until the driver's consent is obtained (the driver's condition may be getting worse during this period), the emergency evacuation device 1 performs steering for lane keeping. Implement control. During this time, partial input operation of the drive is possible.

  The driver, after hearing the explanation of the circumstances of the emergency evacuation device 1, determines whether or not the sovereignty (authority) regarding the driving of the vehicle may be delegated to the vehicle system side. If it is decided to transfer sovereignty, the driver performs a second ON operation on the operation switch. By this second operation switch ON operation, the driver recognizes that the sovereignty (authority) regarding the driving of the vehicle is transferred to the vehicle system side.

  When the emergency evacuation device 1 detects the second operation switch ON operation, the emergency evacuation device 1 performs emergency evacuation support for forcibly stopping the vehicle by automatic driving. Specifically, it recognizes the situation of surrounding roads and obstacles (other vehicles, pedestrians, bicycles, etc.), determines a place where it can safely stop the vehicle, and places the vehicle at that location. Steering control and deceleration control for stopping are performed. During this time, the emergency evacuation device 1 explains the situation to the driver. As explanations of this situation, for example, the vehicle is decelerating to the left while being decelerated by automatic driving, and the vehicle is stopped at a safe place. During this time, the driver cannot perform an input operation. When the host vehicle stops at a safe place, the emergency evacuation device 1 performs control to maintain the stop state of the host vehicle. In the meantime, the emergency evacuation device 1 gives a post-explanation to the driver. For example, the fact that the host vehicle is stopped at a safe place and that a rescuer or the like is heading here.

  In addition, the emergency evacuation device 1 notifies that there is an abnormality in the host vehicle by flashing a hazard lamp or the like from the time when the first operation switch ON operation is detected. After the vehicle stops, the rescuer rescues the driver, and the rescuer cancels the emergency evacuation support with the cancel switch.

  In addition to determining whether or not emergency evacuation assistance is performed by turning on the operation switch by the driver, it is difficult for the driver to drive on the vehicle system side (decreased consciousness, reduced alertness, sudden illness, etc.) If the driver determines that it is difficult to drive, emergency evacuation assistance may be implemented.

  Now, the emergency evacuation device 1 will be specifically described. The emergency evacuation device 1 acquires various types of information from the environmental information recognition ECU [Electronic Control Unit] 10, the vehicle information recognition ECU 11, and the driver state recognition ECU 12. The emergency evacuation device 1 performs HMI with a driving assistance HMI [Human Machine Interface] 20 and performs vehicle control with various driving assistance systems 21 (various actuators 22). Further, the emergency evacuation device 1 holds the data of the drive recorder and transfers the data of the drive recorder to the outside of the vehicle using the drive recorder 30, various ECUs 31, and the help net system 32. Moreover, the emergency evacuation apparatus 1 performs each process for implement | achieving the various functions of the emergency evacuation apparatus 1 by determination process ECU40. The determination processing ECU 40 includes an environment information recognition ECU 10, a vehicle information recognition ECU 11, a driver state recognition ECU 12, a driving support HMI 20, various driving support systems 21 (various actuators 22), a drive recorder 30, via a CAN [Controller Area Network]. Various ECUs 31 and a help net system 32 are connected.

  The environmental information recognition ECU 10 acquires various information from the GPS [Global Positioning System] 10a, the in-vehicle network 10b, the front / rear side camera 10c, the front / rear side sensor 10d, the car navigation system 10e, and the white line recognition camera 10f. Recognize environmental information around the vehicle using various information. Examples of environmental information to be recognized include road information around the own vehicle, traffic information, obstacle information (other vehicle information, pedestrian information, etc.), and lane information on which the own vehicle is traveling. The environment information shown here is an example, and other environment information may be recognized.

  The GPS 10a is a device that receives a GPS signal from each GPS satellite by a GPS antenna and calculates a current position (latitude, longitude) based on each GPS signal. The in-vehicle network 10b is a road-to-vehicle communication device that acquires traffic jam information, traffic regulation information, intersection information, road shape information, signal cycle information, etc. from a roadside device through road-to-vehicle communication such as a beacon. This is an inter-vehicle communication device that acquires other vehicle information such as the current position, vehicle speed, and traveling direction from another vehicle. The front / rear side camera 10c is a camera that captures the periphery of the host vehicle and acquires the captured image, and is a camera that captures the front of the host vehicle and a camera that captures the rear and rear sides of the host vehicle. The front / rear side sensor 10d is a radar sensor such as a laser radar, a millimeter wave radar, or the like, and detects a radar sensor for detecting an object ahead of the host vehicle or an object behind and behind the host vehicle. Radar sensor. The car navigation system 10e includes a map database and holds road information, lane information, and the like. The white line recognition camera 10f is a camera sensor that recognizes a pair of left and right white lines constituting a lane (lane), and includes a camera that images the front of the host vehicle and a processing device that recognizes the white line by image processing from the captured image.

  The vehicle information recognition ECU 11 acquires various types of information from the rudder angle sensor 11a, the G sensor 11b, and the vehicle speed sensor 11c, and recognizes information about the host vehicle using the various types of information. Examples of vehicle information to be recognized include turning information, acceleration information, and speed information of the host vehicle. The vehicle information shown here is an example, and other vehicle information may be recognized. For example, the position information of the host vehicle is recognized by the GPS 10a and the car navigation system 10e.

  The steering angle sensor 11a is a sensor that detects the steering angle of the steering wheel. The G sensor 11b is a sensor that detects the longitudinal acceleration of the host vehicle. The vehicle speed sensor 11c is a sensor that detects the vehicle speed of the host vehicle.

  The driver state recognition ECU 12 acquires various information from the physiological measurement device 12a, the line of sight / face orientation measurement device 12b, and the operation switch 12c, and recognizes the state of the driver using the various information. The driver state to be recognized includes, for example, the degree of consciousness reduction, the degree of arousal, and whether or not the driver is in a difficult state according to the driver's own judgment. Note that the driver states shown here are examples, and other driver states may be recognized. Further, based on the judgment of the driver using the operation switch 12c and the means for recognizing the driver state (decrease in consciousness, wakefulness, etc.) on the system side using the physiological measurement device 12a and the gaze / face orientation measurement device 12b. Although both of the means for recognizing the driver state may be provided, only one of the means may be provided.

  The physiological measurement device 12a is a device that measures a driver's heartbeat information, respiration information, brain wave information, and the like. The gaze / face orientation measuring device 12b is a device that captures a driver (especially around the face) with a driver camera and recognizes the driver's gaze information, blink information, face orientation information, and the like from the captured image. The operation switch 12c is an ON / OFF switch for the driver to determine his / her own state (a state in which driving is difficult due to reduced consciousness, drowsiness, sudden illness, etc.) and to activate emergency evacuation support by the driver himself / herself.

  In the present embodiment, the driver state recognition ECU 12 (physiological measurement device 12a, line of sight / face orientation measurement device 12b) corresponds to the consciousness deterioration determining means described in the claims, and the operation switch 12c is in the claims. It corresponds to the confirmation means described in.

  The driving support HMI 20 is a device used for the HMI performed by the emergency evacuation device 1. The driving support HMI 20 includes, for example, a display 20a, lights / displays 20b, a speaker 20c, and a cancel switch 20d. The HMI performed by the emergency evacuation device 1 includes, for example, the above-described advance explanation, consent confirmation, situation explanation, situation explanation, subsequent explanation given to the driver, screen display or warning lamp lighting, and an abnormal state of the own vehicle with respect to the surroundings. There are notifications (hazard lamp blinking, etc.).

  The display 20a is a display provided in an in-vehicle display or a combination meter of the car navigation system 10e. The lamp / indicator 20b is a warning lamp, a hazard lamp, or the like related to emergency evacuation support provided in the combination meter. The speaker 20c is a vehicle-mounted speaker that is shared with the audio system, the car navigation system 10e, and the like. The cancel switch 20d is a switch for canceling the operation of the emergency evacuation device 1. For example, a rescuer or the like arrives at the location of the vehicle that is forcibly stopped, and the rescuer or the like turns on the cancel switch 20d, whereby the emergency evacuation support of the emergency evacuation device 1 is completed and the operation on the vehicle is performed. Is possible.

  The various driving support systems 21 are driving support systems used for vehicle control performed by the emergency evacuation device 1. Examples of the various driving support systems 21 include ACC [Adaptive Cruise Control] 21a, PCS [Pre-CrashSafety] 21b, LKA [Lane Keep Assist] 21c, and VSC [Vehicle Stability Control] 21d. The vehicle control performed by the emergency evacuation device 1 includes, for example, steering control for keeping the lane in which the host vehicle is traveling, steering control for moving the host vehicle to a safe location, and stopping the host vehicle in a safe location. There are deceleration control for stopping the vehicle and stop control for holding the vehicle at a safe place. In addition to this, in order to safely drive the host vehicle during emergency evacuation support, vehicle speed control for maintaining a safe inter-vehicle distance from the preceding vehicle, to prevent collision with other vehicles around the host vehicle Vehicle deceleration control, steering control, vehicle behavior control for preventing side slip, and the like.

  When the preceding vehicle exists ahead of the host vehicle, the ACC 21a maintains the inter-vehicle distance so that the inter-vehicle distance with the preceding vehicle becomes the target inter-vehicle distance by vehicle speed control (following preceding vehicle), and when the preceding vehicle does not exist Is a system for traveling at a constant speed so that the vehicle speed of the host vehicle becomes a target vehicle speed by vehicle speed control. The PCS 21b is a system for avoiding a collision by HMI or vehicle control when there is a high risk of a collision between an obstacle (another vehicle, a pedestrian, etc.) around the own vehicle and the own vehicle. The LKA 21c is a system for maintaining in-lane traveling by HMI or vehicle control when the host vehicle is about to depart from the traveling lane (lane). The VSC 21d is a system that suppresses unstable behavior of the host vehicle by controlling the braking force and engine output of each wheel when a side slip or the like of the host vehicle is detected.

  The various actuators 22 are actuators used when driving support control is performed by the various driving support systems 21. Examples of the various actuators 22 include an ECB [Electric Control Braking system] 22a, an EPB [Electric Parking Brake] 22b, and an EPS [Electric Power Steering] 22c. The ECB 22a is an electronically controlled brake system. The EPB 22b is an electric parking brake system. The EPS 22c is an electric power steering system.

  The drive recorder 30 is a device that temporarily holds and records captured image data when the host vehicle is in a specific situation (for example, when the vehicle collides). In particular, the drive recorder 30 interlocks with the emergency evacuation device 1 and holds image data when emergency evacuation support is performed. In addition to images, the drive recorder 30 also holds voice and vehicle information data recognized by the vehicle information recognition ECU 11. As image data, data of an image outside the vehicle (particularly in front of the host vehicle) and an image inside the vehicle (particularly around the driver) is held. As for the voice data, the voice data in the vehicle is held. For the vehicle information data, the steering wheel steering angle, acceleration, vehicle speed, and the like are held. The drive recorder 30 may hold only image data, or may hold only image and audio data. As for the image, only the data inside or outside the vehicle may be held.

  The drive recorder 30 includes an outside / inside camera 30a, a microphone 30b, and a memory 30c. The vehicle exterior / interior camera 30a is a camera that captures the front of the host vehicle or a camera that captures the vicinity of the driver (driver's seat vicinity). The camera outside the vehicle may be a camera shared with the front / rear side camera 10c. The in-vehicle camera may be a camera shared with the driver camera of the line-of-sight / face orientation measuring device 12b. In particular, the in-vehicle camera is a camera that can adjust the imaging direction and the zoom amount, and has a function that enables these adjustments even by remote control from outside the vehicle. The microphone 30b is a microphone that collects sound in the vehicle. The microphone may not be a dedicated microphone for the driver recorder 30 but may be a microphone shared with other systems. The memory 30c is a memory for storing (recording) data such as images of the drive recorder 30. The memory 30c has a capacity capable of storing data such as images for about several tens of seconds, and the amount of data that can be stored is determined. In the memory 30c, an area that always holds data for a predetermined time (for example, an area that can hold data for 10 seconds) is set in the entire data storage area.

  In the drive recorder 30, the outside and inside of the vehicle are always imaged by the outside / inside camera 30a, and the sound inside the vehicle is collected by the microphone 30b. Then, the drive recorder 30 overwrites and stores image data, audio data, and vehicle information data input from the vehicle information recognition ECU 11 in a partial area of the memory 30c, for a predetermined time (for example, 10 seconds). Min) data temporarily. Furthermore, in the drive recorder 30, when the condition when the own vehicle is in a specific situation is satisfied (for example, when the acceleration of the own vehicle becomes an acceleration corresponding to the time of the vehicle collision), the remaining area of the memory 30c The image data, audio data, and vehicle information data after satisfying the above are held (recorded). In particular, the drive recorder 30 holds (records) data in the memory 30c in response to a command from the determination processing ECU 40.

  In the present embodiment, the drive recorder 30 corresponds to the drive recorder described in the claims, the vehicle exterior / interior camera 30a corresponds to the imaging means described in the claims, and the microphone 30b claims. It corresponds to the voice acquisition means described in the range.

  The various ECUs 31 are ECUs of various systems mounted on the host vehicle, and in particular, are ECUs of systems that are not used or rarely used when the emergency evacuation device 1 performs emergency evacuation support. In a system that is not used at the time of emergency evacuation support, the memory of the ECU is hardly used, so that data of the drive recorder 30 can be held. Examples of the various ECUs 31 include an ECU for an air conditioner system and an ECU for a navigation system. Various ECU31 is provided with memory 31a, stores a part of data of drive recorder 30 in memory 31a according to directions from judgment processing ECU40, and holds the data. In the present embodiment, the various ECUs 31 correspond to other in-vehicle electronic control units described in the claims.

  The help net system 32 is a system for connecting to a help net (emergency call service) in an emergency (accident, sudden illness, etc.) in the host vehicle. The help net system 32 includes a wireless communication device 32a for communicating with the help net center. There is also a communication device in the help net center, and communication with each vehicle is possible. The help net system 32 is connected to the help net center by a simple operation (for example, pressing operation of a help net button) or automatically (for example, when an operation of the airbag is detected), and the own vehicle is connected to the help net center. Send information such as the current location of. In the present embodiment, the communication device 32a corresponds to the communication means described in the claims.

  In particular, the help net system 32 notifies the help net center of the current situation, the current position of the host vehicle, and the like when emergency evacuation assistance is performed in response to a command from the determination processing ECU 40. Further, the help net system 32 transmits data such as images and sounds of the drive recorder 30 to the help net center in response to a command from the determination processing ECU 40. At this time, the help net center contacts the emergency center, ambulance, hospital, etc. as necessary, and transfers the vehicle status, current position, data of the drive recorder 30 and data such as images. Further, in a help net center, an emergency center, an ambulance, a hospital, or the like, if the operator cannot check the driver status (particularly, the face) by looking at the image, a command for remotely controlling the imaging direction and zoom amount of the in-vehicle camera 30a. Is transmitted to the help net system 32. In response to this command, the help net system 32 outputs the amount of remote operation to the drive recorder 30.

  The determination processing ECU 40 is an electronic control unit including a CPU [Central Processing Unit], a ROM [Read Only Memory], a RAM [Random Access Memory], and the like, and comprehensively controls the emergency evacuation device 1. Various environmental information from the environmental information recognition ECU 10, various vehicle information from the vehicle information recognition ECU 11, and various driver states from the driver state recognition ECU 12 are input to the determination processing ECU 40. The determination process ECU 40 performs each process described below on the basis of the various environment information, various vehicle information, and various driver states. If necessary, the driving support HMI 20, various driving support systems 21, the drive recorder 30, various ECUs 31, Various commands are output to the help net system 32. Here, the main process related to emergency evacuation support in the emergency evacuation device 1 is the same as the conventional process, so it will be described briefly, and the data holding process for holding the data of the drive recorder 30 will be described in detail. In the present embodiment, the determination processing ECU 40 corresponds to the recording means described in the claims.

  The main process will be described. In the determination processing ECU 40, when the first ON operation on the operation switch 12c is detected, an audio output or a screen display command for prior explanation is output to the driving support HMI 20 (particularly, the speaker 20c and the display 20a), and thereafter Then, a voice output for confirming consent and a screen display command are output to the driving support HMI 20. Further, the determination processing ECU 40 outputs a command to travel while maintaining the current travel lane to various driving support systems 21 (particularly, LKA 21c). Further, the determination processing ECU 40 outputs a command notifying that an abnormality has occurred in the host vehicle to the driving support HMI 20 (particularly, the lighting / displays 20b).

  In the determination processing ECU 40, when the second ON operation to the operation switch 12c is detected, a place where the stop can be safely stopped is identified based on the surrounding road information, obstacle information, and the like, and various commands for stopping at the place are issued. Output to the driving support system 21. Here, when there is no driving support system capable of performing automatic driving to a place where the various driving support systems 21 can be safely stopped, the determination processing ECU 40 calculates a control amount for deceleration control and a control amount for steering control. A command for performing deceleration or steering according to each control amount is directly output to various actuators 22 (particularly, ECB 22a, EPS 22c). During this time, the determination processing ECU 40 outputs a voice output and a screen display command for explaining the situation to the driving support HMI 20.

  When the host vehicle stops, the determination process ECU 40 outputs a command for maintaining the stopped state to the various driving support systems 21. Here, when there is no driving support system capable of performing the stop holding control in the various driving support systems 21, the determination processing ECU 40 directly outputs a stop holding command to the various actuators 22 (particularly, the EPB 22b). During this time, the determination processing ECU 40 outputs a voice output and a screen display command for ex-post explanation to the driving support HMI 20.

  Although the condition for implementing emergency evacuation support is the detection of two ON operations on the operation switch 12c, it is determined from the driver state that the driver's consciousness or arousal level has decreased, and the consciousness or arousal level has decreased. It is good also as conditions.

  Data holding processing in conjunction with the drive recorder 30 will be described. The determination processing ECU 40 determines whether or not the first ON operation has been performed on the operation switch 12c based on the ON / OFF information of the operation switch 12c. In the determination processing ECU 40, when it is determined that the operation switch 12c is turned on for the first time, data such as an image is stored in the remaining area of the memory 30c of the drive recorder 30 (an area other than an area that always holds data for a predetermined time). A command to store (hold) is output to the drive recorder 30.

  After the start of data storage, the determination processing ECU 40 determines whether or not there is still an empty area in the memory 30c of the drive recorder 30. If the determination process ECU 40 determines that there is still an empty area in the memory 30 c of the drive recorder 30, it continues to output a command to store data to the drive recorder 30. Further, when the determination process ECU 40 determines that there is no free area in the memory 30c of the drive recorder 30 (when data is stored (held) in all areas of the memory 30c), the drive recorder 30 from among the various ECUs 31. The ECU having the memory 31a capable of holding the data is determined, and a command for storing (holding) the data such as the image of the drive recorder 30 is output to the other ECUs. A command to transfer is output to the drive recorder 30. However, when there is no ECU having a memory capable of holding the data of the drive recorder 30, or when there is no more free memory area in the other ECU while storing the data of the drive recorder 30, the data is stored at that time. finish.

  Further, after the start of data storage, the determination processing ECU 40 determines whether or not the vehicle speed of the host vehicle is 0 km / h or more and Akm / h or less (whether or not the host vehicle is stopped by the emergency evacuation support). Akm / h is a constant value close to 0 km / h that can be considered that the vehicle is stopped, and is set according to the detection accuracy of the vehicle speed sensor 11c. In the determination processing ECU 40, when it is determined that the vehicle speed of the host vehicle is 0 km / h or more and Akm / h or less (the host vehicle is stopped), a command to end data storage is given to the drive recorder 30 (in some cases, another ECU 31). Output.

  As shown in FIG. 2, the period for which the data of the drive recorder 30 is retained is a predetermined time before the first ON operation for the operation switch 12c (the constant data secured in the memory 30c of the drive recorder 30 is retained). It is from the predetermined time) until the own vehicle stops. This holding period is variable until the own vehicle stops due to emergency evacuation support, and is variable, and the period becomes longer if there is no place where it can be safely stopped nearby (and thus the amount of data to be held increases). there is a possibility. However, since the memory 31a of the other ECU 31 is configured to hold data, all the data in the data holding period can be held.

  With reference to FIG.1 and FIG.2, the flow of operation | movement regarding the data retention of the drive recorder in the emergency evacuation apparatus 1 is demonstrated along the flowchart of FIG. FIG. 3 is a flowchart showing a flow of data holding operation of the drive recorder in the emergency evacuation apparatus according to the present embodiment. In the emergency evacuation device 1, the operation described below is repeated at regular intervals. In this description, it is assumed that data for 10 seconds is always stored in the memory 30c of the drive recorder 30.

  In the operation described below, since the operation flag and the operation history flag are used in the determination process ECU 40, each flag will be described. The operation flag is an ON / OFF flag. The ON condition of the operation flag is when the previous value of the operation switch 12c is OFF and the current value of the operation switch 12c is ON. When this condition is satisfied, the operation flag is switched from OFF to ON. The operation flag OFF condition is when the vehicle speed of the host vehicle is 0 km / h or more and Akm / h or less. When this condition is satisfied, the operation flag is switched from ON to OFF. In other cases, the operation flag holds the previous value. The operation history flag is an ON / OFF flag. The ON condition of the operation history flag is when the previous value of the operation flag is OFF and the current value of the operation flag is ON. When this condition is satisfied, the operation history flag is switched from OFF to ON. In other cases, the operation history flag holds the previous value. The operation flag and the operation history flag are initialized to OFF when the emergency evacuation device 1 (particularly, the determination processing ECU 40) is activated.

  The determination processing ECU 40 generates an operation flag based on ON / OFF information (previous value and current value) of the operation switch 12c from the driver state recognition ECU 12 and the vehicle speed (current value) of the host vehicle from the vehicle information recognition ECU 11. (S1). Here, when the previous value of the operation switch 12c is OFF and the current value of the operation switch 12c is ON, the operation flag is switched from OFF to ON. However, the operation switch 12c is switched from OFF to ON in two times, that is, the ON operation for the first operation switch 12c and the ON operation for the second operation switch 12c by the driver described above. Since the operation flag is already ON, the operation flag is kept ON. Therefore, when the first operation switch 12c is turned on by the driver, the operation flag is changed from OFF to ON. Further, when the vehicle speed of the host vehicle is 0 km / h or more and Akm / h or less, the operation flag is switched from ON to OFF. Therefore, when the own vehicle stops after the operation flag is turned ON, the operation flag is changed from ON to OFF. As a result, the period during which the operation flag is ON is from when the driver performs the first ON operation on the operation switch 12c to when the host vehicle stops.

  Next, the determination processing ECU 40 generates an operation history flag based on ON / OFF information (previous value and current value) of the operation flag (S2). Here, when the previous value of the operation flag is OFF and the current value of the operation flag is ON, the operation history flag is switched from OFF to ON. Therefore, when the driver performs the first ON operation on the operation switch 12c, the operation history flag is changed from OFF to ON. Once the operation history flag is turned on, it is kept on thereafter. As a result, the period in which the operation history flag is ON is from when the driver performs the first ON operation on the operation switch 12c until the determination processing ECU 40 stops.

  Next, the determination process ECU 40 determines whether or not the operation history flag is ON (S3). When it is determined in S3 that the operation history flag is OFF (when the driver has never performed an ON operation on the operation switch 12c), the drive recorder 30 has an area for 10 seconds that is preset in the memory 30c. The data of each image captured by the outside / inside camera 30a, the sound data collected by the microphone 30b, and the vehicle information data from the vehicle information recognition ECU 11 are overwritten and stored (S4), and the current process is terminated. . Here, in the drive recorder 30, data for 10 seconds is always held in the memory 30c. Therefore, when the driver performs the first ON operation on the operation switch 12c, the image data, the sound data, and the vehicle information data from outside and inside the vehicle up to 10 seconds before that time are stored in the memory of the drive recorder 30. 30c.

  When it is determined in S3 that the operation history flag is ON (after the driver performs the first ON operation on the operation switch 12c), the determination processing ECU 40 determines whether or not the operation flag is ON (S5).

  When the operation flag is determined to be ON in S5 (from the time when the driver performs the first ON operation on the operation switch 12c to the time when the host vehicle is stopped by the emergency evacuation support), the determination processing ECU 40 performs the drive recorder It is determined whether or not there is a free area that can store data in the 30 memory 30c (S6). If it is determined in S6 that the memory 30c of the drive recorder 30 is empty, the determination process ECU 40 continues to store data in the drive recorder 30, and the drive recorder 30 stores each image inside and outside the vehicle in the empty area of the memory 30c. , Voice data, and vehicle information data are stored (S7), and the current process is terminated.

  If it is determined in S6 that there is no free space in the memory 30c of the drive recorder 30, the determination processing ECU 40 determines whether there is a free space in the memory 31a of the other ECU 31 where the data of the drive recorder 30 can be stored ( S8). If it is determined in S8 that the other ECU 31 has a free space in the memory 31a, the determination processing ECU 40 outputs a command for storing data in the memory 31a of the other ECU 31 (S9). In response to this command, image data, audio data, and vehicle information data are output from the drive recorder 30 to the other ECU 31 to the other ECU 31. The image data, audio data, and vehicle information data are stored (S9), and the current process is terminated. If it is determined in S8 that the other ECUs 31 have no free space in the memory, the determination process ECU 40 switches the operation flag from ON to OFF (S10), and ends the current process.

  If it is determined in S5 that the operation flag is OFF (after the host vehicle is stopped by the emergency evacuation support), the determination process ECU 40 ends the current process. Thereby, after the own vehicle stops, the data of the drive recorder 30 is not held. Therefore, the memory 30c of the drive recorder 30 (also in the memory 31a of another ECU 31 when the amount of retained data is large) starts from 10 seconds before the first ON operation of the operation switch 12c is performed by the driver. Data of each image, voice data, and vehicle information until the host vehicle is stopped by the emergency evacuation support is retained.

  According to the emergency evacuation device 1, the retention of images and other data can be started at an earlier timing than the intention display for the driver's emergency evacuation support (the first ON operation on the operation switch 12c). It becomes easy to judge the situation when emergency evacuation support is implemented later using data such as images. At this time, since the data of the image outside the vehicle imaged by the camera outside the vehicle is held, it is possible to confirm the environment around the vehicle before the first ON operation to the operation switch 12c, the movement of the vehicle relative to the surrounding environment, and the like. Further, since the image data of the inside of the vehicle (particularly around the driver) captured by the in-vehicle camera is held, the driver's operation and the driver's state (conscious state, awakening state, Medical condition). In addition, since the in-vehicle audio data collected by the microphone is held, it is possible to confirm the audio emitted by the driver from the time before the first ON operation to the operation switch 12c and the audio output from the system side (emergency evacuation device 1). . Moreover, since the data of the recognized vehicle information is held, it is possible to confirm the situation of the host vehicle and the operation by the driver from before the first ON operation on the operation switch 12c.

  Further, according to the emergency evacuation device 1, the data of the drive recorder 30 can be held in the memory 31a of another ECU 31 that is not used when the capacity of the memory 30c of the drive recorder 30 is insufficient. Even if the holding is started, the data until the host vehicle is stopped by the emergency evacuation support can be reliably held. As described above, since the memory 31a of the other ECU 31 is used, it is not necessary to increase the capacity of the memory 30c of the drive recorder 30, and the cost can be suppressed.

  Further, according to the emergency evacuation device 1, the data of the drive recorder 30 can be transferred to the emergency center, ambulance, hospital, etc. via the help net, so that the image of the driver in the emergency center, ambulance, hospital, etc. The driver's situation (consciousness, medical condition, etc.) can be grasped in real time. As a result, an appropriate first aid can be performed quickly. Further, according to the emergency evacuation device 1, the imaging direction and zoom amount of the in-vehicle camera 30a can be adjusted remotely from an emergency center, ambulance, hospital, etc. via a help net, so that the driver (especially the face) can adjust the in-vehicle camera 30a. Even if it is out of the imaging range, it can be corrected and an image that can grasp the situation of the driver can be obtained with certainty.

  As mentioned above, although embodiment which concerns on this invention was described, this invention is implemented in various forms, without being limited to the said embodiment.

  For example, in this embodiment, the emergency evacuation support is implemented on the condition that the second operation switch is turned on after the first operation of the driver by the driver. Other conditions are satisfied, such as when the collision risk is determined to be high by the collision risk determination means after the ON operation, or when the driver's consciousness is determined to be decreased by the consciousness determination means after the ON operation to the operation switch In such a case, emergency evacuation support may be implemented. The collision risk is calculated and determined by PCS or the like, and any conventional method may be applied as a collision risk calculation method. For example, TTI [Time To Information] is calculated. Any conventional method may be used as a method for determining the driver's consciousness decrease. For example, the determination may be made by detecting steering (vehicle) wobbling or by determining the driver state recognized from an image of the driver. To do. Or it is good also as a structure which implements emergency evacuation assistance on the condition that ON operation to the 1st operation switch is not canceled during predetermined time. As a method of canceling, for example, there are a pressing operation of a cancel switch and an ON operation of a plurality of operation switches.

  Further, in the present embodiment, the drive recorder data is held from a timing a predetermined time before the timing of the ON operation to the first operation switch by the driver, but the ON operation to the first operation switch is performed. It is good also as a structure which hold | maintains the data of a drive recorder from timing, or a drive recorder from arbitrary timings between the timing of ON operation to the 1st operation switch, and the timing of ON operation to the 2nd operation switch The data may be stored.

  In this embodiment, the operation switch is turned on as an intention display for requesting emergency evacuation assistance for the driver, and the ON operation is detected on the emergency evacuation device side. A voice issued by the driver for requesting emergency evacuation assistance may be used, or the emergency evacuation apparatus may recognize the voice.

  Further, in this embodiment, when the memory of the drive recorder is insufficient, the data is held in the memory of another ECU. However, when a sufficient capacity is secured as the memory of the drive recorder, the other ECU The memory of the drive recorder may not be stored in the memory. Further, the drive recorder may have no memory, and all data of the drive recorder may be held in a memory of an arbitrary ECU.

  In the present embodiment, the help recorder is used to transfer the data of the drive recorder to an emergency center, an ambulance, a hospital, etc., but such a configuration is not necessary. Further, the data of the drive recorder may be transferred using means other than the help net.

  DESCRIPTION OF SYMBOLS 1 ... Emergency evacuation device, 10 ... Environmental information recognition ECU, 10a ... GPS, 10b ... In-vehicle network, 10c ... Front / rear side camera, 10d ... Front / rear side sensor, 10e ... Car navigation system, 10f ... White line recognition Camera, 11 ... Vehicle information recognition ECU, 11a ... Steering angle sensor, 11b ... G sensor, 11c ... Vehicle speed sensor, 12 ... Driver state recognition ECU, 12a ... Physiological measurement device, 12b ... Gaze / face orientation measurement device, 12c ... Actuation Switch, 20 ... Driving support HMI, 20a ... Display, 20b ... Lights and indicators, 20c ... Speaker, 20d ... Cancel switch, 21 ... Various driving support systems, 21a ... ACC, 21b ... PCS, 21c ... LKA, 21d ... VSC 22 ... Various actuators, 22a ... ECB, 22b ... EPB, 22c ... EPS 30 ... drive recorder, 30a ... outside-vehicle camera, 30b ... microphone, 30c ... memory, 31 ... Various ECU, 31a ... memory, 32 ... HELPNET system, 32a ... communication device, 40 ... judgment processing ECU.

Claims (8)

An emergency evacuation device that starts emergency evacuation assistance by an input operation for starting emergency evacuation assistance,
A drive recorder that temporarily holds and records an image captured by the imaging means;
When an input operation for starting the emergency evacuation support is performed, among images temporarily stored in the drive recorder, it is set earlier than a first time when the input operation is performed. Recording means for recording the retained image from a second time;
An emergency evacuation device comprising: A confirmation means for confirming the driver's intention to start emergency evacuation support before starting the emergency evacuation support when an input operation for starting the emergency evacuation support is performed;
The emergency evacuation apparatus according to claim 1, wherein the recording unit records an image when the confirmation unit confirms the driver's intention to start emergency evacuation support. A collision risk judging means for judging the collision risk of the own vehicle;
The recording means records an image when an input operation for starting the emergency evacuation support is performed and the collision risk determination means determines that the collision risk is high. The emergency evacuation device according to claim 1 or claim 2. It is equipped with a consciousness deterrence judging means for judging a driver's consciousness decline,
The recording means records an image when an input operation for starting the emergency evacuation support is performed and when it is determined by the consciousness decrease determination means that the driver's consciousness is decreased. The emergency evacuation device according to any one of claims 1 to 3.   The emergency evacuation device according to any one of claims 1 to 4, wherein the recording unit causes another vehicle-mounted electronic control unit to record an image when a recording capacity of the drive recorder is insufficient. . A communication means capable of communicating with a communication terminal outside the vehicle;
The emergency evacuation apparatus according to any one of claims 1 to 5, wherein the communication unit is capable of transmitting an image of the drive recorder to a communication terminal outside the vehicle.   The emergency evacuation device according to claim 6, wherein the communication means can communicate with the communication terminal outside the vehicle remotely from the communication terminal side outside the vehicle to the image pickup means of the drive recorder. Equipped with voice acquisition means for acquiring the voice in the car,
The emergency evacuation device according to any one of claims 1 to 7, wherein the recording unit records the audio acquired by the audio acquisition unit together with the image.

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