JP2015130069A - Driving support device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a driving support device that can support driving according to the tendency of driver's driving operation.SOLUTION: A prediction determination unit 18 and a supporting unit 20 determine the timing of notification of information and control of driving according to lateral distance y and an allowance x detected by a data collection unit 12 on the basis of the tendency of driver's driving operation estimated by a normal driving estimation unit 14, so as to support the driving at the timing according to the tendency of the driver's driving operation.

Description

  The present invention relates to a driving support apparatus that performs either notification of information about an object to a driver and control of driving of a vehicle that intervenes in the driving operation of the driver.

  Driving assistance devices for avoiding contact with an object in front of a vehicle have been developed. For example, Patent Document 1 discloses that a collision margin time (TTC: Time To Collision) until a vehicle and an object in front of the vehicle contact each other is a predetermined time or less, and a lateral distance between the object and the vehicle is a predetermined distance or less. When the driver enters the extended warning area, and the driver does not perform the avoidance operation such as the brake operation and the steering operation, an apparatus for warning the driver is disclosed.

JP 2012-048460 A

  By the way, when there is an object with a lateral distance that is the distance in the vehicle width direction between the vehicle and the object in front of the vehicle, the tendency of the driver to perform a driving operation to avoid the object depends on the driver. Different. Therefore, the degree of whether or not the driver is driving in a state in which the driver does not pay sufficient attention to the object in front of the vehicle varies depending on the driving operation tendency of the driver. However, in the technique as described in Patent Document 1, a warning standard is uniformly set regardless of the driving tendency of the driver. For this reason, the technology such as Patent Document 1 described above cannot adequately provide appropriate driving support in accordance with the driving operation tendency of the driver.

  The present invention has been made in consideration of the above problems, and an object of the present invention is to provide a driving support device capable of providing support at a timing that the driver wants to support.

  The present invention includes a detecting means for detecting a lateral distance that is a distance in the vehicle width direction between a vehicle and an object in front of the vehicle, a determining means for determining a margin interval at which the vehicle approaches the object, a lateral distance and a margin. According to the interval, driving support means for driving support to the driver of the vehicle, and normal driving estimation means for estimating the driving operation tendency of the driver based on the side distance and the margin interval, The driving support means is a driving support device that determines the timing for performing driving support according to the side distance and the margin interval based on the tendency of the driving operation of the driver estimated by the normal driving estimating means.

  In this case, the normal driving estimation means estimates the tendency of the driving operation of the driver based on the lateral distance and the margin interval when the driving operation that avoids the object is recorded in the database. Can do.

  According to the driving assistance apparatus of the present invention, it is possible to provide assistance at a timing when the driver wants assistance.

It is a block diagram showing a driving support device of an embodiment. It is a flowchart which shows the operation | movement at the time of collecting the data in the driving assistance device of embodiment. It is a figure which shows the condition at the time of the own vehicle passing the side of a pedestrian. It is a graph which shows the data distribution of the side distance with a pedestrian with respect to the margin time at the time of steering start. It is a graph which shows the data distribution of the side distance with a pedestrian with respect to the own vehicle speed at the time of passing the side of a pedestrian. It is a flowchart which shows the operation | movement at the time of estimating the driving | operation model of a driver | operator in the driving assistance device of embodiment. FIG. 5 is a graph showing an average driving behavior model of a margin time at the start of steering and a lateral distance from a pedestrian, a 95% tile driving behavior model, and a 98% tile driving behavior model in the data distribution of FIG. 4. It is a figure which shows the example which matches the driving behavior model at the time of a steering start, and the data at the time of passing the side of a pedestrian. It is a flowchart which shows the operation | movement which determines whether the alerting | reporting dispatch with respect to a driver | operator is performed in the driving assistance apparatus of embodiment, and whether the control intervention with respect to a driver | operator is performed. It is a graph which shows the driving | running locus | trajectory plotted on the three-dimensional coordinate of the own vehicle speed v used by determination of FIG. 9, the margin time x, and the side distance y with a pedestrian. It is a graph which shows the example in which the information provision in the two-dimensional coordinate of the margin time x of FIG. 10 and the side distance y with a pedestrian is performed. It is a graph which shows the example in which the driving operation intervention in the two-dimensional coordinate of the margin time x of FIG. 10 and the side distance y with a pedestrian is performed.

  Hereinafter, a driving support apparatus according to an embodiment of the present invention will be described with reference to the drawings. As shown in FIG. 1, the driving support device 10 of this embodiment includes a data collection unit 12, a normal driving estimation unit 14, a database 16, a prediction determination unit 18, and a support unit 20. The driving support device 10 of this embodiment is mounted on a vehicle. The driving support device 10 is configured so that an object such as another vehicle, a pedestrian, a bicycle, a motorcycle, an animal, a rock from a falling rock, a dropped load, a wall surface, a guardrail, or a curb is present in front of the vehicle. Is notified to the driver of the vehicle, and the driving of the vehicle intervening in the driving operation of the driver is controlled.

  The data collection unit 12 functions as a detection unit and a determination unit. The data collection unit 12 detects a lateral distance that is a distance in the vehicle width direction between the vehicle and an object ahead of the vehicle. Further, the data collection unit 12 determines a margin interval at which the vehicle approaches an object in front of the vehicle. In this embodiment, the margin interval can be, for example, the above-described collision margin time (TTC: Time To Collision) or the margin time until the vehicle passes the side of the front object. In the present embodiment, the margin interval can be a margin distance between the vehicle and an object in front of the vehicle. The data collection unit 12 includes a camera 12a that images the front of the vehicle. The camera 12a of the data collection unit 12 can include either or both of a camera that captures an object by detecting visible light and an infrared camera that captures an object by detecting infrared light. The data collection unit 12 includes a radar 12b. The radar 12b can include either a millimeter wave radar or a laser radar.

  The data collection unit 12 includes a GPS (Global Positioning System) 12c. The GPS 12c includes a recording medium that stores map information. The GPS 12c detects the position of the vehicle on the map. The data collection unit 12 can acquire information on the road shape, buildings, and the like around the vehicle from the position of the vehicle on the map obtained by the GPS 12c. The speed sensor 12d detects the vehicle speed of the vehicle. The speed sensor 12d can detect vehicle acceleration and jerk.

  The data collection unit 12 detects the lateral distance and the margin distance by the cameras 12a to GPS 12c. The data collection unit 12 determines a margin time from the margin distance obtained by the cameras 12a to GPS 12c and the own vehicle speed obtained by the speed sensor 12d.

  The data collection unit 12 collects the vehicle travel history associated with the position, speed, acceleration, jerk, and map of the vehicle by the camera 12a to the speed sensor 12d as data related to the travel of the vehicle by the driving operation of each individual driver. .

  The data collection unit 12 includes a steering angle sensor 12e that detects the steering angle of the vehicle. The data collection unit 12 includes an accelerator pedal sensor 12f that detects the amount of depression of the accelerator pedal of the vehicle. The data collection unit 12 includes a brake pedal sensor 12g that detects the amount of depression of the brake pedal of the vehicle. The data collection unit 12 includes a lateral distance and a margin interval between a vehicle path and an object ahead of the vehicle obtained by the camera 12a to the speed sensor 12d, and data detected by the steering angle sensor 12e to the brake pedal sensor 12g. From the above, as data on the driver, the steering angle of each individual driver, the steering timing, the amount of depression of the accelerator pedal, the timing of operation of the accelerator pedal, the amount of depression of the brake pedal, Collect data on the timing of brake pedal operation.

  The data collection unit 12 includes a driver recognition unit 12h that recognizes and registers individual drivers. The data collection unit 12 includes a temporary storage unit 12i that temporarily stores collected data. The data collection unit 12 associates data obtained by the camera 12a to the brake pedal sensor 12g with individual drivers recognized by the driver recognition unit 12h, and one data unit that is data of a certain unit amount is obtained. Until it is collected, it is stored in the temporary storage unit 12i. The temporary storage unit 12i stores data in a certain unit amount in the database 16 as one data unit.

  The normal operation estimation unit 14 functions as normal operation estimation means. The normal driving estimation unit 14 estimates the tendency of the driving operation of the driver based on the side distance collected by the data collection unit 12 and the margin interval. In the present embodiment, as a tendency of the driving operation of the driver, it is possible to estimate a side distance and a margin interval when the driver performs a driving operation that avoids an object in front of the vehicle. Moreover, in this embodiment, it can be set as the side distance and the own vehicle speed when the vehicle driven by the driver passes the side of the object as the tendency of the driving operation of the driver. As will be described later, the normal driving estimation unit 14 estimates the driving tendency of the driver based on the lateral distance stored in the database 16 and the margin interval stored in the database 16. In the present embodiment, the driving operation in which the driver avoids the object ahead of the vehicle includes a driving operation by steering and a driving operation to decelerate the vehicle.

  The normal driving estimation unit 14 includes a new creation / update determination unit 14a, a driving behavior model creation unit 14b, and a correspondence unit 14c. The new creation / update determination unit 14a determines whether or not to create or update a driving behavior model that models the driving operation tendency of the driver. The driving behavior model creation unit 14b creates a normal driving behavior model that models the normal driving behavior of the driver as the driving behavior model of the driver. The driving behavior model creation unit 14b creates a non-normal driving behavior model that is a driving model greatly deviating from the normal driving behavior from the normal driving behavior model.

  The association unit 14c associates the normal driving behavior model with the result of the driving behavior based on the normal driving behavior model. The association unit 14c associates the abnormal driving behavior model with the result of the driving behavior according to the abnormal driving behavior model. The association unit 14c stores the driving behavior model including the normal driving behavior model and the non-normal driving behavior model for each individual driver associated with the result of the driving behavior in the database 16 together with the time.

  The prediction determination unit 18 and the support unit 20 function as a driving support unit that performs driving support to the driver of the vehicle according to the side distance and the margin interval. The prediction determination unit 18 determines the lateral distance from the object detected by the data collection unit 12 based on the tendency of the driving operation of the driver estimated by the normal driving estimation unit 14 and the margin interval detected by the data collection unit 12. Accordingly, the timing of performing information control on the object to the driver of the vehicle or controlling the driving of the vehicle that intervenes in the driving operation of the driver is determined.

  The prediction determination unit 18 includes a driving locus calculation unit 18a and a support command unit 18b. The driving trajectory calculation unit 18a calculates a predicted driving trajectory of the vehicle based on the data collected by the data collection unit 12 and the driving behavior model created by the normal driving estimation unit 14. Based on the driving locus calculated by the driving locus calculation unit 18a, the support instruction unit 18b notifies the vehicle driver of information about the object or controls the driving of the vehicle to intervene in the driving operation of the driver. And issues a command to the support unit 20.

  The support unit 20 controls the driving of the vehicle that intervenes in the driving operation of the driver by notifying the driver of the vehicle of information about the object according to the timing determined by the prediction determination unit 18. The support unit 20 provides driving support for the vehicle driver according to the situation in which the vehicle approaches the object, such as recognition support for causing the vehicle driver to recognize the object, and driving operation for the object by the vehicle driver. Judgment support for assisting judgment and operation support for controlling the driving of the vehicle by intervening in the driving operation of the driver of the vehicle are performed. In the present embodiment, the timing for performing driving assistance can be set as the timing for performing driving assistance. Moreover, in this embodiment, it can be made into the position of the vehicle when performing driving assistance as timing which performs driving assistance.

  The support unit 20 includes a display 20a, a speaker 20b, and a buzzer 20c for performing the recognition support and the determination support. The display 20a, the speaker 20b, and the buzzer 20c allow the driver to recognize an object and give information or an alarm for assisting the driving operation.

  The support unit 20 includes an accelerator pedal reaction force actuator 20d that applies a predetermined reaction force to the accelerator pedal, a brake pedal reaction force actuator 20e that applies a predetermined reaction force to the brake pedal, and a steering to perform the determination support and the operation support. A steering wheel reaction force actuator 20f that applies a predetermined reaction force to the wheel is provided. The accelerator pedal reaction force actuator 20d to the steering wheel reaction force actuator 20f apply reaction forces to the accelerator pedal, the brake pedal, and the steering wheel, respectively, thereby prompting the driver to perform a driving operation at an appropriate timing or position.

  In order to perform the above-described operation support, the support unit 20 includes an accelerator actuator 20g that controls the accelerator amount without depending on the driver's operation, a brake actuator 20h that controls the brake amount without depending on the driver's operation, and the driver's operation. A steering actuator 20i that controls the steering angle regardless of the operation is provided.

  Hereinafter, operation | movement of the driving assistance device 10 of this embodiment is demonstrated. In the following explanation, there is a pedestrian in front of the vehicle, and driving based on the side distance and margin time when the driver performs a driving operation to increase the side distance with the pedestrian. A mode in which assistance is performed will be described.

  First, the operation | movement which the data collection part 12 collects the data about each driver | operator is demonstrated. As shown in FIG. 2, the data collection unit 12 detects a pedestrian in front of the vehicle (S101). As shown in FIG. 3, the lateral distance between the course of the vehicle 100 and the pedestrian P in front of the vehicle 100 is the lateral distance y [m], and the vehicle reaches the point closest to the pedestrian P. Is assumed to be a margin time x [s], and the vehicle speed of the vehicle 100 is a vehicle speed v [km / h]. In this situation, the pedestrian P is translating to the path of the vehicle 100.

  The data collection unit 12 collects data related to the lateral distance y and the margin time x when each driver of the vehicle 100 starts steering to increase the lateral distance y (S102). For each driver, the data collection unit 12 determines the lateral distance y and the vehicle speed when the vehicle 100 passes by the side of the pedestrian P, that is, when the vehicle reaches the point closest to the pedestrian. Data on v is collected (S103).

  The data collection unit 12 is a pedestrian translation label indicating that the pedestrian P is data in a situation where the pedestrian P is translating to the path of the vehicle 100 with respect to the data at the start of steering and the data when the pedestrian P sideways passes Are associated with each other and stored in the temporary storage unit 12i (S104). The data collection unit 12 performs data storage unit determination for determining whether or not a certain unit amount of data is stored in the database 16 for each driver data (S105). The data collection unit 12 encounters the situation shown in FIG. 3 several times when the vehicle 100 operated by an individual driver is operated, and stores one data unit, which is data of a certain unit amount, in the temporary storage unit 12i. Steps S101 to S105 are repeated until it is done.

  In this way, the data collection unit 12 stores in the database 16 the steering start data as shown in FIG. 4 and the pedestrian P side passage data as shown in FIG. Let As shown in FIG. 4, for each driver, data on the lateral distance y [m] with respect to the pedestrian P with respect to the margin time x [s] at the start of steering is 1 for each step of S101 to S105. Each plot is memorized. Further, as shown in FIG. 5, for each driver, there is a single piece of data regarding the lateral distance y [m] with the pedestrian P with respect to the own vehicle speed v [km / h] when the pedestrian P passes the side. One plot is stored for each step of S101 to S105.

  When one data unit, which is a fixed unit amount of data, is stored in the temporary storage unit 12i (S105), the data collection unit 12 stores the fixed unit amount in the database 16 together with the time stored in the database 16. Are stored as one data unit (S106). The data collection unit 12 accumulates data of a plurality of data units in the database 16 for each individual driver by repeating the steps of S101 to S106.

  Next, the operation in which the normal driving estimation unit 14 estimates the tendency of the driving operation of the driver will be described. As illustrated in FIG. 6, the new creation / update determination unit 14a of the normal driving estimation unit 14 selects a data unit for estimating a driving operation tendency of the driver (S201). The new creation / update determination unit 14a normally selects a data unit recently stored in the database 16 (S201).

  As described above, in this data unit, the lateral distance y [m] with respect to the pedestrian P with respect to the margin time x [s] at the start of steering as shown in FIG. 4 is plotted by the number of one data unit. Data at the start of steering. Further, in the data unit, the lateral distance y [m] with the pedestrian P with respect to the own vehicle speed v [km / h] when the pedestrian P passes sideways as shown in FIG. 5 is one data unit. Of the pedestrian P that is plotted by the number of pedestrians is included.

  In the present embodiment, the normal driving estimation unit 14 has the own vehicle speed v when the pedestrian P passes the pedestrian P sideways, and the own vehicle speed v when the pedestrian P passes the sideway. The following operation is performed for each of the medium speed range of 30 to 60 [km / h] or less and the high speed range of the own vehicle speed v of 60 [km / h] or more when the pedestrian P passes by the side. In the following description, an operation performed by the normal operation estimation unit 14 in the middle speed range will be described.

  The new creation / update determination unit 14a selects the presence / absence of the driving behavior model stored in the database 16 and the time stored in the database 16 when the driving behavior model is stored in the medium speed range. From the time when the data unit is stored in the database 16, it is determined whether or not a new driving behavior model is created or whether or not the stored driving behavior model is updated (S202).

  When the driving behavior model of the driver is not stored in the database 16, the new creation / update determination unit 14a determines to newly create the driving behavior model of the driver (S202). The driving behavior model of the driver is stored in the database 16, and a time between the time when the driving behavior model is stored in the database 16 and the time when the selected data unit is stored in the database 16 is predetermined. If it is within the time, the new creation / update determination unit 14a determines to end the process without updating the driving behavior model of the driver (S202). On the other hand, if the time between the time when the driving behavior model is stored in the database 16 and the time when the selected data unit is stored in the database 16 exceeds a predetermined time, a new creation / update determination unit 14a determines to update the driving behavior model of the driver (S202).

When the new creation / update determination unit 14a decides to newly create or update a driving behavior model, as shown in FIG. 7, the driving behavior model creation unit 14b of the normal driving estimation unit 14 performs steering by the driver. The upper limit value y _max and the lower limit value y _min of the side distance y with the pedestrian P at the start are estimated (S203). The driving behavior model creation unit 14b creates a driving behavior model at the start of steering by logistic regression (S204).

The driving behavior model creation unit 14b creates an average driving behavior model _MAVG as shown in FIG. 7 as a normal driving behavior model of the driver by the following equation (1). On the other hand, the driving behavior model creation unit 14b is a 95% tile driving behavior model as shown in FIG. 7, for example, as a candidate for an abnormal driving behavior model in which the lateral distance y at the start of steering is too small with respect to the margin time x. M _{95 pct} or 98% tile driving behavior model M 98 _pct is created. The driving behavior model creation unit 14b can create more non-normal driving behavior models.

The association unit 14c of the normal driving estimation unit 14 associates the driving behavior model at the start of steering as shown in FIG. 7 with the data when passing the side of the pedestrian P as shown in FIG. 5 (S205). . For example, as illustrated in FIG. 8, the associating unit 14 c sets a limit value y _lim that is safe for the pedestrian P with respect to the lateral distance y when passing the side of the pedestrian P. In the present embodiment, a range equal to or greater than the limit value y _lim is set as a “normal” data area, and a range less than the limit value y _{lim is} set as an “unusual” data area.

The data at the start of steering corresponding to the data in the “normal” data area when passing by the side of the pedestrian P is the neighborhood of the average driving behavior model _{MAVG at} the start of steering or the 95% tile driving behavior model at the start of steering. M _{95 pct} neighborhood data. On the other hand, data at the start of steering corresponding to data in the “unusual” data region when passing by the side of the pedestrian P is data adjacent to the 98% tile driving behavior model M 98 _pct at the start of steering.

Thus, association unit 14c, 95 percentile driving behavior model _{M 95Pct} at steering start finding that normal that can be run in this lower limit, walk an average driving behavior model _{M AVG} and 95 percentile driving behavior model _{M 95Pct} The person P can be recognized as a normal driving behavior model that becomes normal driving when passing by. On the other hand, the associating unit 14c can _recognize the 98% tile driving behavior model M _98pct at the start of steering as an _abnormal driving behavior model in which driving is not normal when passing the side of the pedestrian P.

Correspondence unit 14c, in a region far from the average driving behavior model M _AVG than unconventional driving behavior model 95% tiles driving behavior model to which the area M _95Pct, operating observation region as shown in FIG. 11, the information providing area And a driving operation intervention area is set (S206). For example, the associating unit 14c can set an allowance time threshold value xth that is a threshold value of the allowance time x, and can set an area that is less than the allowance time threshold value xth as an information providing area. Alternatively, the associating unit 14c sets a margin time x set for an arbitrary lateral distance y as a boundary between the operation observation area, the information provision area, and the driving operation intervention area in the area of the non-normal driving behavior model. be able to. The association unit 14c stores in the database 16 a normal driving behavior model at the start of steering of each individual driver, a normal driving behavior model and a non-normal driving behavior model that are lower limits that allow normal driving (S207).

  In the above example, the normal driving estimation unit 14 actually creates a driving behavior model based on the data unit. However, the normal driving estimation unit 14 may hold a plurality of driving behavior models already mapped according to various data units. In this case, the normal driving estimation unit 14 selects an optimal driving behavior model corresponding to the data unit from the map. In such an aspect in which a plurality of driving behavior models mapped according to various data units are held, the calculation load for creating the driving behavior model can be reduced. The normal operation estimation unit 14 performs the above-described operation also for the low speed range and the high speed range.

  Next, an operation in which the prediction determination unit 18 and the support unit 20 determine the timing and position for performing driving support based on the driving behavior model created by the normal driving estimation unit 14 and perform driving support will be described. As shown in FIG. 9, the driving trajectory calculation unit 18a of the prediction determination unit 18 acquires the vehicle speed v of the vehicle by the speed sensor 12d of the data collection unit 12 (S301).

  As shown in FIG. 10, the driving locus calculation unit 18a plots the current point of the vehicle on the three-dimensional coordinates of the own vehicle speed v, the margin time x, and the side distance y with the pedestrian P (S302). In addition, the driving locus calculation unit 18 a extracts a driving behavior model corresponding to the host vehicle speed v from the database 16. As shown in FIGS. 10 to 12, the driving locus calculation unit 18 a plots a driving behavior model corresponding to the vehicle speed v on a coordinate plane based on the margin time x and the lateral distance y in the three-dimensional coordinates (S <b> 302). .

In the example of FIG. 10, the average driving behavior model M _AVG and normal that operation can limit become 95% tiles driving behavior model M _95Pct described above is plotted in FIG. In addition, the driving trajectory calculation unit 18a plots the set operation observation area, information providing area, and driving operation intervention area on a coordinate plane based on the margin time x and the lateral distance y.

Operating locus calculation unit 18a, based on an average driving behavior model _{M AVG} and 95 percentile driving behavior model _{M 95Pct,} calculates the driving trajectory L that is expected from the current point of the vehicle as shown in Figures 10-12 (S303).

  As shown in FIGS. 9 and 11, the support command unit 18 b of the prediction determination unit 18 does not detect from the steering angle sensor 12 e of the data collection unit 12 that there is an operation for steering in the operation observation region. (S304), when it is predicted to be within the information providing area or within the information providing area from the driving locus L (S305), the support unit 20 is caused to provide information to the driver. Issue a command.

  The support unit 20 that has received a command from the support command unit 18b of the prediction determination unit 18 uses a display 20a, a speaker 20b, and a buzzer 20c to provide a pedestrian to the driver in order to provide the recognition support and the determination support as information provision. Recognize P and give information or warning to assist driving operation (S306). Alternatively, the support unit 20 urges the driver to steer at an appropriate timing or position by applying a reaction force to the steering wheel by the steering wheel reaction force actuator 20f in order to provide the above determination support as information provision ( S306).

  On the other hand, the support command unit 18b detects from the steering angle sensor 12e of the data collection unit 12 that there is an operation for steering in the operation observation region (S304), or there is an operation for steering in the operation observation region. Even when it is not detected (S304), when it is predicted from the driving locus L that it is outside the information providing area or does not enter the information providing area (S305), the support unit 20 is informed to the driver. Do not issue a directive to provide information. In this case, the support unit 20 does not provide information (S307).

  In parallel with the operations of S304 to S307, as shown in FIGS. 9 and 12, the support command unit 18b of the prediction determination unit 18 is allowed to enter the driving operation intervention region when the vehicle is in the information providing region. When predicted by the locus L (S308), a command is issued to cause the support unit 20 to control the driving of the vehicle that intervenes in the driving operation of the driver.

  The support unit 20 that has received a command from the support command unit 18b of the prediction determination unit 18 uses the steering wheel reaction force actuator 20f to perform the above-described operation support as a control for driving the vehicle that intervenes in the driving operation of the driver. By applying a reaction force to the steering wheel, the driver is urged to steer at an appropriate timing or position (S309). When it is determined that it is difficult to avoid by the driver's single operation, the support unit 20 controls and controls the driver's steering by the steering actuator 20i in order to perform the operation support (S309).

  On the other hand, as shown in FIGS. 9 and 12, the support command unit 18 b of the prediction determination unit 18, when the driving locus L is not predicted to enter the driving operation intervention area when the vehicle is in the information providing area. (S308), no command is issued to cause the support unit 20 to control the driving of the vehicle that intervenes in the driving operation of the driver. In this case, the support unit 20 does not perform driving control of the vehicle that intervenes in the driving operation of the driver (S310).

  According to the present embodiment, the prediction determination unit 18 and the support unit 20 are configured such that the side distance y detected by the data collection unit 12 based on the driver's driving operation tendency estimated by the normal driving estimation unit 14, Since the timing for notifying the information or controlling the driving is determined according to the margin time x, the driving support can be performed at the timing according to the tendency of the driving operation of the driver.

  Further, according to the present embodiment, the tendency of the driver's driving operation is estimated based on the side distance y and the margin time x stored in the database 16 when the driver actually performs the driving operation on the object. Is done. In addition, based on the estimated tendency of the driver's driving operation, timing for performing information notification or driving control is determined. For this reason, it is possible to perform driving assistance more consistent with the tendency of the driver.

That is, in this embodiment, actually in a normal region far from the average driving behavior model M _AVG than 95% tiles driving behavior model M _95Pct the operation is performed not, the control of the notification or the operation information performed. Therefore, it is possible to provide driving assistance that matches the actual tendency of the driver with high accuracy.

  In addition, this invention is not limited to the said embodiment, A various deformation | transformation aspect is possible. For example, in the above embodiment, there is a pedestrian in front of the vehicle, and the vehicle driver performs a driving operation to increase the lateral distance from the pedestrian, based on the side distance and the margin time. The manner in which driving assistance is performed is mainly described.

  However, the driving support device of the present invention is, for example, when there are objects such as other vehicles, bicycles, motorcycles, animals, rocks from falling rocks, fallen loads, wall surfaces, guardrails, curbs, etc. in front of the vehicle. Is equally applicable. Further, it is possible to perform driving support similar to the above based on the margin distance until the vehicle reaches the point closest to the object. Further, the driving support device of the present invention is a driving for reducing the vehicle speed of the vehicle similar to the above based on the margin time or the margin distance when the driver of the vehicle performs the driving operation to reduce the vehicle speed. Support can also be provided.

DESCRIPTION OF SYMBOLS 10 ... Driving assistance device, 12 ... Data collection part, 12a ... Camera, 12b ... Radar, 12c ... GPS, 12d ... Speed sensor, 12e ... Steering angle sensor, 12f ... Accelerator pedal sensor, 12g ... Brake pedal sensor, 12h ... Driving Person recognition unit, 12i ... temporary storage unit, 14 ... normal driving estimation unit, 14a ... new creation / update determination unit, 14b ... driving behavior model creation unit, 14c ... association unit, 16 ... database, 18 ... prediction determination unit, 18a ... Driving locus calculation unit, 18b ... Support command unit, 20 ... Support unit, 20a ... Display, 20b ... Speaker, 20c ... Buzzer, 20d ... Accel pedal reaction force actuator, 20e ... Brake pedal reaction force actuator, 20f ... Steering wheel Reaction force actuator, 20g ... Accelerator actuator, 20h ... Brake actuator Chueta, 20i ... steering actuator, 100 ... vehicle, P ... pedestrian.

Claims (2)

Detecting means for detecting a lateral distance that is a distance in a vehicle width direction between the vehicle and an object ahead of the vehicle;
Determining means for determining a margin interval at which the vehicle approaches the object;
Driving assistance means for providing driving assistance to the driver of the vehicle according to the lateral distance and the margin interval;
Based on the lateral distance and the margin interval, normal driving estimation means for estimating a tendency of the driving operation of the driver;
With
The driving support means determines the timing for performing the driving support according to the lateral distance and the margin interval based on the tendency of the driving operation of the driver estimated by the normal driving estimating means. Driving assistance device. The normal driving estimation means is configured to determine a tendency of the driving operation of the driver based on the lateral distance and the margin interval when the driving operation recorded in the database avoids the object. The driving support device according to claim 1, wherein the driving support device is estimated.

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