JP2015114859A - Driving evaluation device and driving evaluation method - Google Patents

Abstract

PROBLEM TO BE SOLVED: To facilitate driving evaluation even in an urban area under disturbances.SOLUTION: There is provided a driving evaluation device 100 comprising a control device 10 which performs: an intersection position acquisition function for acquiring the position of an intersection to be evaluated; a vehicle information acquisition function for acquiring the position of a vehicle which passes the intersection and the vehicle information; an evaluation zone setting function for detecting a spot in a predetermined area including the intersection where the vehicle speed included in the vehicle information is minimized as a characteristic spot and setting an evaluation zone based on the characteristic spot; and a driving evaluation function for analyzing the vehicle information in the evaluation zone to evaluate driving when the vehicle runs straight in the intersection.

Description

  The present invention relates to a driving evaluation device and a driving evaluation method for evaluating driving when passing an intersection.

  With regard to this type of device, in the evaluation section, from the viewpoint of evaluating the temporary stop where the driver has consciously confirmed the safety by eliminating the temporary stop caused by disturbance such as the preceding vehicle or pedestrian A driving evaluation device is known that evaluates driving in an evaluation section when the stop time at is less than time t1 and the passage time of the evaluation section is less than time t2 (Patent Document 1).

JP 2011-3013 A

According to the conventional driving evaluation apparatus, it is possible to exclude a temporary stop caused by a disturbance such as a preceding vehicle or a pedestrian from the evaluation target.
However, the conventional driving evaluation apparatus has a problem that the driving cannot be evaluated because it cannot sufficiently collect evaluation data of the intersections of urban areas and residential areas where disturbances are frequently generated.

  The problem to be solved by the present invention is to evaluate driving even at an intersection of an urban area or a residential area where disturbances such as preceding vehicles and pedestrians are frequently generated.

  According to the present invention, in a predetermined area including an intersection to be evaluated, a point at which the vehicle speed included in the vehicle information acquired from the vehicle is minimized is detected as a feature point, an evaluation section based on the feature point is set, and evaluation is performed. The above problem is solved by acquiring the position and vehicle information of the vehicle traveling in the section, analyzing the acquired vehicle information, and evaluating the driving when the vehicle goes straight through the intersection.

  ADVANTAGE OF THE INVENTION According to this invention, driving | running | working evaluation can be performed even in the intersection of a city area and a residential area with high occurrence frequency of disturbance.

It is a lineblock diagram of a driving evaluation system containing a driving evaluation device concerning an embodiment of the present invention. It is a figure which shows transfer of the information of each function which the control apparatus of the driving | running evaluation apparatus of this embodiment has. It is the 1st figure for explaining an intersection and a predetermined field. It is a 2nd figure for demonstrating an intersection and a predetermined area | region. It is a figure which shows the flow of the information of the driving | running evaluation process at the time of the intersection straight line of the driving | running evaluation apparatus of this embodiment. It is a 1st figure for demonstrating the setting method of the evaluation area for driving | running evaluation at the time of an intersection straight line. It is a 2nd figure for demonstrating the setting method of the evaluation area for driving | running evaluation at the time of an intersection straight line. It is a flowchart figure which shows the control procedure of the driving | running evaluation at the time of the intersection straight line of the driving | running evaluation system which concerns on this embodiment. It is a figure which shows the flow of the information of the driving | running evaluation process at the time of the intersection left-right turn of the driving | running evaluation apparatus of this embodiment. It is a 1st figure for demonstrating the setting method of the evaluation area for the driving | running evaluation at the time of an intersection right and left turn. It is a 2nd figure for demonstrating the setting method of the evaluation area for the driving | running evaluation at the time of an intersection right and left turn. It is a flowchart figure which shows the control procedure of the driving | running evaluation at the time of the intersection left-right turn of the driving | running evaluation system which concerns on this embodiment.

<First Embodiment>
Hereinafter, the driving | running evaluation apparatus 100 which concerns on 1st Embodiment of this invention is demonstrated based on drawing. In the present embodiment, the driving evaluation apparatus according to the present invention is applied to an in-vehicle driving evaluation apparatus 100, and the driving evaluation system 1000 including another in-vehicle apparatus will be described as an example.

  The driving evaluation apparatus 100 of the present embodiment evaluates whether or not driving of one or a plurality of vehicles is appropriate or the degree of appropriateness from vehicle information when passing through an intersection. For example, the driving evaluation apparatus 100 uses the minimum speed of the vehicle, the stop time, and the stop position (the distance from the center of the intersection to the position where the minimum speed is reached) to determine whether or not the stop is correctly performed at the intersection that needs to be stopped. Diagnose. In general, the smaller the minimum speed, the longer the stop time, and the greater the stop position, the greater the distance from the intersection. In addition, the driving evaluation apparatus 100 evaluates whether or not the turning (driving) when making a right or left turn is appropriate using the maximum lateral acceleration, the maximum yaw rate, and the maximum speed during the turning. In general, it can be evaluated that the smaller the acceleration, yaw rate, and speed, the more appropriate the turn. A standard evaluation reference value can be set experimentally in advance as the reference for evaluation of these operations. The control device 10 evaluates whether the right / left turn driving is appropriate based on the comparison result with the evaluation reference value. The driving behavior evaluation result output by the driving evaluation apparatus 100 of the present embodiment can be used for evaluation of the driving skill of the driver, extraction of driving habits, and evaluation of a safe driving tendency.

  FIG. 1 is a block configuration diagram of a driving evaluation system 1000 including a driving evaluation apparatus 100 according to the present embodiment. As shown in FIG. 1, the driving evaluation system 1000 of this embodiment includes a driving evaluation device 100, a vehicle controller 20, a navigation device 30, various sensors 40, and an output device 50. Each of these devices is connected by a CAN (Controller Area Network) or other in-vehicle LAN, and exchanges information with each other.

  In addition, the driving | operation evaluation system 1000 of this embodiment can be provided with the external device 60 which is not vehicle-mounted. The external device 60 includes a control device 61, a storage device 62, and a roadside device 63. The control device 61 is a remote server and causes the in-vehicle driving evaluation device 100 to execute driving evaluation processing. In this case, the control device 61 performs the same operation as that of the control device 10 of the driving evaluation device 100 described later. The storage device 62 collects and stores the evaluation results of the driving evaluation device 100 mounted on each vehicle. The roadside device 63 is a device that constitutes an ITS (Intelligent Transport Systems), and can provide intersection position information and the like to the vehicle-side driving evaluation device 100 via the communication device 14.

Hereinafter, each device provided in the driving evaluation system 1000 will be described.
The vehicle controller 20 of the present embodiment includes an ECU that manages various types of vehicle information and controls operations. The vehicle controller 20 of this embodiment includes a vehicle speed, steering angle, yaw rate, vehicle longitudinal acceleration (hereinafter also referred to as longitudinal acceleration), vehicle lateral acceleration (hereinafter referred to as lateral acceleration) detected by various sensors described below. Vehicle information 21 including “)” is acquired. The vehicle controller 20 can appropriately use the automatic driving control device known at the time of filing this application.

  The navigation device 30 of this embodiment includes a current position detection device 31 having a GPS (Global Positioning System). The navigation device 30 refers to the map information 32 and searches for a route from the current position to the destination. In addition, the navigation device 30 refers to the intersection information 33 and detects an intersection on the route traveled by the searched vehicle. The navigation device 30 detects the current position detected by the current position detection device 31 and an intersection approaching on the route on which the host vehicle travels. The detected intersection is an intersection through which the driver of the vehicle passes. The detected current position is sent to the driving evaluation apparatus 100. The navigation device 30 of the present embodiment can appropriately use the navigation device known at the time of filing this application.

  Various sensors 40 of this embodiment include a vehicle speed sensor 41, an acceleration sensor 42, a steering sensor 43, and a yaw rate sensor 44. The vehicle speed sensor 41 detects the vehicle speed of the vehicle. The acceleration sensor 42 detects longitudinal acceleration and lateral acceleration of the vehicle. The steering sensor 43 detects the steering amount of the vehicle. The yaw rate sensor 44 detects the yaw rate of the vehicle and the yaw angle of the vehicle. As the various sensor devices 41 to 44 of the present embodiment, various sensor devices known at the time of filing the present application can be appropriately used.

  The output device 50 of the present embodiment outputs a driving evaluation result. The output device 50 includes a display 51 and a speaker 52. The output device 50 includes a communication device 53. The communication device 53 can output the evaluation result to the external storage device 62. The storage device 62 can collect evaluation results of a plurality of vehicles. The communication device 53 can output the evaluation result to the vehicle-mounted vehicle controller 20. The vehicle controller 20 performs driving support and vehicle control using the evaluation result.

  As shown in FIG. 1, the driving evaluation apparatus 100 of this embodiment includes a control device 10. The driving evaluation device 100 of this embodiment can exchange information with the external device 60 using the communication function 14.

  The control apparatus 10 of the driving | running evaluation apparatus 100 of this embodiment is demonstrated. The control device 10 of the present embodiment operates as a driving evaluation device 100 by executing a ROM (Read Only Memory) 12 storing a program for evaluating driving at an intersection and a program stored in the ROM 12. A CPU (Central Processing Unit) 11 as a circuit and a RAM (Random Access Memory) 13 functioning as an accessible storage device are included.

  Hereinafter, each function realized by the control device 10 of the driving evaluation device 100 will be described. FIG. 2 is a diagram illustrating a flow of information of each function.

  The control device 10 of the driving evaluation apparatus 100 according to the present embodiment includes an intersection position acquisition function 1.1, a vehicle information acquisition function 1.2, an evaluation section setting function 1.3, and a driving evaluation function 1.4. Have. The control device 10 of the present embodiment is a computer that executes each function by cooperation of software for realizing the above function and the above-described hardware. As described above, this computer is an on-board computer or an external computer that can exchange information via communication.

  First, the intersection position acquisition function 1.1 of the control device 10 of the present embodiment will be described. The control device 10 of the present embodiment acquires position information such as the GPS coordinates of the intersection. The control device 10 of the present embodiment acquires information on whether or not each intersection seeks a temporary stop. The intersection to be evaluated is an intersection on the route on which the vehicle travels. The route on which the vehicle travels can be identified from the position information detected by the current position detection device 31. The control device 10 may sequentially acquire the position of the traveling intersection, may acquire the position of the intersection scheduled to travel from now on, or may acquire the position of the already traveled intersection. The navigation device 30 searches for a route on which the vehicle travels. Further, the position of the intersection on the searched route is obtained with reference to the intersection information 33. Further, the position information of the intersection may be acquired from the external roadside device 63 while traveling.

  Next, the vehicle information acquisition function 1.2 of the control device 10 of the present embodiment will be described. The control device 10 acquires the position of the vehicle passing through the intersection and vehicle information. The control device 10 acquires vehicle information including the position of the vehicle and various detection data detected when traveling at the position. The control device 10 stores the vehicle information and the position information at least temporarily in association with each other. The control device 10 acquires the position of the vehicle from the current position detection device 31. The control device 10 acquires vehicle information from the various sensors 40. The vehicle information 21 includes the vehicle speed, the steering angle, the yaw rate, the vehicle longitudinal acceleration (hereinafter also referred to as longitudinal acceleration), and the vehicle lateral acceleration (hereinafter also referred to as lateral acceleration).

  The vehicle information acquisition function 1.2 of the control apparatus 10 outputs the vehicle information used for evaluation from the intersection information 33 and the acquired detection data (vehicle information), when the own vehicle passes the intersection. The vehicle information acquisition function 1.2 outputs the predetermined section upstream of the intersection and the predetermined section downstream of the intersection, that is, detection data before and after passing through the intersection as vehicle information for evaluation.

  FIG. 3A shows a route R through which the vehicle passes and a predetermined area Xerea including the intersection X. The vehicle travels on route R from Start to End. Hereinafter, although the process of the intersection X will be described, the control device 10 performs the same process for the intersections Yf1, Yf2, Yb1, and Yb2 existing on the route R.

  FIG. 3B is an enlarged view of the area A including the predetermined area Xerea shown in FIG. 3A. FIG. 3B shows the first position S1 within the predetermined distance r [m] from the center coordinates of the intersection X among the center coordinates of the intersection X (intersection coordinates) and the vehicle travel position (history of the current position). An upstream evaluation section dpb between a point Pb at a predetermined distance b [m] upstream from S1 and a downstream side between a point Pf at a predetermined distance f [m] downstream from the first position S1. The evaluation interval dpb is shown. Vehicle information detected in the upstream evaluation section and the downstream evaluation section (Pb-S1-Pf section) is used for driving evaluation when the vehicle passes through the intersection.

  Here, the first position S1 is a position corresponding to the position of the intersection X to be evaluated. The first position S1 is the current position of the vehicle acquired first when the vehicle enters within a predetermined area Xarea defined with the position of the intersection X as a reference. Further, in the predetermined area Xarea, the current position of the vehicle closest to the center position of the intersection X may be used. The predetermined area Xarea is an area within a predetermined radius r [m] from the center coordinates of the intersection X. The value of the predetermined radius r can be appropriately defined according to the scale of the intersection. The center coordinates of the intersection X may not be on the route through which the vehicle actually passes, and may deviate from the travel point of the vehicle (the history point of the current position). By defining the first position S1 in this way, the position of the intersection X to be evaluated can be matched with the actual travel position, and a more appropriate evaluation section can be set.

  The vehicle information acquisition function 1.2 of the control device 10 determines whether or not an intersection has passed based on the intersection information 33 and the detected current position. When the current position (traveling position) is included within a predetermined radius r [m] from the center coordinates (intersection coordinates) of the intersection X shown in FIGS. 3A and 3B, it is determined that the vehicle passes the intersection X. In this case, detection is performed in the upstream evaluation section dpb with a predetermined distance b [m] upstream from the first position S1 and in the downstream evaluation section dpb with a predetermined distance f [m] downstream from the first position S1. The vehicle information for evaluation is extracted and output as vehicle information for evaluation. This vehicle information is vehicle information for evaluation.

  If the current position (traveling position) is not detected within the predetermined radius r [m] from the center coordinates of any intersection X, the subsequent processing is not performed because the intersection X is not passed. Further, when the current position (travel position) is not detected at the predetermined distance b [m] on the upstream side and the predetermined distance f [m] on the downstream side based on the travel point (current position) closest to the center of the intersection X. It is determined that the intersection has not been completed, and the vehicle information is not output.

  The distance (b [m], f [m]) for setting the evaluation section based on the center of the intersection X can be defined based on the road attribute of the link including the intersection X, the average passing speed, and the like. In addition, the distance (b [m], f [m]) sets the evaluation section in consideration of the distance to the adjacent intersection so that vehicle information when passing through the adjacent intersection is not included. A distance (b [m], f [m]) may be set.

  Subsequently, the evaluation section setting function 1.3 of the control device 10 of the present embodiment will be described. The control device 10 detects a point where the vehicle speed included in the vehicle information 21 is minimum in a predetermined region including the intersection as a feature point. And the control apparatus 10 sets the evaluation area on the basis of a feature point. The local minimum in the vehicle speed is a characteristic caused by a primary stop when going straight through an intersection. In the present embodiment, the evaluation section set on the basis of the characteristic point where the vehicle speed is minimum is used to evaluate the driving when the vehicle goes straight through the intersection.

  FIG. 4 is a diagram illustrating a flow of information of the driving evaluation process at the intersection straight line of the driving evaluation apparatus of the present embodiment. As shown in FIG. 4, processing 1.3.1 for extracting the minimum vehicle speed from the acquired vehicle information is performed. A point where the vehicle speed is minimum is set as a feature point, and an evaluation section setting process 1.3.2 for evaluating a straight driving with the feature point as a reference is performed. Based on the vehicle information detected when traveling in the set evaluation section, the straight driving evaluation process 1.4.1 is performed. The evaluation process will be described later, but in the evaluation of straight driving, numerical data such as the minimum vehicle speed, approach speed, departure speed, acceleration at deceleration, acceleration at start, etc. It is output as an evaluation value for evaluating the driving.

  Based on FIG. 5, the 1st method of setting the evaluation area for evaluating the driving | running | working at the time of a straight line of an intersection is demonstrated. Here, a method for setting an evaluation section when the vehicle decelerates or stops only once when the vehicle travels straight to the intersection will be described. Of the vehicle information, a point (speed minimum position) M closest to the center of the intersection X to be evaluated from the vehicle speed is detected as a feature point. The section of the distance Sb [m] upstream of the feature point M (section from the feature point M to the point P1) and the section of the distance Sf [m] downstream of the feature point M (from the feature point M to the point P2) A section that is combined with the section) is set as the evaluation section Qa. The feature point M is a point different from the center point of the intersection X.

  As described above, since the evaluation section is set based on the characteristic point where the vehicle speed is minimized, it is possible to evaluate the driving when going straight through the intersection regardless of the occurrence frequency of the disturbance.

  Based on FIG. 6, the 2nd method of setting the evaluation area for evaluating the driving | running | working at the time of the straight ahead of an intersection is demonstrated. Here, a method for setting an evaluation section when a vehicle decelerates or stops a plurality of times when the vehicle travels straight to an intersection will be described. The control device 10 counts the number of feature points detected in the evaluation section. When a plurality of feature points are detected in a predetermined area including an intersection and the interval between the feature points is less than a predetermined value, the control device 10 detects the feature point detected at the latest time among the feature points M1 and M2. An evaluation section is set based on M2.

  First, the control device 10 detects, as a feature point, a point (minimum speed position) M1 at which the vehicle speed is minimum, which is closest to the center of the intersection X to be evaluated from the vehicle speed in the vehicle information. At this time, when a plurality of points where the vehicle speed is minimum are detected and the distance between the points indicating the minimum is less than or equal to a predetermined value, it is determined that the vehicle is repeatedly stopped and started when passing the intersection. In such a case, out of the feature points M1 and M2 indicating the minimum vehicle speed, the minimum velocity point (characteristic point) M2 detected last in the traveling direction of the vehicle is used as a reference. The section of the distance Sb [m] upstream of the feature point M (section from the feature point M to the point P1) and the section of the distance Sf [m] downstream of the feature point M (from the feature point M to the point P2) A section that is combined with the section) is set as the evaluation section Qb. In this case, if a plurality of points where the vehicle speed is minimal are detected from the center of the intersection to be evaluated to a position separated by a predetermined distance or more in the traveling direction, there is a high possibility that the traffic is extremely stagnant. Therefore, the setting of the evaluation section for driving straight ahead may be stopped.

  As described above, when there are a plurality of feature points at which the vehicle speed is minimized, the evaluation section is set based on the feature point detected last, so even if the vehicle is decelerated or stopped multiple times, Evaluate driving when going straight.

  In the above-described evaluation section setting process, when a feature point is not extracted in a predetermined area including an intersection, it is not set as an evaluation section based on the feature position, but based on the position of the intersection X (intersection X The evaluation section is set (including the case where the first position S1 having a predetermined positional relationship with the center position of the first position S1 is used as a reference). In the present embodiment, the control device 10 uses the first position S1 (see FIG. 3B) closest to the center of the target intersection X among the travel points (current position history) of the vehicle as a reference, and this passing point (current position). The evaluation section is extracted and evaluated even if the vehicle does not decelerate and accelerate when the vehicle passes through the intersection at the intersection to be evaluated. It can be performed.

  Finally, the operation evaluation function of the control device 10 of the present embodiment will be described. The control device 10 analyzes the vehicle information of the set evaluation section and evaluates the driving when the vehicle goes straight through the intersection. The control device 10 diagnoses whether or not the temporary stop is correctly performed at the intersection where the temporary stop is necessary. Specifically, the minimum vehicle speed in the evaluation section, the entry speed to the evaluation section, the departure speed from the evaluation section, the acceleration at the time of deceleration when temporarily stopping in the evaluation section, the acceleration at the start after the primary stop, etc. Is output as an evaluation value for driving straight ahead.

  The control device 10 outputs the counted number of feature points together with the result of the driving evaluation. As a result, the driving evaluation results can be tabulated separately when the stop / start is repeated a plurality of times and when the stop / start is performed once. As a result, the operation can be evaluated separately for the case where the stop is performed a plurality of times and the case where the stop is performed only once.

Then, based on FIG. 7, the control procedure of the driving | running evaluation apparatus 100 of this embodiment is demonstrated.
In step S10, the control apparatus 10 specifies the intersection used as evaluation object. In the present embodiment, an intersection that is on the traveling route of the host vehicle and is ahead in the traveling direction and is closest to the current position is specified as a target for driving evaluation.

  In step S11, the control device 10 initializes the count value of the minimum number of vehicle speeds to zero.

  In step S12, the control device 10 determines whether or not there is a point where the speed is minimum within a predetermined distance from the center position of the target intersection. In step S12, if there is no point where the speed is minimum, the process proceeds to step S19. In step S19, the control device 10 sets a predetermined distance from the first position S1 (see FIG. 3B) closest to the center of the target intersection X to the upstream side and the downstream side of the vehicle travel point (current position history). Set the range as the evaluation interval.

  In step S12, the control device 10 proceeds to step S13 when there is a point where the speed is minimum within a predetermined distance from the center position of the target intersection.

  In step S13, the control device 10 counts up (+1) the minimum count value of the vehicle speed. The control device 10 counts the minimum vehicle speed.

  In step S14, the control device 10 determines whether or not there is a point indicating the next minimum speed in the traveling direction of the vehicle. If there is no adjacent speed minimum, the process proceeds to step S15. That is, when only one speed minimum exists in the predetermined area, this process is performed. In step S <b> 15, the control device 10 sets an evaluation section with reference to a feature point where the speed detected last in the predetermined area is minimal. The control device 10 sets a range of a predetermined distance on the upstream side and the downstream side of the feature point as an evaluation section for evaluating driving when going straight through the intersection.

  If there is an adjacent minimum speed in step S15, the process proceeds to step S16. In step S16, it is determined whether or not the point indicating the minimum speed adjacent in the traveling direction of the vehicle is separated from the intersection center to be evaluated by a predetermined distance or more. In step S14, if the point indicating the minimum speed is separated from the intersection center by a predetermined distance or more, the process proceeds to step S18. If not, the process proceeds to step S17.

  In step S <b> 18, the control device 10 sets a point closest to the intersection center and having a minimum speed as a feature point, and sets an evaluation section based on this feature point. The control device 10 sets a range of a predetermined distance on the upstream side and the downstream side of the feature point as an evaluation section for evaluating driving when going straight through the intersection.

  In step S <b> 17, the control device 10 updates a point where the adjacent speed is minimal as a candidate for a feature point, and performs the processing after step S <b> 13.

  When the evaluation section is set, the process proceeds to step S20. The control device 10 analyzes vehicle information detected in the set evaluation section, and evaluates driving when the vehicle goes straight through the intersection. The evaluation result is output to the vehicle controller 20, the external device 60, and the output device 50.

  Since this embodiment of the present invention is configured as described above and operates as described above, the following effects can be obtained.

  [1] According to the driving evaluation apparatus 100 of the present embodiment of the present invention, since the evaluation section is set based on the feature point where the vehicle speed is minimized, the road is a city area or a residential area where the frequency of disturbance is high. Even so, it is possible to evaluate the driving at the intersection. That is, driving evaluation can be executed regardless of the environment of the road on which the vehicle is traveling. In other words, the driving evaluation apparatus 100 according to the present embodiment does not perform driving evaluation or cannot be performed depending on the environment of the traveling road. As a result, it is possible to provide the driving evaluation apparatus 100 that performs driving evaluation uniformly at intersections on the route.

  [2] According to the driving evaluation apparatus 100 of the present embodiment according to the present invention, when there are a plurality of feature points at which the vehicle speed is minimized, the evaluation section is set based on the feature point detected last, so deceleration Even if the vehicle is stopped a plurality of times, it is possible to evaluate the driving when going straight through the intersection.

  [3] The driving evaluation apparatus 100 according to the present embodiment of the present invention sets an evaluation section based on the position of the intersection X when a feature point is not extracted in a predetermined area including the intersection. Even when deceleration and acceleration are not performed when passing the intersection, the evaluation in the evaluation section can be performed.

  [4] Since the driving evaluation device 100 according to the present embodiment of the present invention outputs the counted number of feature points together with the result of driving evaluation, when stopping / starting is repeated a plurality of times, Driving evaluation results can be tabulated separately from driving when stopping / starting. As a result, the operation can be evaluated separately for the case where the stop is performed a plurality of times and the case where the stop is performed only once.

  [5] When the driving evaluation method according to the present embodiment is executed by the control devices 10 and 61 that are computers, the above-described effects can be obtained.

Second Embodiment
Next, the driving | running evaluation apparatus 100 of 2nd Embodiment of this invention is demonstrated.
The driving evaluation apparatus 100 of the second embodiment is characterized by evaluating the driving at the time of turning left and right when passing an intersection, and the basic configuration is common to the driving evaluation apparatus 100 of the first embodiment. Here, in order to avoid redundant description, the description will focus on the feature points of the present embodiment, and the description of the first embodiment will be cited for the common portions.

  The configuration of the driving evaluation apparatus 100 of the second embodiment is common to the configuration of the driving evaluation apparatus 100 of the first embodiment shown in FIG. The control device 10 of the driving evaluation device 100 executes an intersection position acquisition function, a vehicle information acquisition function, an evaluation section setting function, and a driving evaluation function.

  Since the intersection position acquisition function and the vehicle information acquisition function of this embodiment are the same as those of the first embodiment, the description thereof is used.

  The control device 10 of the driving evaluation apparatus 100 according to the second embodiment has a maximum or minimum value of the vehicle steering angle, the vehicle yaw angle, or the vehicle lateral acceleration included in the vehicle information in a predetermined region including the intersection. A point is detected as a feature point, and an evaluation section based on the feature point is set. The maximum or minimum value of the vehicle steering angle, the vehicle yaw rate, the vehicle yaw angle, or the vehicle lateral acceleration is a characteristic that occurs when the intersection is turned right or left. In this embodiment, the evaluation section set on the basis of the characteristic point where the vehicle steering angle, the vehicle yaw rate, the vehicle yaw angle, or the vehicle lateral acceleration has a maximum or minimum value is set to the left or right at the intersection. It is used to evaluate driving when doing.

  FIG. 8 is a diagram illustrating a flow of information of the driving evaluation process at the time of turning left and right at the intersection of the driving evaluation apparatus of the present embodiment. As shown in the figure, processing 1.3.3 is performed to extract the maximum or minimum of the vehicle steering angle, vehicle yaw rate, vehicle yaw angle, or vehicle lateral acceleration value from the acquired vehicle information. Evaluation section setting process for evaluating right / left turn driving with reference to a feature point where the vehicle steering angle, vehicle yaw rate, vehicle yaw angle, or vehicle lateral acceleration value shows a maximum or minimum value. Perform 1.3.4. Based on the vehicle information detected when traveling in the set evaluation section, the left / right turn driving evaluation process 1.4.2 is performed. The evaluation process will be described later. Specifically, in the evaluation of right / left turn driving, numerical data such as the minimum vehicle speed, approach speed, departure speed, acceleration at deceleration, acceleration at start, It is output as an evaluation value for evaluating driving during a left turn.

  FIG. 9 is a diagram for explaining a first setting method of an evaluation section for driving evaluation at the time of turning left and right at an intersection. The figure shows the relationship between the position of the moving vehicle and the yaw rate. Here, a description will be given of a method of setting an evaluation section when the vehicle turns only once when the vehicle turns right and left after entering the intersection. The control device 10 is a point where the value of the vehicle yaw rate (vehicle steering angle, vehicle yaw angle, vehicle lateral acceleration) included in the vehicle information is maximized or minimized, and is an intersection X (Fig. A point N that is closest to (see 3A, 3B) is detected as a feature point N. The section of the distance Tb [m] upstream of the feature point N (section from the feature point N to the point P1) and the section of the distance Tf [m] downstream of the feature point N (from the feature point N to the point P2) A section that is combined with the section) is set as the evaluation section Qb. The feature point N is a point different from the center point of the intersection X.

  As described above, the evaluation section is set based on the characteristic point where the vehicle steering angle, the vehicle yaw rate, the vehicle yaw angle, or the vehicle lateral acceleration value included in the vehicle information is maximized or minimized. Regardless of the frequency of occurrence, you can evaluate the driving when turning left and right at the intersection.

  Further, as shown in the figure, the control device 10 of the present embodiment is configured such that the vehicle steering angle, the vehicle yaw angle, or the vehicle lateral acceleration value included in the vehicle information is greater than or equal to a predetermined threshold. Is set as an evaluation section for evaluating driving during turning at the time of turning left or right. Furthermore, the control device 10 of the present embodiment sets the predetermined section from N1 to P1 upstream of the turning evaluation section (the section between N1 and N2) as the approaching evaluation section, and downstream of the turning evaluation section. A predetermined section from N2 to P2 is set as an evaluation section at the time of departure.

  In the set evaluation section, the section where the maximum value or minimum value of the vehicle steering angle, vehicle yaw rate, vehicle yaw angle, or vehicle lateral acceleration is greater than or equal to the predetermined threshold is set as the evaluation section during turning, so the vehicle is passing through an intersection. The evaluation section during the turn corresponding to can be set. In addition, since the upstream side of the evaluation section during turning is set as the evaluation section during entry and the downstream side of the evaluation section during turning is set as the evaluation section during departure, the driving is evaluated separately when entering the intersection, during turning and when leaving. be able to.

  FIG. 10 is a diagram for explaining a second setting method of an evaluation section for driving evaluation at the time of turning right and left at an intersection. The figure shows the relationship between the position of the moving vehicle and the yaw rate. Also in this example, the point N1 closest to the intersection X to be evaluated is a point where the value of the vehicle yaw rate (vehicle steering angle, vehicle yaw angle, or vehicle lateral acceleration) is a maximum or minimum. An evaluation section is set based on the feature point N1 as the feature point N1.

  Furthermore, here, a method for setting an evaluation section when a vehicle turns a plurality of turns when turning right and left at an intersection will be described. The control device 10 counts the number of feature points detected in the evaluation section. When a plurality of feature points are detected in a predetermined region, the control device 10 first determines the value of the vehicle yaw rate (vehicle yaw angle, vehicle steering angle, vehicle lateral acceleration) included in the vehicle information. A section between a point N1 that is equal to or greater than the threshold Yt and a point N2 that is finally equal to or greater than the predetermined threshold Yt is set as an evaluation period during turning for evaluating driving during turning at the time of right or left turn. Similarly to the above-described method, a predetermined section upstream of the turning evaluation section is defined as an approach evaluation section, and a predetermined section downstream of the turning evaluation section is defined as a departure evaluation section.

  When the distance between the maximum yaw rate N1 and the maximum yaw rate N2 is equal to or less than a predetermined value, the control device 10 has a turning range within the yaw rate threshold Ys1 [deg / s] or more at the rise of the maximum yaw rate N1. A turn section (passing through the intersection) is taken up to a point that falls below the threshold Ys2 [deg / s] at the fall of the local maximum N2. The predetermined distances upstream and downstream of the turning section are defined as before turning (entering an intersection) and after turning (leaving an intersection). Yt is a threshold value for detecting the peak (maximum) of the yaw rate. After detecting the peak (maximum) of the yaw rate, the section (turning section) in which the yaw rate is occurring is determined. Ys1 is a threshold value for determining the rising position of the yaw rate, and Ys2 is a threshold value for determining the falling position of the yaw rate. Here, the threshold values Ys1 and Ys2 may be different from Yt or the same value.

  As described above, when there are a plurality of feature points at which the vehicle yaw rate (vehicle yaw angle, vehicle steering angle, vehicle lateral acceleration) is maximized or minimized, the feature point N1 that first exceeds the predetermined threshold and the last Since a turning evaluation section for evaluating driving during turning between the characteristic point N2 that is equal to or greater than a predetermined threshold is set, even when turning a plurality of times, driving during turning at an intersection is evaluated. it can.

  In the above-described evaluation section setting process, when a feature point is not extracted in a predetermined area including an intersection, it is not set as an evaluation section based on the feature position, but based on the position of the intersection X (intersection X The evaluation section is set (including the case where the first position S1 having a predetermined positional relationship with the center position of the first position S1 is used as a reference). Furthermore, among the evaluation sections, a predetermined range from the first position S1 with respect to the position of the intersection is set as an evaluation section at the time of turning, a predetermined section upstream of the evaluation section at the time of turning is set as an evaluation section at the time of entering, and at the time of turning The predetermined section on the downstream side of the evaluation section is set as the evaluation section when leaving. In the present embodiment, the control device 10 uses the first position S1 (see FIG. 3B) closest to the center of the target intersection X among the travel points (current position history) of the vehicle as a reference, and this passing point (current position). At the intersection to be evaluated, which sets the range of the predetermined distance from the position) to the upstream side and the downstream side as the evaluation section. Even when the vehicle does not steer at the intersection, the evaluation section is extracted. The driving evaluation in each section of each evaluation section can be performed by dividing into an evaluation section during turning, an evaluation section during entry, and an evaluation section during departure.

  Finally, the operation evaluation function of the control device 10 of the present embodiment will be described. The control device 10 analyzes the vehicle information of the set evaluation section, and evaluates the driving when the vehicle turns right and left at the intersection. The control device 10 of the present embodiment analyzes vehicle information in the evaluation section during turning to evaluate driving during turning, analyzes vehicle information in the evaluation section during entering, evaluates driving when entering an intersection, and Analyze the vehicle information in the evaluation section to evaluate the driving when leaving the intersection. The control device 10 can evaluate the driving at the time of turning corresponding to the behavior of turning left and right at the intersection, and can evaluate the driving at the time of entering and leaving the intersection.

  The control device 10 obtains numerical data such as the minimum vehicle speed in the evaluation section, the entry speed to the evaluation section, the departure speed from the evaluation section, the speed or acceleration when making a right or left turn in the evaluation section, and the like. Output as an evaluation value.

  The control device 10 according to the present embodiment determines whether or not the right / left turn driving at the intersection is appropriate. In particular, it is determined whether the turning of the intersection is performed within a predetermined speed threshold value or whether the steering angle is performed within a predetermined threshold value. In addition, the maximum vehicle speed when entering, turning, or leaving the intersection was less than the predetermined value, the minimum vehicle speed was less than the predetermined value, the maximum acceleration was less than the predetermined value, the yaw rate was less than the predetermined value, the maximum It is determined whether the maximum value of the steering angle is less than a predetermined value or the minimum value of the steering angle is less than a predetermined value. Each threshold is appropriately set according to the type of each vehicle information.

  The control device 10 outputs the counted number of feature points together with the result of the driving evaluation. Thereby, the evaluation result of driving | operation can be totaled by dividing into the case where it turns right and left by repeating steering several times, and the case where it turns right and left by one turning. As a result, the operation can be evaluated separately for the case where the stop is performed a plurality of times and the case where the stop is performed only once.

Then, based on FIG. 11, the control procedure of the driving | running evaluation apparatus 100 of this embodiment is demonstrated.
In step S20, the control apparatus 10 specifies the intersection used as evaluation object. In the present embodiment, an intersection that is on the traveling route of the host vehicle and is ahead in the traveling direction and is closest to the current position is specified as a target for driving evaluation. This process corresponds to step S10 in FIG.

  In step S <b> 21, the control device 10 initializes the count values of the maximum or minimum of vehicle information such as the yaw rate, vehicle steering angle, vehicle yaw angle, or vehicle lateral acceleration, and the minimum number of vehicle speeds to 0. .

  In step S22, the control device 10 determines that vehicle information such as the yaw rate of the vehicle, the steering angle of the vehicle, the yaw angle of the vehicle, or the lateral acceleration of the vehicle is maximum or minimum within a predetermined distance from the center position of the target intersection. It is determined whether or not the indicated point exists. In step S22, when there is no point where the vehicle information indicates maximum or minimum, the process proceeds to step S30. In step S30, the control device 10 sets a predetermined distance from the first position S1 (see FIG. 3B) closest to the center of the target intersection X to the upstream side and the downstream side of the travel point (current position history) of the vehicle. Set the range as the evaluation interval.

  In step S22, the control device 10 determines that vehicle information such as the yaw rate of the vehicle, the steering angle of the vehicle, the yaw angle of the vehicle, or the lateral acceleration of the vehicle is maximum or minimum within a predetermined distance from the center position of the target intersection. When the point to show exists, it progresses to step S23.

  In step S23, the control device 10 uses a point where the vehicle information such as the yaw rate indicates the maximum or minimum as a feature point, and sets a predetermined distance section upstream of the feature point and a predetermined section downstream of the feature point. Set as an evaluation interval.

  Subsequently, in step S24, the control device 10 counts up (+1) the count value of the point at which the vehicle information such as the yaw rate indicates maximum or minimum.

  In step S25, the control device 10 determines whether or not there is a point where the vehicle information such as the next yaw rate is maximum or minimum in the traveling direction of the vehicle. In step S25, if there is no point where the vehicle information such as the yaw rate shows maximum or minimum, the process proceeds to step S26, and if present, the process proceeds to step 27. In step S <b> 27, the control device 10 groups adjacent groups of detected yaw rate peaks (maximum or minimum) as a series of operations. The control device 10 updates the previous current yaw rate peak value with the adjacent yaw rate peak value. And the process after step S24 is performed.

  In step S26, the control device 10 sets a turning evaluation section based on the position of the yaw rate peak. In this process, if the number of yaw rate peaks is 0, the turning evaluation section is not set. When the number of yaw rate peaks is one, the control device 10 sets a turning evaluation section with reference to the feature point closest to the intersection.

  In subsequent step S <b> 28, the control device 10 sets a section in which the yaw rate (vehicle information) is equal to or greater than a predetermined threshold as a turning evaluation section. An approach evaluation section is set upstream of the turn evaluation section, and a departure evaluation section is set downstream of the turn evaluation section.

  When the evaluation section is set, the process proceeds to step S29. The control device 10 analyzes vehicle information detected in the set evaluation section, and evaluates driving when the vehicle turns right and left at the intersection. Furthermore, the control device 10 analyzes the vehicle information of the evaluation section at the time of turning to evaluate the driving of the vehicle during the turn, analyzes the vehicle information of the evaluation section at the time of approach to evaluate the driving of the vehicle at the time of approaching the intersection, The vehicle information in the evaluation section at the time of departure is analyzed to evaluate the driving of the vehicle when leaving the intersection. The evaluation result is output to the vehicle controller 20, the external device 60, and the output device 50.

  Since this embodiment of the present invention is configured as described above and operates as described above, the following effects can be obtained.

  [1] According to the driving evaluation apparatus 100 of the present embodiment of the present invention, the value of the vehicle steering angle, the vehicle yaw rate, the vehicle yaw angle, or the vehicle lateral acceleration included in the vehicle information is maximum or minimum. The evaluation section is set based on the feature point. For this reason, the driving | operation at the time of turning left and right can be evaluated irrespective of the occurrence frequency of disturbance.

  [2] According to the driving evaluation apparatus 100 of the present embodiment of the present invention, the value of the vehicle steering angle, the vehicle yaw rate, the vehicle yaw angle, or the vehicle lateral acceleration included in the vehicle information is maximum or minimum. The evaluation section is set based on the feature point closest to the intersection among the feature points. For this reason, the driving | operation at the time of turning left and right can be evaluated irrespective of the occurrence frequency of disturbance.

  [3] According to the driving evaluation apparatus 100 of this embodiment of the present invention, the value of the vehicle steering angle, the vehicle yaw rate, the vehicle yaw angle, or the vehicle lateral acceleration is maximized or minimized in the set evaluation section. Since the section where is equal to or greater than the predetermined threshold is set as the evaluation section during turning, it is possible to set the evaluation section during turning corresponding to passing through the intersection. In addition, since the upstream side of the evaluation section during turning is set as the evaluation section during entry and the downstream side of the evaluation section during turning is set as the evaluation section during departure, the driving is evaluated separately when entering the intersection, during turning and when leaving. be able to.

  [4] According to the driving evaluation apparatus 100 of the present embodiment of the present invention, when there are a plurality of characteristic points where the yaw rate of the vehicle (the yaw angle of the vehicle, the steering angle of the vehicle, the lateral acceleration of the vehicle) is maximized or minimized. In addition, a turning evaluation section for evaluating driving during turning is set between a feature point N1 first having a predetermined threshold value or more and finally a feature point N2 having a predetermined threshold value or more. Even if it is a case, the driving | operation at the time of turning at an intersection can be evaluated.

  [5] According to the driving evaluation device 100 of the present embodiment of the present invention, an evaluation section is extracted even when the vehicle does not steer at an intersection, and this evaluation section is further used as an evaluation section for turning and an approach. The driving evaluation in each section of each evaluation section can be performed by dividing into the time evaluation section and the leaving evaluation section.

  [6] According to the driving evaluation device 100 of the present embodiment of the present invention, the control device 10 outputs the counted number of feature points together with the result of the driving evaluation. Thereby, the evaluation result of driving | operation can be totaled by dividing into the case where it turns right and left by repeating steering several times, and the case where it turns right and left by one turning. As a result, the operation can be evaluated separately for the case where the stop is performed a plurality of times and the case where the stop is performed only once.

  [7] When the driving evaluation method according to the present embodiment is executed by the control devices 10 and 61 which are computers, the above-described effects can be obtained.

  The embodiment described above is described for facilitating the understanding of the present invention, and is not described for limiting the present invention. Therefore, each element disclosed in the above embodiment is intended to include all design changes and equivalents belonging to the technical scope of the present invention.

  That is, in this specification, although driving evaluation device 100 is explained as an example of one mode of driving evaluation device concerning the present invention, the present invention is not limited to this.

  In this specification, as an example of the driving evaluation apparatus according to the present invention, the driving evaluation apparatus 100 including the control device 10 including the CPU 11, the ROM 12, and the RAM 13 will be described as an example. However, the present invention is not limited to this. Absent.

  Further, in the present specification, as one aspect of the driving evaluation device having the intersection position acquisition means, the vehicle information acquisition means, the evaluation section setting means, and the driving evaluation means according to the present invention, an intersection position acquisition function, a vehicle The driving evaluation apparatus 100 including the control apparatus 10 that executes the information acquisition function, the evaluation section setting function, and the driving evaluation function and the communication function 14 will be described as an example, but the present invention is limited to this. is not.

  Further, in this specification, a driving evaluation system 1000 including a driving evaluation device 100 that is an aspect of the driving evaluation device according to the present invention, a vehicle controller 20, a navigation device 30, various sensors 40, and an output device 50. However, the present invention is not limited to this.

  In this specification, the driving evaluation apparatus 100 mounted on a vehicle will be described as an example. However, the driving evaluation apparatus includes an external server 60 that is not mounted on the vehicle and an external device 60 that includes a control device 61 such as a computer that can be brought into the vehicle. You may comprise as 100.

DESCRIPTION OF SYMBOLS 1000 ... Driving evaluation system 100 ... Driving evaluation apparatus 10 ... Control apparatus 20 ... Vehicle controller 21 ... Vehicle information 30 ... Navigation apparatus 31 ... Current position detection apparatus 32 ... Map information 33 ... Intersection information 40 ... Various sensors 41 ... Vehicle speed sensor 42 ... Acceleration sensor 43 ... Steering sensor 44 ... Yaw rate sensor 50 ... Output device 51 ... Display 52 ... Speaker 53 ... Communication device 60 ... External device 61 ... Control device 62 ... Storage device 63 ... Roadside device

Claims (11)

Intersection position acquisition means for acquiring the position of the intersection to be evaluated;
Vehicle information acquisition means for acquiring vehicle information and vehicle information passing through the intersection;
An evaluation section setting means for detecting a point where the vehicle speed included in the vehicle information is minimal in the predetermined area including the intersection as a feature point, and setting an evaluation section based on the feature point;
And a driving evaluation unit that analyzes vehicle information of the evaluation section and evaluates driving when the vehicle travels straight through an intersection.   The evaluation section setting means detects the feature detected at the latest time among the feature points when a plurality of the feature points are detected in the predetermined region and the interval between the feature points is less than a predetermined value. The driving evaluation apparatus according to claim 1, wherein the evaluation section is set based on a point.   The driving according to claim 1 or 2, wherein the evaluation section setting means sets the evaluation section on the basis of the position of the intersection when the feature point is not extracted in the predetermined area. Evaluation device. The evaluation section setting means counts the number of feature points detected in the evaluation area,
The driving evaluation apparatus according to claim 1, wherein the driving evaluation unit outputs the number of characteristic points together with a result of the driving evaluation. Intersection position acquisition means for acquiring the position of the intersection to be evaluated;
Vehicle information acquisition means for acquiring vehicle information and vehicle information passing through the intersection;
A point where the vehicle steering angle, the vehicle yaw rate, the vehicle yaw angle, or the lateral acceleration value of the vehicle included in the vehicle information is maximized or minimized in a predetermined area including the intersection is detected as a feature point. And an evaluation interval setting means for setting an evaluation interval based on the feature point;
Driving evaluation means for analyzing the vehicle information of the evaluation section and evaluating driving when the vehicle turns right and left at an intersection.   The evaluation section setting means is a point at which a value of a steering angle of the vehicle, a yaw rate of the vehicle, a yaw angle of the vehicle, or a lateral acceleration of the vehicle included in the vehicle information is maximized or minimized, The driving evaluation apparatus according to claim 5, wherein a point closest to the intersection is detected as a feature point, and an evaluation section based on the feature point is set. The evaluation section setting means sets the section where the steering angle of the vehicle, the yaw rate of the vehicle, the yaw angle of the vehicle, or the lateral acceleration of the vehicle included in the vehicle information is equal to or greater than a predetermined threshold to the right or left turn. As an evaluation section during turning to evaluate driving during turning at the time,
A predetermined section on the upstream side of the evaluation section at the time of turning is set as an evaluation section at the time of entry, and a predetermined section on the downstream side of the evaluation section at the time of turning is set as an evaluation section at the time of departure,
The driving evaluation means analyzes the vehicle information of the evaluation section at the time of turning to evaluate the driving during the turning, and evaluates the driving at the time of entering the intersection by analyzing the vehicle information of the evaluation section at the time of entering. 7. The driving evaluation apparatus according to claim 5, wherein the vehicle information in the evaluation section at the time of leaving is analyzed to evaluate driving at the time of leaving the intersection. The evaluation section setting means, when a plurality of the characteristic points are detected in the predetermined area, the steering angle of the vehicle, the yaw rate of the vehicle, the yaw angle of the vehicle, or the vehicle included in the vehicle information The section between the point where the lateral acceleration value of the first is equal to or greater than the predetermined threshold and the point where the value of the lateral acceleration is equal to or greater than the predetermined threshold is set as an evaluation period during turning for evaluating the driving during the turning at the time of the right or left turn, A predetermined section on the upstream side of the evaluation section at the time of turning is set as an evaluation section at the time of entry, and a predetermined section on the downstream side of the evaluation section at the time of turning is set as an evaluation section at the time of departure,
The driving evaluation means analyzes the vehicle information of the evaluation section at the time of turning to evaluate the driving during the turning, and evaluates the driving at the time of entering the intersection by analyzing the vehicle information of the evaluation section at the time of entering. 7. The driving evaluation apparatus according to claim 5, wherein the vehicle information in the evaluation section at the time of leaving is analyzed to evaluate driving at the time of leaving the intersection.   The evaluation section setting means sets the evaluation section based on the position of the intersection when a plurality of the characteristic points are not detected in the predetermined area, and further, based on the intersection among the evaluation sections. A predetermined range from a reference position is set as the evaluation section during turning, a predetermined section upstream of the evaluation section during turning is set as the evaluation section during entry, and a predetermined section downstream of the evaluation section during turning is set as the departure section. The driving evaluation device according to claim 7, wherein the driving evaluation device is an evaluation section. The evaluation section setting means counts the number of feature points at the time of the right / left turn,
The driving evaluation device according to any one of claims 5 to 9, wherein the driving evaluation means outputs the number of characteristic points at the time of the right or left turn together with a result of the driving evaluation. On the computer,
In a predetermined area including an intersection to be evaluated, a point at which the vehicle speed included in the vehicle information acquired from the vehicle is minimized is detected as a feature point,
Set the evaluation section based on the feature point,
A driving evaluation method for acquiring the position and vehicle information of the vehicle traveling in the evaluation section, and analyzing the acquired vehicle information to evaluate driving when the vehicle goes straight through an intersection.

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