JP2015125560A - Drive diagnosis apparatus and drive diagnosis method - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a drive diagnosis apparatus and a drive diagnosis method which are capable of teaching so that a driver pays attention to a surrounding condition when the driver performs a high-risk driving.SOLUTION: A method includes: detecting a vehicular travel state of a vehicle itself from when the vehicle approaches an intersection to when the vehicle passes it; determining whether a driver of the vehicle itself has performed a risky driving on the basis of the detected travel state; and issuing notification along with a risky target object and a direction of the object relative to the vehicle itself in accordance with the detected travel state after the vehicle passes the intersection in the case where the driver of the vehicle is determined to have performed the risky driving.

Description

  The present invention relates to a driving diagnosis device and a driving diagnosis method.

  As this type of technique, a technique described in Patent Document 1 below is disclosed. In this document, if the vehicle speed exceeds the speed limit, the guide will “Let's drive with speed limit in mind” and the distance between the vehicle and the vehicle ahead is less than the threshold. Is disclosed to guide "Let's take an appropriate distance between vehicles."

Japanese Patent Application No. 2010-237829

In the technique described in Patent Document 1 above, the guidance contents only refer to the driver's operation, and there is a problem that attention is concentrated on correcting the operation and it is difficult to pay attention to the surrounding situation. It was.
The present invention pays attention to the above problems, and the purpose of the present invention is to provide a driving diagnosis apparatus and driving capable of teaching a driver to pay attention to surrounding conditions when driving at high risk. It is to provide a diagnostic method.

  In order to solve the above problems, in the first invention and the second invention, the vehicle running state of the host vehicle from when the host vehicle approaches the intersection until it passes through is detected, and the driver of the host vehicle determines from the detected running state. If it is determined whether or not the driver of the vehicle is driving at risk, and it is determined that the driver of the host vehicle is driving at risk, the object of risk is determined according to the detected driving state after passing through the intersection. And the direction of the object relative to the host vehicle is notified.

  Therefore, in the first invention and the second invention, it is possible to make the driver recognize which direction and which object should pay attention to the own vehicle.

FIG. 2 is a control block diagram of the driving diagnosis apparatus of the first embodiment. 3 is a flowchart illustrating a flow of processing for driving diagnosis performed in a control unit according to the first embodiment. 3 is a flowchart illustrating a flow of processing for driving diagnosis performed in a control unit according to the first embodiment. 6 is a flowchart illustrating a flow of processing for selecting an intersection shape icon, an attention object icon, and a voice message according to the first embodiment. 6 is a diagram illustrating an example of display icons according to Embodiment 1. FIG. 3 is a table showing combinations of intersection shape icons, attention target icons, and voice messages according to the first embodiment. FIG. 6 is a control block diagram of the driving diagnosis apparatus of the second embodiment. 6 is a flowchart showing a flow of processing of driving diagnosis performed in a control unit of Example 2. 6 is a flowchart showing a flow of processing of driving diagnosis performed in a control unit of Example 2. 10 is a flowchart showing a flow of processing for selecting an intersection shape icon, an attention object icon, and a voice message according to the second embodiment. FIG. 6 is a diagram illustrating an example of display icons according to the second embodiment. 10 is a table showing combinations of intersection shape icons, attention target icons, and voice messages in Example 2. 10 is a table showing an example of a driving operation message according to an intersection passing direction of the own vehicle of Example 2 and a cause of an Index becoming a first predetermined value or less. FIG. 6 is a control block diagram of the driving diagnosis apparatus of the third embodiment. 6 is a flowchart showing a flow of processing of driving diagnosis performed in a control unit of Example 3. 6 is a flowchart showing a flow of processing of driving diagnosis performed in a control unit of Example 3. 12 is a flowchart showing a flow of processing for selecting an intersection shape icon, a caution target icon, and a voice message (caution target message) according to the third embodiment. 10 is a table showing combinations of intersection shape icons, attention target icons, and voice messages in Example 3. FIG. 6 is a control block diagram of the driving diagnosis apparatus of the fourth embodiment. 10 is a flowchart showing a flow of processing of driving diagnosis performed in a control unit of Example 4. 10 is a flowchart showing a flow of processing of driving diagnosis performed in a control unit of Example 4.

Example 1
[Control block]
FIG. 1 is a control block diagram of the driving diagnosis apparatus. The driving diagnosis apparatus includes a vehicle speed sensor 1, an acceleration sensor 2, a yaw rate sensor 3, a rudder angle sensor 4, a turn signal switch 5, a speaker 6, a monitor 7, and a control unit 8.

The vehicle speed sensor 1 detects the vehicle speed of the host vehicle.
The acceleration sensor 2 detects the longitudinal acceleration and lateral acceleration of the host vehicle.
The yaw rate sensor 3 detects a rotational angular velocity (yaw rate) about the vertical axis passing through the center of gravity of the host vehicle.

The steering angle sensor 4 detects the steering amount and steering direction of the steering wheel.
The turn signal switch 5 displays a winker indicating a right turn or a left turn by a driver's operation.
The speaker 6 is installed in the vehicle and outputs a voice message to the driver.
The monitor 7 is installed in the vehicle and outputs images, pictures, characters, etc. to the driver.

  The control unit 8 includes a driving behavior detection unit 8a, an intersection passage determination unit 8b, an intersection passage direction detection unit 8c, a driving diagnosis unit 8d, an intersection shape icon storage unit 8e, an attention object icon storage unit 8f, and a voice A message storage unit 8g and a human machine interface (HMI) control unit 8h are included.

  The driving behavior detection unit 8a includes vehicle speed information from the vehicle speed sensor 1, acceleration information from the acceleration sensor 2, yaw rate information from the yaw rate sensor 3, steering amount and steering direction information from the steering angle sensor 4, and from the turn signal switch 5. Enter the switch operating direction information. The driving behavior detection unit 8a outputs each information to the intersection passage determination unit 8b and the intersection passage direction detection unit 8c.

  The intersection passage determination unit 8b determines whether or not the host vehicle has passed the temporary stop intersection or whether or not the vehicle has passed through the intersection by turning right and left. When it is determined that the host vehicle has passed the temporary stop intersection or has made a right / left turn at the intersection, the determination result is output to the driving diagnosis unit 8d.

  The determination that the host vehicle has passed the temporary stop intersection is made based on the vehicle speed information and the longitudinal acceleration information. When the differential (jerk) between the vehicle speed and the longitudinal acceleration is equal to or greater than a predetermined value, it is determined that the driving operation is conscious of the stop line and that the vehicle has passed the temporary stop intersection. When the jerk is less than a predetermined value, it is determined that the intersection is not a temporary stop intersection but a signal.

  The determination that the host vehicle has passed through the intersection after turning right and left is performed based on the steering amount information and the yaw rate information. When the change amount of the steering amount and the change amount of the yaw rate are equal to or greater than a predetermined value, it is determined that the intersection is turned right or left. When the change amount of the steering amount and the change amount of the yaw rate are smaller than the predetermined values, it is determined that the vehicle is traveling on the curve.

  The intersection passing direction detector 8c detects the passing direction of the intersection based on the acceleration information, the steering direction information, and the yaw rate information. The lateral acceleration is detected based on the generation direction, the steering direction, and the yaw rate changing direction as to whether the intersection passing direction is a right turn, a left turn, or a temporary stop.

  The driving diagnosis unit 8d performs driving diagnosis when the intersection passage determination unit 8b determines that the host vehicle has passed the temporarily stopped intersection or has made a right / left turn at the intersection. The driving diagnosis is based on the intersection passing direction detected by the intersection passing direction detecting unit 8c and the driving behavior detected by the driving behavior detecting unit 8a to diagnose whether there is a risky driving behavior when passing the intersection. The risky driving behavior indicates non-stop or sudden acceleration at a temporarily stopped intersection, sudden acceleration / deceleration or sudden steering when turning right or left at the intersection.

The intersection shape icon storage unit 8e stores a crossroad intersection icon indicating a crossroad intersection.
The attention object icon storage unit 8f includes an oncoming vehicle icon arranged in the oncoming lane, a motorcycle icon arranged behind the oncoming vehicle, a motorcycle icon arranged on the left rear side of the own vehicle, the left-turned destination and the own vehicle side. Bicycle icons and pedestrian icons arranged on the left and right of the road, and the character notation icon “GOOD” are stored.

  The voice message storage unit 8g says, “It ’s good driving, let's continue driving”, “There is a possibility of a collision with an oncoming vehicle, a motorcycle, a bicycle, a pedestrian at a bent point”, “ There is a possibility of a collision with a bicycle or a pedestrian at the time of entrainment or turning, and a voice message such as “There is a possibility of a collision with a bicycle or a pedestrian” is stored.

  The HMI control unit 8h selects a voice message to be taught to the driver from the voice message storage unit 8g based on the diagnosis result of the driving diagnosis unit 8d, generates a voice from the speaker 6, the intersection shape icon storage unit 8e and the attention object A display icon is selected from the icon storage unit 8f and displayed on the monitor 7.

  If the driving diagnosis result is driving above the specified value, the voice message is “Good driving, let's continue driving in that condition” and select the message to continue the corresponding driving behavior, such as “GOOD” Select the display icon.

  If the driving diagnosis result is a dangerous driving less than the predetermined value, select a voice message according to the passing direction, and select the crossing intersection icon as the intersection shape icon and the attention target icon to be placed on the crossing intersection icon as the attention target icon select.

  The attention object icons are combinations of various icons corresponding to the three types of right turn, left turn, and temporary stop, which are the passage directions detected by the intersection passage direction detection unit 8c. In the case of a right turn at an intersection, a total of four icons, an oncoming vehicle icon, a subsequent motorcycle icon, and a bicycle icon and a pedestrian icon are combined on the right and left of the right turn destination road. In the case of a left turn at an intersection, a combination of a bike icon placed on the left rear side of the vehicle and a bicycle icon and a pedestrian icon on the left and right of the left turn destination road are combined. When the intersection is temporarily stopped, it is assumed that two bicycle icons and a pedestrian icon are combined on the left and right sides of the road on the own vehicle side.

The voice message is a passing direction detected by the intersection passing direction detection unit 8c. The voice message is a combination of various icons corresponding to the three types of right turn, left turn, and pause. The voice message is detected by the intersection passing direction detection unit 8c. It is assumed that the message corresponds to three types of directions: right turn, left turn, and pause. If you turn right at the intersection, select “There is a possibility of a collision with an oncoming vehicle, a motorcycle, a bicycle or a pedestrian at a bent point”. If you turn left at the intersection, select "There is a possibility of a collision with a bicycle or a pedestrian at the end of a turn or turn." If the intersection is paused, select “There is a possibility of a collision with a bicycle or pedestrian”.

[Driving diagnosis processing]
FIG. 2 and FIG. 3 are flowcharts showing the flow of operation diagnosis processing performed in the control unit 8. FIG.

In step S1, it is determined whether or not the ignition switch is on. When it is on, the process proceeds to step S2, and when it is not on (off), the process of step S1 is repeated.
In step S2, output signals of the vehicle speed sensor 1, the acceleration sensor 2, the yaw rate sensor 3, the rudder angle sensor 4, and the turn signal switch 5 are acquired in the driving behavior detection unit 8a.

  In step S3, it is determined from the steering direction information whether or not the vehicle has made a right or left turn at the intersection. If the vehicle has made a right or left turn, the process proceeds to step S5. If the vehicle has not made a right or left turn, the process proceeds to step S4.

  In step S4, it is determined whether or not a pause action is detected. If a pause action is detected, the process proceeds to step S5. If a pause action is not detected, the process proceeds to step S3. The detection of the pause action is performed when a differential value (jerk) of the longitudinal acceleration is obtained from the longitudinal acceleration information and the jerk becomes a predetermined value or more.

  In step S5, it is determined whether or not the steering wheel is in a neutral state from the steering amount information. If the steering wheel is in a neutral state, the process proceeds to step S6. If not, the process in step S5 is repeated.

  In step S6, it is determined whether or not the pause action has ended. When the pause action has ended, the process proceeds to step S7, and when the pause action has not ended, the process of step S6 is repeated. The determination that the pause has ended is made when the jerk becomes less than a predetermined value.

  In step S7, the intersection passing action is digitized (index calculation), and the process proceeds to step S8. The numerical value of the intersection passing behavior is calculated such that the smaller the jerk when passing through the intersection, the less the pause is made and the smaller the Index value. Further, it is determined that the vehicle is making a sharp turn as the yaw rate at the time of passing through the intersection increases, and the index value is calculated to be smaller.

In step S8, it is determined whether or not Index is less than or equal to a first predetermined value. When the index is less than or equal to the first predetermined value, the process proceeds to step S9, and when greater than the first predetermined value, the process proceeds to step S18.
In step S9, a crossroad intersection icon is selected from the intersection shape icon storage unit 8e, and the process proceeds to step S10.

In step S10, it is determined whether the index is equal to or less than the first predetermined value because it is a sudden turn or because it is not temporarily stopped. When a sudden turn is made, the process proceeds to step S11. When the temporary stop is not performed, the process proceeds to step S14.
In step S11, it is determined whether the steering direction is a right turn or a left turn. If the turn is right, the process proceeds to step S12. If the turn is left, the process proceeds to step S13.

  In step S12, an oncoming vehicle icon arranged in the oncoming lane from the attention object icon storage unit 8f, a motorcycle icon arranged behind the oncoming vehicle, a bicycle icon and a pedestrian icon arranged on the right or left of the intersection or on the crossing road Is selected and the process proceeds to step S15.

  In step S13, the motorcycle icon arranged on the left rear side of the host vehicle, the bicycle icon arranged on the left and right of the intersection and the left and right pedestrian icons and the pedestrian icon are selected from the attention object icon storage unit 8f, and the process proceeds to step S15. To do.

In step S14, bicycle icons and pedestrian icons arranged on the left and right of the road on the own vehicle side are selected from the attention object icon storage unit 8f, and the process proceeds to step S15.
In step S15, a display icon in which the attention object icon is arranged at a predetermined position on the crossroad intersection icon is generated and output to the monitor 7.

In step S16, a voice message corresponding to each of a right turn, a left turn, and a temporary stop is selected, and the process proceeds to step S17.
In step S17, the selected voice message is output from the speaker 6.

  In step S18, a character icon of “Good” is output to the monitor 7, and a voice message “Good driving, continue driving in that condition” is output from the speaker 6, and the process proceeds to step S19.

In step S19, it is determined whether or not the voice message has ended. If it has ended, the process proceeds to step S20. If it has not ended, the process in step S19 is repeated.
In step S20, it is determined whether or not the ignition switch is off. If it is off, the process ends. If it is not off (on), the process proceeds to step S2.

[Icon / message selection processing]
FIG. 4 is a flowchart showing a flow of processing for selecting an intersection shape icon, an attention object icon, and a voice message.
In step S21, it is determined whether or not Index is less than or equal to a first predetermined value. If the index is less than or equal to the first predetermined value, the process proceeds to step S22, and if greater than the first predetermined value, the process of step S21 is repeated.

In step S22, a crossroad intersection icon is selected from the intersection shape icon storage unit 8e, and the process proceeds to step S23.
In step S23, the intersection passing direction of the host vehicle is detected, and the process proceeds to step S24.

In step S24, it is determined whether the index is equal to or less than the first predetermined value because the yaw rate has increased due to a sudden turn or because the jerk has decreased because no temporary stop has been performed, and the yaw rate has increased. If the jerk becomes larger, the process proceeds to step S30.
In step S25, it is determined from the steering direction information of the rudder angle sensor 4 whether it is a right turn or a left turn. If it is a left turn, the process proceeds to step S26, and if it is a right turn, the process proceeds to step S28.

In step S26, the motorcycle icon arranged on the left rear side of the host vehicle, the bicycle icon arranged on the left and right of the crossing road and the pedestrian icon are selected from the attention object icon storage unit 8f, and the process proceeds to step S27. To do.
In step S27, the message “There is a possibility of a collision with a bicycle or a pedestrian at a bent or bent point” is selected from the voice message storage unit 8g.

In step S28, an oncoming vehicle icon arranged in the oncoming lane from the attention object icon storage unit 8f, a motorcycle icon arranged behind the oncoming vehicle, a bicycle icon and a pedestrian icon arranged on the right and left of the intersection and on the right and left of the crossing road Is selected and the process proceeds to step S29.
In step S29, the message “There is a possibility of a collision with an oncoming vehicle, a motorcycle, a bicycle or a pedestrian at a bent point” is selected from the voice message storage unit 8g.

In step S30, a bicycle icon and a pedestrian icon arranged on the left and right of the road on the own vehicle side are selected from the attention object icon storage unit 8f, and the process proceeds to step S31.
In step S31, the message “There is a possibility of collision with a bicycle or a pedestrian” is selected from the voice message storage unit 8g.

[Diagnosis processing operation]
(When turning right)
When making a right turn while turning sharply at the intersection, in the flowchart of FIG. 2 and FIG. 3, step S1, step S2, step S3, step S4, step S5, step S6, step S7, step S8, step S9, step S10, step Step S11 → Step S12 → Step S15 → Step S16 → Step S17 → Step S19 → Step S20.

  In step S12, the oncoming vehicle icon arranged in the oncoming lane from the attention object icon storage unit 8f, the motorcycle icon arranged behind the oncoming vehicle, the bicycle icon and the pedestrian icon arranged on the right and left of the crossing road Select. In step S15, a display icon in which the attention object icon selected in step S12 is arranged at a predetermined position on the crossroad intersection icon is generated and output to the monitor 7. In step S16, the voice message corresponding to the right turn is selected. In step S17, the voice message selected in step S16 is output from the speaker 6.

(When turning left)
When making a left turn while turning sharply at the intersection, in the flowchart of FIG. 2 and FIG. 3, step S1, step S2, step S3, step S4, step S5, step S6, step S7, step S8, step S9, step S10, step Step S11 → Step S13 → Step S15 → Step S16 → Step S17 → Step S19 → Step S20.

  In step S13, a motorcycle icon arranged on the left rear side of the host vehicle, a bicycle icon arranged on the left and right of the intersection road, and a pedestrian icon are selected from the attention object icon storage unit 8f. In step S15, a display icon in which the attention object icon selected in step S12 is arranged at a predetermined position on the crossroad intersection icon is generated and output to the monitor 7. In step S16, the voice message corresponding to the left turn is selected. In step S17, the voice message selected in step S16 is output from the speaker 6.

(When not temporarily stopped)
2 and 3 in the flowchart of FIG. 2 and FIG. 3, in the flowchart of FIG. 2 and FIG. 3, step S1, step S2, step S3, step S4, step S5, step S6, step S7, step S8, step S9, step S10, step The process proceeds from S14 to step S15 to step S16 to step S17 to step S19 to step S20.

  In step S14, bicycle icons and pedestrian icons arranged on the left and right sides of the road on the own vehicle side are selected from the attention object icon storage unit 8f. In step S15, a display icon in which the attention object icon selected in step S12 is arranged at a predetermined position on the crossroad intersection icon is generated and output to the monitor 7. In step S16, a voice message corresponding to pause / non-stop is selected. In step S17, the voice message selected in step S16 is output from the speaker 6.

(When driving with low risk)
If there is no risky driving action when passing the intersection, in the flowchart of FIG. 2 and FIG. 3, in step S1 → step S2 → step S3 → step S4 → step S5 → step S6 → step S7 → step S8 → step S18 → step Proceed from S19 to step S20.

  In step S18, the text icon “Good” is output to the monitor 7 and a voice message “Good driving, let's continue driving in that condition” is output from the speaker 6.

[Icon / message selection processing operation]
FIG. 5 is a diagram showing examples of display icons. FIG. 6 is a table showing combinations of intersection shape icons, attention target icons, and voice messages.

Each of the attention target icons has a high contrast ratio with respect to the surroundings, and is displayed in red as a color meaning a danger. The own vehicle icon uses a different color from each caution target icon.
The voice message conveys the words corresponding to each caution target icon and the possibility of collision when driving at a high risk.

(Left turn sudden turn)
When making a left turn while making a sharp turn at the intersection, the process proceeds from step S21 → step S22 → step S23 → step S24 → step S25 → step S26 → step S27 in the flowchart of FIG.

  In step S22, the crossroad intersection icon is selected, and in step S26, the motorcycle icon placed on the left rear side of the host vehicle, the left-turned destination, the bicycle icon placed on the left and right of the intersection road, and the pedestrian icon are selected. A display icon as shown in 5 (a) is generated. In step S27, as shown in Fig. 6 (a), select "There is a possibility of collision with a bicycle or a pedestrian at the end of a turn or turn" and output an audio message with an icon display. .

  The bike icon is now selected so that you can imagine the possibility of getting involved in a bike or bicycle that is behind the car when turning left. This motorcycle icon suggests the possibility of a motorcycle on the left rear side of the own vehicle, which is often overlooked, and has a shape seen from above, and is arranged on the left rear side of the own vehicle icon.

  Furthermore, the bicycle icon and the pedestrian icon were selected so that the possibility of the pedestrian and the bicycle crossing the pedestrian crossing after the left turn could be imaged. There is a high possibility that the bicycle icon and the pedestrian icon are crossing the pedestrian crossing, but it is difficult to specify the crossing direction. Image of the person jumping out from both left and right directions. Since the approach speed differs between the bicycle and the pedestrian, the bicycle icon and the pedestrian icon are not combined into one icon, but are provided as different icons.

  The voice message was first spoken about the possibility of a collision with the motorcycle during a left turn, and then the possibility was spoken to the bicycle or pedestrian ahead of the left turn. In addition, by adding the word “Before the turn”, it is not necessary to classify right and left turns, and since the voice message is generated immediately after the driver passes the intersection, the driver can To understand the message.

(Right turn sudden turn)
When making a right turn while making a sharp turn at the intersection, the process proceeds from step S21 → step S22 → step S23 → step S24 → step S25 → step S28 → step S29 in the flowchart of FIG.

  In step S22, a crossroad intersection icon is selected, an oncoming vehicle icon placed on the oncoming lane in step S28, a motorcycle icon placed behind the oncoming vehicle, a bicycle icon placed on the right or left of the intersection or on the right and left of the crossing road, and walking A person icon is selected to generate a display icon as shown in FIG. In step S29, as shown in Fig. 6 (b), select "There is a possibility of a collision with an oncoming vehicle, a motorcycle, a bicycle or a pedestrian at a bent point", and an audio message with an icon display. Is output.

  The car icon and the bike icon are selected so that you can imagine the leading vehicle on the opposite lane when turning right and the possibility of a motorcycle that cannot be seen behind the shadow of this leading vehicle. The car icon indicates the head car of the oncoming lane, and is shaped as seen from the front, and is placed at the head of the oncoming lane on the crossroad intersection icon. In addition, the motorcycle icon suggests the possibility that it exists in a position that cannot be seen by the driver after the head vehicle in the oncoming lane. Like the oncoming vehicle icon, the motorcycle icon has the shape seen from the front, and the car icon on the crossroads intersection icon Arranged immediately after.

  Furthermore, the bicycle icon and the pedestrian icon were selected so that the possibility of pedestrians and bicycles crossing the pedestrian crossing after the right turn was selected. There is a high possibility that the bicycle icon and the pedestrian icon are crossing the pedestrian crossing, but it is difficult to specify the crossing direction. Image of the person jumping out from both left and right directions. Since the approach speed differs between the bicycle and the pedestrian, the bicycle icon and the pedestrian icon are not combined into one icon, but are provided as different icons.

  The voice message was first spoken about the possibility of a collision with an oncoming vehicle in the right turn and then the motorcycle, and then the possibility was spoken to the bicycle and pedestrian after the right turn. . In addition, by adding the word “Before the turn”, it is not necessary to classify right and left turns, and since the voice message is generated immediately after the driver passes the intersection, the driver can To understand the message.

(Temporary non-stop)
If the intersection is not temporarily stopped, the process proceeds from step S21 to step S22 to step S23 to step S24 to step S30 to step S31 in the flowchart of FIG.

  In step S22, a crossroad intersection icon is selected, and in step S30, bicycle icons and pedestrian icons arranged on the left and right of the road on the own vehicle side arranged in the opposite lane are selected, as shown in FIG. Generate a display icon. In step S31, as shown in FIG. 6 (c), “There is a possibility of collision with a bicycle or a pedestrian” is selected, and an audio message is output together with an icon display.

  Cars and motorcycles traveling on cross roads are left-hand traffic, and it is assumed by drivers themselves that cars and motorcycles coming from the left side are the fastest possible approach when their vehicle enters the cross road It seems to have done. Near the intersection, the speed of the vehicle is relatively slow, and the surrounding optical flow is slowing down. The cars and motorcycles that run on the intersection are faster and more attractive, and notice cars and motorcycles. Cheap. On the other hand, discovery is often delayed for bicycles and pedestrians whose speed is slow and the approaching direction and traffic zone are not limited.

  Therefore, bicycles and pedestrians who are apt to forget the driver's assumptions and are hard to notice even if they are present in the vicinity of the host vehicle are selected as the attention objects. And the direction with respect to the own vehicle was arrange | positioned on the right and left of the road of the own vehicle side so that the jumping out from both right and left directions could be imaged. Since the approach speed differs between the bicycle and the pedestrian, the bicycle icon and the pedestrian icon are not combined into one icon, but are provided as different icons. In addition, the voice message suggests that there was a possibility of collision between the vehicle and the bicycle and pedestrian, and from the word bicycle and pedestrian, there is no disorderly movement or direction of travel (ie, approaching). It is possible to imagine that there is a possibility of both left and right directions.

[Action]
Conventionally, there are those that generate voice messages such as “Let's drive with speed limit consciousness” and “Let an appropriate distance between vehicles” according to the driving operation of the driver. However, since the content of the voice message only mentions the driver's operation, the focus was concentrated on correcting the operation, and the driver might not be able to focus on danger prediction such as paying attention to the surroundings . Specifically, in response to a voice message “Let's drive while being aware of the speed limit”, the driver is too conscious of the speed limit and concentrates on the accelerator pedal operation. In addition, with respect to the voice message “Let's take an appropriate inter-vehicle distance”, too much attention is focused on the accelerator pedal operation and the brake pedal operation because the inter-vehicle distance is maintained. As a result, the driver may forget to pay attention to pedestrians, bicycles and surrounding vehicles.

  Therefore, in Example 1, when it is determined that the driver of the own vehicle is driving at risk, after passing through the intersection, the risk object and the object for the own vehicle are determined according to the detected traveling state. Announcement was made by voice along with the direction.

  Since the driver hears a voice message immediately after passing the intersection, the driver can easily imagine the shape of the intersection. It is easy to imagine which direction and which object should be paid attention to.

  In addition to the risky driving operations, the driving car specifically indicates which driving operation should have been performed in addition to which driving operation was at risk. Since it is possible to recollect before forgetting, it is possible to promote a change in consciousness so as to improve the behavior from the driving operation at the next intersection.

  In the first embodiment, when it is determined that the host vehicle has not paused before the intersection, the risk object is set as a bicycle and a pedestrian, and the direction of the object is notified as the left-right direction.

  It is easy for a driver to forget to assume that the driver should be alerted, and to make the driver recognize bicycles and pedestrians that are difficult to notice even if they are in the vicinity of the vehicle. it can. The driver can be reminded of the image popping out from both the left and right directions for bicycles and pedestrians who do not have regular behavior patterns compared to cars and motorcycles.

  Further, in Example 1, when it is determined that the own vehicle has made a sudden turn when passing through the intersection, and the subject vehicle makes a right turn at the intersection, the object of risk is an automobile, a motorcycle, a bicycle, and a pedestrian. The position of the vehicle is the front of the car, the motorcycle is the back of the car, the bicycle and the pedestrian are on the right turn, and the subject of the risk is the car, motorcycle, bicycle and pedestrian when the vehicle turns left at the intersection. The position of the object is notified that the motorcycle is on the left rear side of the own vehicle, and that the bicycle and the pedestrian are on the left turn.

  When making a right turn, the driver can be made aware of the possibility that there is a leading vehicle in the oncoming lane or a motorcycle that cannot be seen behind the shadow of the leading vehicle. Also, when making a left turn, the driver can be made aware of the motorcycle on the left rear side of the vehicle, which is often overlooked. Furthermore, it is possible to remind the driver of the image of the bicycle and pedestrian crossing the pedestrian crossing after turning right and left from both sides.

[effect]
(1) A driving behavior detection unit 8a (intersection traveling state detection means) that detects the traveling state of the host vehicle from when the host vehicle approaches the intersection until it passes, and from the detected traveling state, the driver of the host vehicle Driving diagnosis unit 8d (risk determination means) that determines whether or not the vehicle is driving at risk, and when it is determined that the driver of the vehicle is driving at risk, it is detected after passing the intersection An HMI control unit 8h (notification means) that performs notification along with the direction of the object at risk and the direction of the object with respect to the host vehicle according to the traveling state is provided.
Therefore, it is possible to make the driver recognize which direction and which object should have paid attention to the host vehicle.

(2) The driving diagnosis unit 8d determines that the driver of the own vehicle is driving at risk when it is determined from the detected vehicle running state that the own vehicle has not paused before the intersection. The HMI control unit 8h notifies the risk target object as a bicycle and a pedestrian, and notifies the direction of the target object as the left-right direction.
Therefore, it is possible to make the driver recognize a bicycle and a pedestrian that are difficult to notice even if they exist in the vicinity of the host vehicle.

(3) When the driving diagnosis unit 8d determines that the host vehicle has made a sudden turn from the detected vehicle running state, the driving diagnosis unit 8d determines that the driver of the host vehicle is driving at risk, and the HMI control unit 8h When the vehicle turns right at the intersection, the risk object is the car, motorcycle, bicycle and pedestrian, the position of the object is the front of the car, the motorcycle is behind the car, and the bicycle and pedestrian are When the vehicle turns right and the vehicle turns left at the intersection, the object of risk is the car, motorcycle, bicycle, and pedestrian. The object is located on the left rear side of the vehicle. The person was informed that he had made a left turn.
Therefore, when making a right turn, the driver can also recognize the possibility of the presence of the leading vehicle in the oncoming lane and the motorcycle that cannot be seen behind the shadow of the leading vehicle. Also, when making a left turn, the driver can be made aware of the motorcycle on the left rear side of the vehicle, which is often overlooked. Furthermore, the driver can be made to recognize the bicycle and the pedestrian crossing the pedestrian crossing after the right or left turn.

(4) Detect the vehicle running state of the host vehicle from when the host vehicle approaches the intersection until it passes, and determine whether the driver of the host vehicle is driving at risk from the detected running state. When it is determined that the driver of the own vehicle is driving at risk, after passing through the intersection, notification is made along with the direction of the risk object and the direction of the object relative to the own vehicle according to the detected traveling state. I did it.
Therefore, it is possible to make the driver recognize which direction and which object should pay attention to the own vehicle from only the voice message.

(Claim 2)
Hereinafter, the driving diagnosis apparatus according to the second embodiment will be described, but the same components as those in the first embodiment are denoted by the same reference numerals and the description thereof will be omitted.

[Control block]
FIG. 7 is a control block diagram of the driving diagnosis apparatus. The driving diagnosis apparatus according to the second embodiment includes a navigation system 9 in addition to the configuration of the driving diagnosis apparatus according to the first embodiment.

The navigation system 9 includes a Global Positioning System (GPS) receiver 9a, a map database 9b, and a host vehicle position detector 9c.
The GPS receiver 9a receives signals from a plurality of GPS satellites.

  The map database 9b stores link information constituting roads and their connection points (that is, node information corresponding to intersections) in association with latitude / longitude information. Further, information on whether or not the intersection is a temporarily stopped intersection is also stored.

  The own vehicle position detection unit 9c calculates the position (latitude and longitude) of the own vehicle from the signal received by the GPS reception unit 9a, and travels on any road or intersection on the map database 9b from the calculated position of the own vehicle. To detect.

In addition to the configuration of the control unit 8 of the first embodiment, the control unit 8 includes an intersection detection unit 8i, an intersection shape detection unit 8j, and a driving action NG intersection storage unit 8k.
The intersection detection unit 8i detects from the information of the navigation system 9 that the host vehicle is approaching the intersection, and passes the intersection approach information to the driving behavior detection unit 8a, the intersection passage determination unit 8b, and the intersection shape detection unit 8j. Output.

  The intersection shape detection unit 8j acquires the shape of the intersection through which the host vehicle has passed from the map database 9b, and outputs the intersection shape information to the HMI control unit 8h. Examples of the intersection shape include a crossroad intersection, a T-junction intersection, a T-junction intersection, and a reverse T-junction intersection.

The driving action NG intersection storage unit 8k stores the position information (latitude and longitude information) of the intersection where the driver has driven at risk in the past, and when the own vehicle approaches the stored intersection, the intersection detection unit 8i Output intersection approach information.
The intersection shape icon storage unit 8e stores a T-shaped intersection icon, a T-shaped intersection icon, and a reverse-shaped intersection intersection icon in addition to the intersection crossing icon indicating the intersection.

[Driving diagnosis processing]
FIG. 8 and FIG. 9 are flowcharts showing the flow of operation diagnosis processing performed in the control unit 8. FIG.
In step S41, it is determined whether or not the ignition switch is on. If it is on, the process proceeds to step S42, and if it is not on (off), the process of step S41 is repeated.

In step S42, the position coordinates of the intersection where the driver has driven at risk in the past are input from the driving behavior NG intersection storage unit 8k, and the process proceeds to step S43.
In step S43, the current position coordinates of the host vehicle are acquired from the navigation system 9, and the process proceeds to step S44.

In step S44, it is determined whether or not the host vehicle is approaching an intersection (diagnosis target intersection) where the driver has driven at risk in the past. When approaching, the process proceeds to step S45 and is not approaching. Sometimes the process of step S44 is repeated.
In step S45, output signals of the vehicle speed sensor 1, the acceleration sensor 2, the yaw rate sensor 3, the rudder angle sensor 4, and the turn signal switch 5 are acquired in the driving behavior detection unit 8a.

  In step S46, it is determined whether or not a predetermined distance (for example, 20 [m]) has passed from the intersection to be diagnosed. When the predetermined distance has passed, the process proceeds to step S47, and when the predetermined distance has not been passed, the process of step S46 is performed. repeat.

  In step S47, it is determined from the steering amount information whether or not the steering wheel is in a neutral state. When the steering wheel is in a neutral state, the process proceeds to step S48, and when it is not in a neutral state, the process of step S47 is repeated.

In step S48, the intersection passing action is digitized (index calculation), and the process proceeds to step S49. The numerical value of the intersection passing behavior is calculated so that the faster the speed after the temporary stop, the quicker the start is, and the smaller the Index value. Further, it is determined that the pause is delayed as the pause position exceeds the stop line, and the index value is calculated to be small. Further, at the time of turning left or right, it is determined that the vehicle is turning faster as the vehicle speed is higher, the yaw rate is higher, or the steering amount of the steering wheel is larger, and the index value is calculated to be smaller. Further, it is determined that the vehicle is suddenly started as the acceleration at the intersection increases, and the index value is calculated to be small. In addition, it is determined that the brake is suddenly applied as the deceleration increases, and the index value is calculated to be small.
In step S49, it is determined whether or not Index is equal to or less than a first predetermined value. When the index is equal to or smaller than the first predetermined value, the process proceeds to step S50, and when larger than the first predetermined value, the process proceeds to step S60.

  In step S50, the intersection shape detection unit 8j detects the shape of the passing intersection from the information in the map database 9b. Then, in the HMI control unit 8h, an intersection icon corresponding to the shape of the intersection detected from the intersection shape icon storage unit 8e is selected.

  In step S51, the intersection passing direction detection unit 8c detects the intersection passing direction of the host vehicle. Further, in the driving diagnosis unit 8d, the cause of the Index being equal to or less than the first predetermined value is determined in Step S49. Based on the cause of the vehicle's intersection passing direction and the index being equal to or less than the first predetermined value, the attention object icon is selected from the attention object icon storage unit 8f, and the process proceeds to step S52.

  When the intersection passing direction is a left turn and the reason why the index is below the first predetermined value is that the deceleration is large, the motorcycle icon placed on the left rear side of the vehicle, the left turn point and the intersection road Select the left and right bicycle icons and pedestrian icons.

  When the intersection passing direction is a left turn and the index is less than the first predetermined value except when the deceleration is large, select the bicycle icon and pedestrian icon placed on the left and right of the intersection road To do.

When the intersection passing direction is a right turn, select the oncoming vehicle icon placed in the oncoming lane, the bike icon placed behind the oncoming vehicle, the bicycle icon placed on the right or left of the intersection road and the pedestrian icon To do.
When the intersection passing direction is temporarily stopped, a bicycle icon and a pedestrian icon arranged on the left and right sides of the road on the own vehicle side are selected.

  In step S52, a display icon in which the attention object icon selected in step S51 is arranged at a predetermined position on the intersection icon selected in step S50 is generated and output to the monitor 7.

  In step S53, it is determined whether or not Index is equal to or smaller than a second predetermined value. When the index is equal to or smaller than the second predetermined value, the process proceeds to step S54, and when larger than the second predetermined value, the process proceeds to step S57. The second predetermined value is set to a value smaller than the first predetermined value.

In step S54, a voice message is selected from the cause that the vehicle passing direction and the index are less than or equal to the first predetermined value, and the process proceeds to step S55. The voice message includes a message related to driving operation (driving operation message) and a message related to a target object (attention target message). The selection of the voice message will be described in detail later.
In step S55, a driving operation message is uttered, and the process proceeds to step S56.
In step S56, the attention target message is uttered, and the process proceeds to step S57.

In step S57, a voice message is selected based on the intersection passing direction of the host vehicle and the cause that the index is less than or equal to the first predetermined value, and the process proceeds to step S58. The voice message includes a message related to driving operation (driving operation message) and a message related to a target object (attention target message). The selection of the voice message will be described in detail later.
In step S58, the attention target message is uttered, and the process proceeds to step S57.
In step S59, a driving operation message is uttered and the process proceeds to step S56.

In step S60, a character icon “Good” is output to the monitor 7, and a voice message “Good driving, continue driving in that condition” is output from the speaker 6, and the process proceeds to step S61.
In step S61, it is determined whether or not the voice message has ended. If it has ended, the process proceeds to step S62, and if it has not ended, the process in step S61 is repeated.

In step S62, the position coordinates of the intersection where the index is less than or equal to the first predetermined value in step S49, the passing direction of the intersection, and the cause that the index is less than or equal to the first predetermined value are stored in the driving action NG intersection icon storage unit 8e. Store and move to step S63.
In step S63, it is determined whether or not the ignition switch is off. If it is off, the process ends. If it is not off (on), the process proceeds to step S42.

[Icon / message selection processing]
FIG. 10 is a flowchart showing a flow of processing for selecting an intersection shape icon, an attention object icon, and a voice message (attention object message).
In step S71, it is determined whether or not Index is equal to or less than a first predetermined value. When the index is equal to or smaller than the first predetermined value, the process proceeds to step S72, and when larger than the first predetermined value, the process of step S71 is repeated.

In step S72, the intersection shape detection unit 8j detects the shape of the intersection that has passed from the information in the map database 9b. Then, an intersection icon having a corresponding shape is selected from the intersection shape icon storage unit 8e, and the process proceeds to step S73.
In step S73, the intersection passing direction of the host vehicle is detected, and the process proceeds to step S74.

  In step S74, it is determined whether the intersection passing direction is left turn, right turn, or temporary stop. If the turn is left, the process proceeds to step S75. If the turn is right, the process proceeds to step S80, and if the stop is temporary, the process proceeds to step S82. To do.

  In step S75, it is determined whether or not the cause of the Index being equal to or less than the first predetermined value is that the deceleration is large. If the deceleration is the cause, the process proceeds to step S76, and the cause is the deceleration. If not, the process proceeds to step S78.

In step S76, the motorcycle icon placed on the left rear side of the host vehicle, the bicycle icon placed on the left and right of the intersection and the left and right pedestrian icons and the pedestrian icon are selected from the attention object icon storage unit 8f, and the process proceeds to step S77. To do.
In step S77, a message “There is a possibility of a collision with a bicycle or a pedestrian at the end of a turn or a turn” is selected as the attention message from the voice message storage unit 8g.

In step S78, bicycle icons and pedestrian icons arranged on the left and right sides of the left turn and the intersection road are selected from the attention object icon storage unit 8f, and the process proceeds to step S79.
In step S79, a message “There is a possibility of a collision with a bicycle or a pedestrian at the bent point” is selected as the attention target message from the voice message storage unit 8g.

In step S80, an oncoming vehicle icon arranged in the oncoming lane from the attention object icon storage unit 8f, a motorcycle icon arranged behind the oncoming vehicle, a bicycle icon and a pedestrian icon arranged on the right and left of the crossing road Is selected and the process proceeds to step S81.
In step S81, the message “There is a possibility of a collision with an oncoming vehicle, a motorcycle, a bicycle or a pedestrian at a bent point” is selected from the voice message storage unit 8g.

In step S82, bicycle icons and pedestrian icons arranged on the left and right of the road on the host vehicle side are selected from the attention object icon storage unit 8f, and the process proceeds to step S83.
In step S83, a message “There is a possibility of collision with a bicycle or a pedestrian” is selected from the voice message storage unit 8g.

[Diagnosis processing operation]
(Index is below the second predetermined value)
When the Index is less than or equal to the second predetermined value, in the flowcharts of FIG. 8 and FIG. 9, step S41 → step S42 → step S43 → step S44 → step S45 → step S46 → step S47 → step S48 → step S49 → step S50 → step Step S51 → Step S52 → Step S53 → Step S54 → Step S55 → Step S56 → Step S61 → Step S62 → Step S63.
In step S55, a driving operation message is uttered, and then in step S56, an attention target message is uttered.

(Index is less than the first predetermined value and larger than the second predetermined value)
When Index is less than or equal to the first predetermined value and greater than the second predetermined value, in the flowcharts of FIGS. 8 and 9, step S41 → step S42 → step S43 → step S44 → step S45 → step S46 → step S47 → step S48 Step S49 → Step S50 → Step S51 → Step S52 → Step S53 → Step S57 → Step S58 → Step S59 → Step S61 → Step S62 → Step S63
In step S58, an attention target message is uttered, and then in step S59, a driving operation message is uttered.

(Index is greater than the first predetermined value)
When the index is larger than the first predetermined value, in the flowcharts of FIGS. 8 and 9, step S41 → step S42 → step S43 → step S44 → step S45 → step S46 → step S47 → step S48 → step S49 → step S60 → step The process proceeds from S61 to step S62 to step S63.
In step S58, a character icon of “Good” is output to the monitor 7, and a voice message “Good driving, let's continue driving in that condition” is output from the speaker 6.

[Icon / message selection processing operation]
FIG. 11 is a diagram showing examples of display icons. FIG. 12 is a table showing combinations of intersection shape icons, attention target icons, and voice messages.

Each of the attention target icons has a high contrast ratio with respect to the surroundings, and is displayed in red as a color meaning a danger. The own vehicle icon uses a different color from each caution target icon.
The voice message conveys the words corresponding to each caution target icon and the possibility of collision when driving at a high risk.

(Left turn sudden deceleration)
When making a left turn after suddenly decelerating before the intersection, the process proceeds from step S71 → step S72 → step S73 → step S74 → step S75 → step S76 → step S77 in the flowchart of FIG.

  In step S72, the shape of the intersection that has passed is detected from the information in the map database 9b, and the intersection icon having the corresponding shape is selected. Here, it is assumed that the crossroad intersection icon is selected. Further, in step S76, a motorcycle icon arranged on the left rear side of the host vehicle, a bicycle icon and a pedestrian icon arranged on the left and right sides of the left turn and the crossing road are selected, as shown in FIG. Generate a display icon. In step S77, as shown in Fig. 12 (a), select "There is a possibility of a collision with a bicycle or a pedestrian at the end of a turn or turn" and output an audio message with an icon display. .

  The bike icon is now selected so that you can imagine the possibility of getting involved in a bike or bicycle that is behind the car when turning left. This motorcycle icon suggests the possibility of a motorcycle on the left rear side of the own vehicle, which is often overlooked, and has a shape seen from above, and is arranged on the left rear side of the own vehicle icon.

  Furthermore, the bicycle icon and the pedestrian icon were selected so that the possibility of contact between the pedestrian and the bicycle crossing the pedestrian crossing after the left turn was imaged. There is a high possibility that the bicycle icon and the pedestrian icon are crossing the pedestrian crossing, but it is difficult to specify the crossing direction. Image of the person jumping out from both left and right directions. Since the approach speed differs between the bicycle and the pedestrian, the bicycle icon and the pedestrian icon are not combined into one icon, but are provided as different icons.

  The voice message was first spoken about the possibility of a collision with the motorcycle during a left turn, and then the possibility was spoken to the bicycle or pedestrian ahead of the left turn. In addition, by adding the word “Before the turn”, it is not necessary to classify right and left turns, and since the voice message is generated immediately after the driver passes the intersection, the driver can To understand the message.

(Left turn sudden turn)
When making a left turn while making a sharp turn at the intersection, the process proceeds from step S71 to step S72 to step S73 to step S74 to step S75 to step S78 to step S79 in the flowchart of FIG.

  In step S72, the shape of the intersection that has passed is detected from the information in the map database 9b, and the intersection icon having the corresponding shape is selected. Here, it is assumed that the crossroad intersection icon is selected. In step S78, bicycle icons and pedestrian icons arranged on the left and right sides of the left turn and on the crossing road are selected to generate a display icon as shown in FIG. 11 (b). In step S79, as shown in FIG. 12 (b), “There is a possibility of a collision with a bicycle or a pedestrian after turning” is selected, and an audio message is output together with an icon display.

  Bicycle icon and pedestrian icon were selected so that you can imagine the possibility of pedestrians and bicycles crossing the pedestrian crossing after the left turn. There is a high possibility that the bicycle icon and the pedestrian icon are crossing the pedestrian crossing, but it is difficult to specify the crossing direction. Image of the person jumping out from both left and right directions. Since the approach speed differs between the bicycle and the pedestrian, the bicycle icon and the pedestrian icon are not combined into one icon, but are provided as different icons.

  The voice message uses the phrase “Before the turn”, so there is no need to classify right and left turns, and the voice message occurs immediately after the driver passes the intersection. The message can be understood by connecting to the operation.

(Right turn sudden turn)
When making a right turn while making a sharp turn at the intersection, the process proceeds from step S71 → step S72 → step S73 → step S74 → step S80 → step S81 in the flowchart of FIG.

  In step S72, the shape of the intersection that has passed is detected from the information in the map database 9b, and the intersection icon having the corresponding shape is selected. Here, it is assumed that the crossroad intersection icon is selected. In step S80, an oncoming vehicle icon arranged in the oncoming lane, a motorcycle icon arranged behind the oncoming vehicle, a bicycle icon and a pedestrian icon arranged on the right and left of the intersection and the crossing road are selected. A display icon as shown in (c) is generated. In step S81, as shown in Fig. 6 (c), select "There is a possibility of a collision with an oncoming vehicle, a motorcycle, a bicycle or a pedestrian at a bent point", and an audio message with an icon display. Is output.

  The car icon and the bike icon are selected so that you can imagine the leading vehicle on the opposite lane when turning right and the possibility of a motorcycle that cannot be seen behind the shadow of this leading vehicle. The car icon indicates the head car of the oncoming lane, and is shaped as seen from the front, and is placed at the head of the oncoming lane on the crossroad intersection icon. In addition, the motorcycle icon suggests the possibility that it exists in a position that cannot be seen by the driver after the head vehicle in the oncoming lane. Like the oncoming vehicle icon, the motorcycle icon has the shape seen from the front, and the car icon on the crossroads intersection icon Arranged immediately after.

  Furthermore, the bicycle icon and the pedestrian icon were selected so that the possibility of pedestrians and bicycles crossing the pedestrian crossing after the right turn was selected. There is a high possibility that the bicycle icon and the pedestrian icon are crossing the pedestrian crossing, but it is difficult to specify the crossing direction. Image of the person jumping out from both left and right directions. Since the approach speed differs between the bicycle and the pedestrian, the bicycle icon and the pedestrian icon are not combined into one icon, but are provided as different icons.

  The voice message was first spoken about the possibility of a collision with an oncoming vehicle in the right turn and then the motorcycle, and then the possibility was spoken to the bicycle and pedestrian after the right turn. . In addition, by adding the word “Before the turn”, it is not necessary to classify right and left turns, and since the voice message is generated immediately after the driver passes the intersection, the driver can To understand the message.

(Temporary non-stop)
When the intersection is not temporarily stopped, the process proceeds from step S71 to step S72, step S73, step S74, step S82, and step S83 in the flowchart of FIG.

  In step S72, the shape of the intersection that has passed is detected from the information in the map database 9b, and the intersection icon having the corresponding shape is selected. Here, it is assumed that the T-junction intersection icon is selected. In step S82, bicycle icons and pedestrian icons arranged on the left and right of the road on the own vehicle side arranged in the oncoming lane are selected, and a display icon as shown in FIG. 11 (d) is generated. In step S83, as shown in FIG. 12 (d), “There is a possibility of collision with a bicycle or a pedestrian” is selected, and an audio message is output together with an icon display.

  Cars and motorcycles traveling on cross roads are left-hand traffic, and it is assumed by drivers themselves that cars and motorcycles coming from the left side are the fastest possible approach when their vehicle enters the cross road It seems to have done. Near the intersection, the speed of the vehicle is relatively slow, and the surrounding optical flow is slowing down. The cars and motorcycles that run on the intersection are faster and more attractive, and notice cars and motorcycles. Cheap. On the other hand, discovery is often delayed for bicycles and pedestrians whose speed is slow and the approaching direction and traffic zone are not limited.

  Therefore, bicycles and pedestrians who are apt to forget the driver's assumptions and are hard to notice even if they are present in the vicinity of the host vehicle are selected as the attention objects. And the direction with respect to the own vehicle was arrange | positioned on the right and left of the road of the own vehicle side so that the jumping out from both right and left directions could be imaged. Since the approach speed differs between the bicycle and the pedestrian, the bicycle icon and the pedestrian icon are not combined into one icon, but are provided as different icons. In addition, the voice message suggests that there was a possibility of collision between the vehicle and the bicycle and pedestrian, and from the word bicycle and pedestrian, there is no disorderly movement or direction of travel (ie, approaching). It is possible to imagine that there is a possibility of both left and right directions.

[Operation message]
The driving operation message teaches which operation in the driver's driving operation has been diagnosed as driving at a high risk, and what operation should be used to drive at a low risk. FIG. 13 is a table showing an example of a driving operation message according to the intersection passing direction of the host vehicle and the cause of the Index being equal to or less than the first predetermined value.

If the intersection direction is a temporary stop and the vehicle speed is too high or no stop (vehicle speed is almost zero) is detected, the message “Speed is too fast” or “Get out slowly” select.
When the intersection passing direction is temporarily stopped and the stop position of the host vehicle exceeds the stop line, the messages “Stop position is too late” and “Let's stop before” are selected.

  When the intersection direction is a left / right turn, the vehicle speed is too high, the yaw rate is too high, or the steering amount of the steering wheel is too high, the message “Turn too quickly” or “Turn smoothly” is selected.

If the intersection direction is a pause or turn left and right and the acceleration is too high, select the message "Acceleration is too strong" or "Let's accelerate slowly".
If the intersection direction is a left turn and the deceleration is too high, select the message “Decelerate too slowly” or “Decelerate before”.

[Action]
In Example 2, in the driving message, “Velocity is too fast” “Stop position is too slow” “Hurry too much” “ "Too strong", "Deceleration is too slow" and so on. After that, as a voice message that teaches how to improve risky driving operations, “Let's come out slowly”, “Let's stop in front”, “Let's turn smoothly”, “Let's accelerate slowly”, “ Let ’s slow down before. ”

  By uttering the driving operation message together with the attention object message, it is possible to recall an object to be noted for preventing contact, and to recognize a driving operation for avoiding contact with the attention object.

When the index is less than or equal to the second predetermined value, the driving operation message is uttered first, and then the attention object message is uttered. On the other hand, when Index is less than or equal to the first predetermined value and greater than the second predetermined value, the attention object message is uttered first, followed by the driving operation message.
As a result, when the index is less than or equal to the second predetermined value, the message can be stricter than when the index is less than or equal to the first predetermined value and greater than the second predetermined value.

[effect]
(5) The HMI control unit 8h speaks out the reason why the driver of the host vehicle is driving at risk and then speaks out how to improve driving.
Therefore, the reason why the driver of the host vehicle determines that the driver is driving at risk can be recognized first, so that the driver can easily accept the driving improvement method and promote the improvement of driving. it can.

(6) The HMI control unit 8h notifies the risk target object as a bicycle and a pedestrian when the host vehicle makes a left turn at the intersection, and notifies the bicycle and the pedestrian that the bicycle and the pedestrian have made a left turn.
Therefore, the driver can recognize the bicycle and the pedestrian crossing the pedestrian crossing after the left turn.

(7) When the driving diagnosis unit 8d determines that the host vehicle has suddenly decelerated from the detected vehicle running state, the driving diagnosis unit 8d determines that the driver of the host vehicle is driving at risk, and the HMI control 8h When the vehicle turns left at the intersection, the object of risk is the motorcycle, bicycle and pedestrian, the position of the object is the left rear side of the vehicle, and the bicycle and pedestrian are notified as the left turn destination I did it.
Therefore, when making a left turn, the driver can be made to recognize the motorcycle on the left rear side of the own vehicle, which is often overlooked. Furthermore, the driver can be made to recognize the bicycle and the pedestrian crossing the pedestrian crossing after the right or left turn.

Example 3
Hereinafter, the driving diagnosis apparatus according to the third embodiment will be described, but the same components as those in the first or second embodiment are denoted by the same reference numerals and the description thereof is omitted.

[Control block]
FIG. 14 is a control block diagram of the driving diagnosis apparatus. The driving diagnosis apparatus according to the third embodiment includes a front camera 10, a right camera 11, a left camera 12, and a rear camera 13 in addition to the configuration of the driving diagnosis apparatus according to the second embodiment.

  The front camera 10 captures an image in front of the host vehicle. The right camera 11 captures an image of the right side of the host vehicle. The left camera 12 captures an image of the left side of the host vehicle. The rear camera 13 captures an image behind the host vehicle.

The control unit 8 includes an attention object detection unit 8l in addition to the configuration of the control unit 8 of the second embodiment.
The caution target detection unit 8l analyzes the images taken by the front camera 10, the right camera 11, the left camera 12, and the rear camera 13, and is actually present in the vicinity of the host vehicle when passing through the diagnosis target intersection. An object is detected and output to the HMI control unit 8h.

[Driving diagnosis processing]
FIG. 15 and FIG. 16 are flowcharts showing the flow of the operation diagnosis process performed in the control unit 8.
In step S91, it is determined whether or not the ignition switch is on. If it is on, the process proceeds to step S92. If it is not on (off), the process of step S91 is repeated.

In step S92, the position coordinates of the intersection where the driver has driven at risk in the past are input from the driving behavior NG intersection storage unit 8k, and the process proceeds to step S93.
In step S93, the current position coordinates of the host vehicle are acquired from the navigation system 9, and the process proceeds to step S94.

  In step S94, it is determined whether or not the host vehicle is approaching an intersection (diagnosis target intersection) where the driver has driven at risk in the past. When approaching, the process proceeds to step S95 and is not approaching. Sometimes the process of step S94 is repeated.

In step S95, the driving action detection unit 8a acquires the output signals of the vehicle speed sensor 1, the acceleration sensor 2, the yaw rate sensor 3, the rudder angle sensor 4, and the turn signal switch 5, and the process proceeds to step S96.
In step S96, the images captured by the front camera 10, the right camera 11, the left camera 12, and the rear camera 13 are analyzed, and when the vehicle passes through the intersection to be diagnosed, the attention object that is actually present in the vicinity of the own vehicle is detected. Detect and move to step S97.

  In step S97, it is determined whether or not a predetermined distance (for example, 20 [m]) has passed from the diagnosis target intersection. When the predetermined distance has passed, the process proceeds to step S98, and when the predetermined distance has not been passed, the process of step S97 is performed. repeat.

  In step S98, it is determined whether or not the steering wheel is in a neutral state from the steering amount information. If the steering wheel is in a neutral state, the process proceeds to step S99. If not, the process in step S98 is repeated.

In step S99, the intersection passing action is digitized (index calculation), and the process proceeds to step S100. The numerical value of the intersection passing behavior is calculated so that the faster the speed after the temporary stop, the quicker the start is, and the smaller the Index value. Further, it is determined that the pause is delayed as the pause position exceeds the stop line, and the index value is calculated to be small. Further, at the time of turning left or right, it is determined that the vehicle is turning faster as the vehicle speed is higher, the yaw rate is higher, or the steering amount of the steering wheel is larger, and the index value is calculated to be smaller. Further, it is determined that the vehicle is suddenly started as the acceleration at the intersection increases, and the index value is calculated to be small. In addition, it is determined that the brake is suddenly applied as the deceleration increases, and the index value is calculated to be small.
In step S100, it is determined whether or not Index is less than or equal to a first predetermined value. When the index is less than or equal to the first predetermined value, the process proceeds to step S101, and when greater than the first predetermined value, the process proceeds to step S112.

In step S101, the intersection shape detecting unit 8j detects the shape of the passing intersection from the information in the map database 9b. Then, in the HMI control unit 8h, an intersection icon corresponding to the shape of the intersection detected from the intersection shape icon storage unit 8e is selected.
In step S102, the intersection passage direction detection unit 8c detects the intersection passage direction of the host vehicle.

  In step S103, the type of the attention object part (automobile, motorcycle, bicycle, pedestrian, etc.) detected in step S96 and its direction are specified, and the attention object icon is selected from the corresponding attention object icon storage part 8f. .

  In step S104, a display icon in which the attention object icon selected in step S103 is arranged at a predetermined position on the intersection icon selected in step S101 is generated and output to the monitor 7.

  In step S105, it is determined whether or not Index is equal to or smaller than a second predetermined value. When the index is equal to or smaller than the second predetermined value, the process proceeds to step S106, and when larger than the second predetermined value, the process proceeds to step S109. The second predetermined value is set to a value smaller than the first predetermined value.

In step S106, a voice message is selected from the cause that the vehicle passing direction and the index are equal to or less than the first predetermined value, and the process proceeds to step S105. The voice message includes a message related to driving operation (driving operation message) and a message related to a target object (attention target message).
In step S107, a driving operation message is uttered, and the process proceeds to step S106.
In step S108, the attention target message is uttered, and the process proceeds to step S107.

In step S109, a voice message is selected from the intersection passing direction of the host vehicle and the cause of the Index being equal to or less than the first predetermined value, and the process proceeds to step S110. The voice message includes a message related to driving operation (driving operation message) and a message related to a target object (attention target message).
In step S110, the attention target message is uttered, and the process proceeds to step S107.
In step S111, a driving operation message is uttered and the process proceeds to step S113.

In step S112, a character icon “Good” is output to the monitor 7, and a voice message “Good driving, let's continue driving in that condition” is output from the speaker 6, and the process proceeds to step S113.
In step S113, it is determined whether or not the voice message has ended. If it has ended, the process proceeds to step S114, and if it has not ended, the process in step S113 is repeated.

In step S114, the position coordinates of the intersection where the index is less than or equal to the first predetermined value in step S100, the passing direction of the intersection, and the cause that the index is less than or equal to the first predetermined value are stored in the driving action NG intersection icon storage unit 8e. Store and move to step S115.
In step S115, it is determined whether or not the ignition switch is off. If it is off, the process ends. If it is not off (on), the process proceeds to step S92.

[Icon / message selection processing]
FIG. 17 is a flowchart showing a flow of processing for selecting an intersection shape icon, an attention object icon, and a voice message (attention object message).

  In step S121, it is determined whether or not Index is equal to or smaller than a first predetermined value. If the index is equal to or smaller than the first predetermined value, the process proceeds to step S122, and if larger than the first predetermined value, the process in step S121 is repeated.

In step S122, the intersection shape detection unit 8j detects the shape of the intersection that has passed from the information in the map database 9b. Then, an intersection icon having a corresponding shape is selected from the intersection shape icon storage unit 8e, and the process proceeds to step S123.
In step S123, the intersection passing direction of the host vehicle is detected, and the process proceeds to step S124.

  In step S124, it is determined whether the intersection passing direction is left turn, right turn, or temporary stop. If the turn is left, the process proceeds to step S125. If the turn is right, the process proceeds to step S126. To do.

  In step S125, the images taken by the front camera 10, the right camera 11, the left camera 12, and the rear camera 13 are analyzed, and the motorcycle on the left rear side of the host vehicle, the bicycle that crossed the road and the left turn, and a pedestrian. Is detected and the process proceeds to step S128.

  In step S126, the images taken by the front camera 10, the right camera 11, the left camera 12, and the rear camera 13 are analyzed, and the oncoming vehicle, the motorcycle behind the oncoming vehicle, the bicycle that crosses the crossing road and the right turn The presence or absence of a person is detected and the process proceeds to step S128.

  In step S127, the images taken by the front camera 10, the right camera 11, the left camera 12, and the rear camera 13 are analyzed to detect the presence of bicycles and pedestrians crossing the road on the host vehicle side, and the process proceeds to step S128. To do.

In step S128, the attention object icon corresponding to the attention object detected in steps S125, S126, and S127 is selected, and the process proceeds to step S129.
In step S129, a voice message that calls attention to the attention object detected in steps S125, S126, and S127 is selected.

[Diagnosis processing operation]
(Index is below the second predetermined value)
When Index is less than or equal to the second predetermined value, in the flowcharts of FIGS. 15 and 16, step S91 → step S92 → step S93 → step S94 → step S95 → step S96 → step S97 → step S98 → step S99 → step S100 → step Step S101 → Step S102 → Step S103 → Step S104 → Step S105 → Step S106 → Step S107 → Step S108 → Step S113 → Step S114 → Step S115.

In step S104, the attention object icon corresponding to the attention object around the host vehicle is displayed on the intersection icon.
In step S107, a driving operation message is uttered, and in step S108, a caution target message for the caution target around the host vehicle is uttered.

(Index is less than the first predetermined value and larger than the second predetermined value)
When the index is less than or equal to the first predetermined value and greater than the second predetermined value, in the flowcharts of FIGS. 15 and 16, step S91 → step S92 → step S93 → step S94 → step S95 → step S96 → step S97 → step S98 Step S99 → Step S100 → Step S101 → Step S102 → Step S103 → Step S104 → Step S105 → Step S109 → Step S110 → Step S111 → Step S113 → Step S114 → Step S115

In step S104, the attention object icon corresponding to the attention object around the host vehicle is displayed on the intersection icon.
In step S110, a caution target message for the caution target around the host vehicle is uttered, and in step S111, a driving operation message is uttered.

(Index is greater than the first predetermined value)
When the index is larger than the first predetermined value, in the flowcharts of FIGS. 15 and 16, step S91 → step S92 → step S93 → step S94 → step S95 → step S96 → step S97 → step S98 → step S99 → step S100 → step The process proceeds from S112 to step S113 to step S114 to step S115.
In step S112, a character icon of “Good” is output to the monitor 7, and a voice message “Good driving, let's continue driving in that condition” is output from the speaker 6.

[Icon / message selection processing operation]
FIG. 18 is a table showing combinations of intersection shape icons, attention target icons, and voice messages.

Each of the attention target icons has a high contrast ratio with respect to the surroundings, and is displayed in red as a color meaning a danger. The own vehicle icon uses a different color from each caution target icon.
The voice message conveys the words corresponding to each caution target icon and the possibility of collision when driving at a high risk.

(Left turn sudden turn)
When making a left turn while making a sharp turn at the intersection, the process proceeds from step S121 to step S122, step S123, step S124, step S125, step S128, and step S129 in the flowchart of FIG.

  In step S122, the shape of the intersection that has passed is detected from the information in the map database 9b, and the intersection icon having the corresponding shape is selected. In step S128, an attention object icon corresponding to the attention object detected in step S125 is selected. In addition, a voice message that calls attention to the attention object detected in step S125 is selected.

  As shown in Fig. 18 (a), when a bike or bicycle on the left rear side of the vehicle is detected, the motorcycle or bicycle that exists behind the vehicle at the time of left turn can be imagined as to the possibility of being caught in the bicycle. The icon was selected. For voice messages, select “Involvement”.

  When a left turn or a bicycle crossing a crossing road is detected, the bicycle icon is selected so that the possibility of contact with the bicycle crossing the crosswalk after the left turn can be imaged. For voice messages, select "Bend ahead" and "Bicycle,".

  When a pedestrian crossing a crossing road is detected, the pedestrian icon is selected so that the possibility of contact with the pedestrian crossing the pedestrian crossing after the left turn can be imaged. . For voice messages, select “Before the turn” and “Pedestrians”.

  When any cautionary object is detected, the voice message “There is a possibility of collision” is selected. When no attention object is detected, the attention object message is not generated.

(Right turn sudden turn)
When making a left turn while making a sharp turn at the intersection, the process proceeds from step S121 → step S122 → step S123 → step S124 → step S126 → step S128 → step S129 in the flowchart of FIG.

  In step S122, the shape of the intersection that has passed is detected from the information in the map database 9b, and the intersection icon having the corresponding shape is selected. In step S128, an attention object icon corresponding to the attention object detected in step S126 is selected. In addition, a voice message that prompts attention to the attention object detected in step S126 is selected.

  As shown in FIG. 18 (b), when an oncoming vehicle is detected, the oncoming vehicle icon is selected so that the possibility of contact with the oncoming vehicle can be imaged. For voice messages, select "Oncoming car".

  When a motorcycle behind an oncoming vehicle is detected, the motorcycle icon is selected so that the possibility of contact with this motorcycle can be imaged. For voice messages, select "Bike,".

  When a bicycle that crosses a road that crosses a road that is turned right is detected, a bicycle icon is selected so that the possibility of contact with a bicycle that crosses the pedestrian crossing after the right turn can be imaged. For voice messages, select "Bend ahead" and "Bicycle,".

  When a pedestrian crossing a crossing road is detected, the pedestrian icon is selected so that the user can imagine the possibility of contact with the pedestrian crossing the pedestrian crossing after the right turn. . For voice messages, select “Before the turn” and “Pedestrians”.

  When any cautionary object is detected, the voice message “There is a possibility of collision” is selected. When no attention object is detected, the attention object message is not generated.

(Temporary non-stop)
When the intersection is not temporarily stopped, the process proceeds to step S121 → step S122 → step S123 → step S124 → step S127 → step S128 → step S129 in the flowchart of FIG.

  In step S122, the shape of the intersection that has passed is detected from the information in the map database 9b, and the intersection icon having the corresponding shape is selected. In step S128, an attention object icon corresponding to the attention object detected in step S127 is selected. In addition, a voice message that calls attention to the attention object detected in step S127 is selected.

  As shown in Fig. 18 (c), when a bicycle crossing the road on the host vehicle side is detected, the bicycle icon is selected so that the possibility of contact with the bicycle crossing the pedestrian crossing can be imaged. I did it. The voice message "bicycle," was selected.

  When a pedestrian crossing the road on the own vehicle side is detected, a pedestrian icon is selected so that the possibility of contact with a pedestrian crossing a pedestrian crossing can be imaged. Voice message "pedestrian" was selected.

  When any cautionary object is detected, the voice message “There is a possibility of collision” is selected. When no attention object is detected, the attention object message is not generated.

[Action]
In the third embodiment, the attention object icon and the attention object message corresponding to the attention object actually around the host vehicle are selected. As a result, since the teaching is performed for the cautionary object that actually exists, the reliability of the driving diagnosis device is improved, and the driver can easily accept the contents of the teaching, thereby promoting the improvement of driving. it can.

[effect]
(8) The HMI control unit 8h assumes that the risk object is captured by the front camera 10, the right camera 11, the left camera 12, and the rear camera 13.
Therefore, the reliability of the driving diagnosis device is improved, and the driver can easily accept the contents of the teaching, and the driving improvement can be promoted.

(Example 4)
Hereinafter, although the driving diagnosis apparatus of the fourth embodiment will be described, the same components as those of the first to third embodiments are denoted by the same reference numerals and the description thereof is omitted. The icon / message selection process of the fourth embodiment is the same as the icon / message selection process of the third embodiment.

[Control block]
FIG. 19 is a control block diagram of the driving diagnosis apparatus. The driving diagnosis apparatus according to the fourth embodiment is obtained by removing the navigation system 9 from the configuration of the driving diagnosis apparatus according to the third embodiment. Further, the control unit 8 of the fourth embodiment is obtained by removing the driving action NG intersection storage unit 8k from the control unit 8 of the third embodiment.

[Driving diagnosis processing]
FIG. 20 and FIG. 21 are flowcharts showing the flow of operation diagnosis processing performed in the control unit 8. FIG.

  In step S131, it is determined whether or not the ignition switch is on. When it is on, the process proceeds to step S132, and when it is not on (off), the process of step S131 is repeated.

In step S132, the video captured by the front camera 10 is analyzed, an intersection is detected, and the process proceeds to step S133.
In step S133, output signals of the vehicle speed sensor 1, the acceleration sensor 2, the yaw rate sensor 3, the rudder angle sensor 4, and the turn signal switch 5 are acquired in the driving behavior detection unit 8a.

In step S134, the images captured by the front camera 10, the right camera 11, the left camera 12, and the rear camera 13 are analyzed, and when the vehicle passes through the intersection, a cautionary object that actually exists around the host vehicle is detected. To step S137.
In step S135, the images taken by the front camera 10, the right camera 11, the left camera 12, and the rear camera 13 are analyzed to detect the shape of the intersection that has passed, and the process proceeds to step S136.

  In step S136, it is determined whether or not a predetermined distance (for example, 20 [m]) has passed from the diagnosis target intersection. If the predetermined distance has been passed, the process proceeds to step S137, and if not, the process proceeds to step S133. .

  In step S137, it is determined from the steering amount information whether or not the steering wheel is in a neutral state. When the steering wheel is in a neutral state, the process proceeds to step S138.

  In step S138, the intersection passing action is digitized (index calculation), and the process proceeds to step S139. The numerical value of the intersection passing behavior is calculated so that the faster the speed after the temporary stop, the quicker the start is, and the smaller the Index value. Further, it is determined that the pause is delayed as the pause position exceeds the stop line, and the index value is calculated to be small. Further, at the time of turning left or right, it is determined that the vehicle is turning faster as the vehicle speed is higher, the yaw rate is higher, or the steering amount of the steering wheel is larger, and the index value is calculated to be smaller. Further, it is determined that the vehicle is suddenly started as the acceleration at the intersection increases, and the index value is calculated to be small. In addition, it is determined that the brake is suddenly applied as the deceleration increases, and the index value is calculated to be small.

In step S139, it is determined whether or not Index is equal to or less than a first predetermined value. When the index is equal to or smaller than the first predetermined value, the process proceeds to step S140, and when larger than the first predetermined value, the process proceeds to step S151.
In step S140, the HMI control unit 8h selects an intersection icon corresponding to the intersection shape detected in step S135 from the intersection shape icon storage unit 8e.

In step S141, the intersection passage direction detection unit 8c detects the intersection passage direction of the host vehicle.
In step S142, the type of attention object part (automobile, motorcycle, bicycle, pedestrian, etc.) detected in step S134 and its direction are specified, and the attention object icon is selected from the corresponding attention object icon storage part 8f. .

  In step S143, a display icon in which the attention object icon selected in step S142 is arranged at a predetermined position on the intersection icon selected in step S140 is generated and output to the monitor 7.

  In step S144, it is determined whether or not Index is equal to or smaller than a second predetermined value. When the index is equal to or smaller than the second predetermined value, the process proceeds to step S145, and when larger than the second predetermined value, the process proceeds to step S148. The second predetermined value is set to a value smaller than the first predetermined value.

In step S145, the voice message is selected from the cause that the vehicle passing direction and the index are equal to or less than the first predetermined value, and the process proceeds to step S146. The voice message includes a message related to driving operation (driving operation message) and a message related to a target object (attention target message).
In step S146, a driving operation message is uttered and the process proceeds to step S147.
In step S147, the attention target message is uttered, and the process proceeds to step S152.

In step S148, a voice message is selected based on the vehicle passing direction of the vehicle and the cause that the index is equal to or less than the first predetermined value, and the process proceeds to step S149. The voice message includes a message related to driving operation (driving operation message) and a message related to a target object (attention target message).
In step S149, the attention target message is uttered, and the process proceeds to step S150.
In step S150, a driving operation message is uttered and the process proceeds to step S152.

  In step S151, a character icon of “Good” is output to the monitor 7, and a voice message “Good driving, continue driving in that condition” is output from the speaker 6, and the process proceeds to step S152.

In step S152, it is determined whether or not the voice message has ended. If it has ended, the process proceeds to step S153, and if it has not ended, the process in step S152 is repeated.
In step S153, it is determined whether or not the ignition switch is off. If it is off, the process ends. If it is not off (on), the process proceeds to step S132.

[Diagnosis processing operation]
(Index is below the second predetermined value)
When the index is less than or equal to the second predetermined value, in the flowcharts of FIGS. 20 and 21, step S131 → step S132 → step S133 → step S134 → step S135 → step S136 → step S137 → step S138 → step S139 → step S140 → step Step S141 → Step S142 → Step S143 → Step S144 → Step S145 → Step S146 → Step S147 → Step S152 → Step S153

In step S143, the attention object icon corresponding to the attention object around the host vehicle is displayed on the intersection icon.
In step S146, a driving operation message is uttered. In step S147, a caution target message for the caution target around the host vehicle is uttered.

(Index is less than the first predetermined value and larger than the second predetermined value)
When Index is less than or equal to the first predetermined value and greater than the second predetermined value, in the flowcharts of FIGS. 20 and 21, step S131 → step S132 → step S133 → step S134 → step S135 → step S136 → step S137 → step S138 Step S139 → Step S140 → Step S141 → Step S142 → Step S143 → Step S144 → Step S148 → Step S149 → Step S150 → Step S152 → Step S153

In step S143, the attention object icon corresponding to the attention object around the host vehicle is displayed on the intersection icon.
In step S149, a caution target message for the caution target around the host vehicle is uttered, and in step S150, a driving operation message is uttered.

(Index is greater than the first predetermined value)
When Index is larger than the first predetermined value, in the flowcharts of FIGS. 20 and 21, step S131 → step S132 → step S133 → step S134 → step S135 → step S136 → step S137 → step S138 → step S139 → step S151 → step The process proceeds from S152 to step S153.
In step S151, a character icon of “Good” is output to the monitor 7 and a voice message “Good driving, let's continue driving in that condition” is output from the speaker 6.

[Action]
In Example 4, the images taken by the front camera 10, the right camera 11, the left camera 12, and the rear camera 13 are analyzed to detect the approach to the intersection and the shape of the intersection that has passed. Thereby, the driving diagnosis device can be an inexpensive system.

[effect]
(9) The images taken by the front camera 10, the right camera 11, the left camera 12, and the rear camera 13 are analyzed to detect the approach to the intersection and the shape of the intersection that has passed.
Therefore, the driving diagnosis device can be an inexpensive system.

[Other Examples]
As described above, the present invention is not limited to the configuration of the above embodiment, and may have other configurations.
In the third and fourth embodiments, the front camera 10, the right camera 11, the left camera 12, and the rear camera 13 are used, but a laser or ultrasonic sensor that detects a moving body around the host vehicle is used. Also good.

8a Driving behavior detector (intersection driving state detection means)
8d Driving diagnosis department (risk judgment means)
8h HMI controller (notification means)

Claims (8)

An intersection travel state detection means for detecting a vehicle travel state of the host vehicle from when the host vehicle approaches the intersection until it passes through;
A risk judging means for judging whether or not the driver of the host vehicle is driving at risk from the detected vehicle running state;
When it is determined that the driver of the host vehicle is driving at risk, after passing through the intersection, depending on the detected traveling state, the risk target and the direction of the target with respect to the host vehicle And a notification means for performing notification together with,
A driving diagnosis apparatus characterized by comprising: In the driving diagnosis device according to claim 1,
The risk determining means determines that the driver of the host vehicle is driving at risk when it is determined from the detected vehicle running state that the host vehicle has not stopped before the temporary intersection. And
The notification means is configured to notify the risk object as a bicycle and a pedestrian, and notify the direction of the object as a left-right direction. In the driving diagnostic device according to claim 1 or claim 2,
The risk determination means determines that the driver of the own vehicle is driving at risk when it is determined that the own vehicle has made a sudden turn from the detected vehicle running state;
When the vehicle turns right at the intersection, the notifying means sets the object of the risk as an automobile, a motorcycle, a bicycle, and a pedestrian, the position of the object is the front, and the motorcycle is the vehicle. The rear of the automobile, the bicycle and the pedestrian are turned to the right, and when the own vehicle makes a left turn at the intersection, the risk object is an automobile, a motorcycle, a bicycle and a pedestrian, and the position of the object is The driving diagnosis device is characterized in that the motorcycle is on the left rear side of the host vehicle, and the bicycle and the pedestrian are informed that they have made a left turn. In the driving diagnosis device according to any one of claims 1 to 3,
A moving body detecting means for detecting a moving body around the vehicle is provided;
The driving diagnosis apparatus according to claim 1, wherein the notification unit detects the risk object by the moving body detection unit. In the driving diagnosis device according to any one of claims 1 to 3,
The notification means is characterized in that the notification by voice is a method for improving driving after speaking the reason why the driver of the host vehicle is driving at risk. apparatus. In the driving diagnosis device according to claim 1,
When the vehicle turns left at the intersection, the notifying means notifies the risk object as a bicycle and a pedestrian, and notifies the position of the object as a point where the bicycle and the pedestrian left a left turn. Driving diagnosis device. In the driving diagnosis device according to claim 1,
The risk determination means determines that the driver of the own vehicle is driving at risk when it is determined that the own vehicle has suddenly decelerated from the detected vehicle running state,
When the vehicle turns left at the intersection, the notification means sets the object of the risk as a motorcycle, a bicycle and a pedestrian, and sets the position of the object as the left rear side of the vehicle. The driving diagnosis apparatus is characterized in that the bicycle and the pedestrian are informed of a left-turn destination. Detects the vehicle running state of the vehicle from when the vehicle approaches the intersection until it passes,
It is determined whether the driver of the host vehicle is driving at risk from the detected traveling state,
When it is determined that the driver of the host vehicle is driving at risk, after passing through the intersection, depending on the detected traveling state, the risk target and the direction of the target with respect to the host vehicle A driving diagnosis method characterized by performing notification together.

Images