JP2015203922A - Acknowledgment support system - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a technology for executing acknowledgment support when turning right and left at an accurate timing.SOLUTION: An acknowledgment support system (1) includes: acknowledgement support means (S220) for executing control for allowing a driver to acknowledge a state at a spot where an own vehicle turns right and left; and activating means (S110 to S190) for activating the acknowledge support means by estimating a timing at which the own vehicle turns right and left. In the activation means, intention estimation means (S110 to S140) estimates whether or not a driver intents to turn right and left, and when it is determined that the driver intends to turn right and left by the intention estimation means, activation timing determination means (S150 to S190) determines whether or not a preliminarily set activation condition is satisfied by the moving state of the vehicle including at least acceleration/decoration, and when the activation condition is satisfied, activates the acknowledgement support means.

Description

  The present invention relates to a technique for allowing a driver to recognize the situation of a point where a vehicle is about to turn left or right.

  Processes the image captured by the in-vehicle camera to detect the presence of a pedestrian crossing the pedestrian crossing at the right turn, and determines whether the vehicle is in a state of waiting for a right turn waiting for passing a passing vehicle. A technique has been proposed in which when it is determined that the vehicle is waiting for a right turn and a pedestrian is detected, a warning is issued when the driver's intention to start the vehicle is detected (see Patent Document 1).

JP 2005-309660 A

  In the conventional technology, the support start timing is late (the operation of the direction indicator and the start from the stop), and the warning cannot be received in advance before starting, so the driver cannot deal with the warning with sufficient margin. was there.

  Further, since the vehicle does not always stop once at the intersection, there is a problem that the conventional technology does not function in such a case.

  This invention is made | formed in view of such a problem, and it aims at providing the technique which implements the cognitive assistance at the time of a right-left turn at an exact timing.

  The recognition support system of the present invention includes a recognition support means and an activation means. The recognition support means executes control for causing the driver to recognize the state of the point where the host vehicle is about to turn left or right. The activation means activates the recognition support means by estimating the right / left turn timing of the host vehicle. However, the activation unit includes an intention estimation unit and an activation timing determination unit. The intention estimation means estimates whether or not the driver has an intention to turn left or right. The activation timing determination means determines whether or not the moving state of the vehicle including at least the deceleration satisfies a predetermined activation condition when the intention estimation means estimates that the driver has an intention of turning left or right, When the activation condition is satisfied, the recognition support means is activated.

  According to such a configuration, when it is estimated that the driver intends to turn left or right, the activation timing of the recognition support is determined from the moving state of the vehicle including the deceleration. Therefore, it is possible not only to perform cognitive support with a margin before temporarily stopping at an intersection or the like, but also to perform cognitive support at an appropriate timing even when making a right or left turn without temporarily stopping at an intersection or the like.

  In addition, the code | symbol in the parenthesis described in the claim shows the correspondence with the specific means as described in embodiment mentioned later as one aspect, Comprising: The technical scope of this invention is limited is not.

  In addition to the above-described recognition support system, the present invention can be realized in various forms such as a program for causing a computer to function as each unit of the recognition support system, a recognition support activation method, and the like.

It is a block diagram which shows the whole structure of a recognition assistance system. It is a flowchart which shows the content of the process which a control part performs. It is explanatory drawing which shows the effect of a recognition assistance system.

  Embodiments to which the present invention is applied will be described below with reference to the drawings.

<Overall configuration>
As shown in FIG. 1, the recognition support system 1 includes a surrounding recognition sensor group 2, a vehicle state detection sensor group 3, a control unit 4, and an information presentation unit 5.

  The peripheral recognition sensor group 2 includes an image sensor that detects various targets by imaging the surroundings of the vehicle, and a radar sensor that detects distances and relative speeds with targets existing around the vehicle using millimeter waves and sound waves. A GPS sensor for detecting the current position of the vehicle, a locator, and the like are provided. In the image sensor, in addition to the process of detecting various targets reflected in the image from the detection result, the number of lanes and the lane (vehicle lane) in which the host vehicle is traveling based on the detected target are determined. The specified process is also executed.

  The vehicle state detection sensor group 3 includes at least a direction indicator sensor for detecting an operation state of the direction indicator, a speed sensor for detecting the speed of the vehicle, an acceleration sensor for detecting the acceleration (deceleration) of the vehicle, and a steering operation amount. At least a rudder angle sensor to detect is provided.

  The information presentation unit 5 includes a display screen for displaying images and characters, a lamp and a buzzer for visually or audibly alerting the driver.

  The control unit 4 is composed of a well-known microcomputer having at least a CPU 41 and a memory 42, and repeatedly executes processing described below while the power is on.

<Processing>
As shown in FIG. 2, when this process is started, the CPU 41 first determines in S110 whether or not the direction indicator is operating based on the detection result of the vehicle state detection sensor group 3.

  If it is determined that the direction indicator is in operation (S110: YES), it is determined in S120 whether the operation of the direction indicator is intended for a lane change. Specifically, from the result of recognizing the lane of the road on which the host vehicle is traveling based on the detection result by the sensor group 2 for recognizing the periphery, the direction indicator indicates the side of the lane on which the host vehicle is traveling. When there is a lane where the vehicle can travel, it is determined that the vehicle is in a lane change. A lane that can be traveled is a lane that has the same traveling direction as its own lane, and if there is no adjacent lane, or if the adjacent lane is the opposite lane, turn right or left instead of a lane change. It is determined that this is intended.

  When it is determined that it is not a lane change (S120: NO), the process proceeds to S150, and when it is determined that it is a lane change (S120: YES), it is determined at S130 whether the lane change is completed. Specifically, this determination is made when the direction indicator is turned off or when it is confirmed that the host vehicle has moved to the adjacent lane based on the detection result of the sensor 2 for recognition of the periphery. Is determined to have ended. If it is determined that the lane change has not ended (S130: NO), the process waits until the lane change ends by repeating S130. If it is determined that the lane change has ended (S130: YES), the process proceeds to S135. .

  In S135, it is determined whether a right / left turn is to be performed following the lane change. Specifically, if the direction indicator is off or the steering angle is less than or equal to the preset angle threshold θth, the distance to the right / left turn point is far away, or the lane change is followed by the right This processing is temporarily terminated as a low possibility of performing a left turn (S135: NO). On the other hand, when the turn indicator remains on and the steering angle is larger than the angle threshold θth and equal to or smaller than the angle at the time of turning left or right, there is a high possibility that a right or left turn will be performed following the lane change (S135). : YES), the process proceeds to S150.

  If it is determined in S110 that the turn indicator is not in operation, it is determined in S140 whether the own lane is either a right turn lane or a left turn lane. Specifically, the determination is based on the recognition result of the road sign based on the detection result in the peripheral recognition sensor group, the map data for navigation related to the position detected by the GPS sensor, or the like. If the own lane is either a right-turn lane or a left-turn lane (S140: YES), it is determined that there is a high possibility of turning right or left even if the direction indicator is not operating, and the process proceeds to S150. If the own lane is neither a right turn lane nor a left turn lane (S140: NO), it is assumed that there is a low possibility of making a right / left turn, and this process is temporarily terminated.

  In S150, the timer is started (restarted if already operating), and in subsequent S160, based on the detection result from the vehicle state detection sensor group 3, the deceleration of the host vehicle is set to a first threshold value α1 that is set in advance. Judge whether it is larger. If the deceleration is less than or equal to the first threshold value α1 (S160: NO), whether or not the speed of the host vehicle is smaller than the preset lower limit speed Vth based on the detection result from the vehicle state detection sensor group 3 in S170. Judge whether or not. When the speed of the host vehicle is equal to or higher than the lower limit threshold value Vth (S170: NO), it is assumed that the vehicle has not yet sufficiently approached the right / left turn point, and this processing is temporarily ended.

  When the deceleration is larger than the first threshold value α1 (S160: YES) or when the speed is smaller than the lower limit threshold value Vth (S170: YES), it is measured by the timer started / restarted at S150 in S180. It is determined whether or not the elapsed time has reached a preset designated time Tth.

  If the elapsed time has not reached the specified time Tth (S180: NO), the deceleration of the host vehicle is set to a value larger than the first threshold value α1 based on the detection result of the vehicle state detection sensor group 3 in S190. It is determined whether or not it is greater than the second threshold value α2, and if the deceleration is not more than the second threshold value α2 (S190: NO), the process returns to S160.

  On the other hand, when the elapsed time has reached the specified time Tth (S180: YES) or when the deceleration is greater than the second threshold value α2 (S190: YES), the right / left turn recognition support process is executed in S200. This process is terminated once.

  For example, the right / left turn support process performs control for alerting the driver via the information presentation unit 5 when a predetermined detection target exists at the right turn or the left turn. Specifically, when the right / left turn point is an intersection, the detection target is a pedestrian or bicycle crossing or crossing a pedestrian crossing as shown in FIG. When the left turn destination is a parking lot of a store along the road, as shown in FIG. 3B, it is a pedestrian or bicycle moving on the sidewalk between the parking lot and the road.

  The thresholds α1, α2, Vth, and Tth used for the determination of deceleration in S160 and S190, the determination of speed in S170, and the determination of the elapsed time in S180 are as follows. It is set based on the learning result such as starting deceleration when approaching to the extent, how much deceleration is to be performed, and how much to reduce the speed when turning left or right. These thresholds are preferably set for each driver, but those set to average values from the learning results of many people may be used.

  In particular, the specified time Tth is recognized based on the learning value of the standard time required for the driver to operate the direction indicator and start deceleration to start the right / left turn before the right / left turn is started. It is set to a value that ensures a margin time required for the driver to deal with the situation of the right / left turning point recognized by the driver by the assistance process.

  Further, the second threshold value α2 is, for example, a specified speed (for example, right / left turn when turning right / left without pausing) when the deceleration state at the second threshold value α2 is continued. The travel distance or travel time required to reach the standard speed at the start) is set to a value that is a preset permissible distance or permissible time. It should be noted that the allowable distance and the allowable time may be set so as to ensure a margin for the driver to deal with the recognized situation, similarly to the above-described margin time.

<Effect>
As described above, the recognition support system 1 determines that the driver has an intention to turn left or right in the following cases (1) to (3).

  (1) When driving on a right turn lane or a left turn lane.

  (2) When the direction indicator is operating and there is no lane that can travel on the side indicated by the direction indicator (that is, not a lane change).

  (3) The direction indicator is in operation and there is a lane that can be driven on the side indicated by the direction indicator (that is, a lane change is made), but the steering angle is large and the vehicle turns right and left following the lane change. When is expected.

  Also, in the recognition support system 1, when it is determined that the driver has an intention to turn left or right, the recognition support processing is started using the following (A) and (B) as starting conditions.

  (A) The deceleration is larger than the second threshold value α2.

  (B) A case where the deceleration is equal to or smaller than the second threshold value α2 and the state where the deceleration is greater than the first threshold value α1 or the velocity is smaller than the lower limit value Vth continues for the specified time Tth or longer.

  This makes it possible to accurately determine the intention of the driver who is going to make a right or left turn, and to start the right / left turn recognition support process at an appropriate timing, for example, start the process with a margin before stopping at an intersection. Even when turning right or left without stopping once at an intersection or the like, the processing can be started at an appropriate timing.

<Other embodiments>
As mentioned above, although embodiment of this invention was described, it cannot be overemphasized that this invention can take a various form, without being limited to the said embodiment.

  (1) For example, in the above embodiment, the right / left turn recognition support process is executed when the deceleration is greater than the first threshold or the speed is less than the lower limit value Vth for a specified time. Alternatively, the determination may be made by paying attention only to the speed.

  (2) Each component of the present invention is conceptual and is not limited to the above embodiment. For example, the functions of one component may be distributed to a plurality of components, or the functions of a plurality of components may be integrated into one component. Further, at least a part of the configuration of the above embodiment may be replaced with a known configuration having the same function. In addition, at least a part of the configuration of the above embodiment may be added to or replaced with the configuration of the other embodiment.

  DESCRIPTION OF SYMBOLS 1 ... Recognition support system 2 ... Peripheral recognition sensor group 3 ... Vehicle state detection sensor group 4 ... Control part 5 ... Information presentation part 41 ... CPU 42 ... Memory

Claims (10)

Recognition support means (S220) for executing control for allowing the driver to recognize the state of the point where the host vehicle is about to turn left and right;
Activating means (S110 to S190) for activating the recognition support means by estimating the timing of the vehicle's right or left turn;
With
The activation means includes
Intention estimation means (S110-S140) for estimating whether the driver has an intention to turn left or right;
When it is estimated by the intention estimation means that the driver has an intention to turn left or right, it is determined whether or not the moving state of the vehicle including at least the deceleration satisfies a preset activation condition, and the activation condition is satisfied. A start timing determination means (S150 to S190) for starting the recognition support means,
A recognition support system characterized by comprising:   The activation timing determination means (S150, S160, S180) takes one of the activation conditions that a state where the deceleration of the host vehicle is greater than a preset first threshold value continues for a preset specified time. The recognition support system according to claim 1, wherein:   The activation timing determination means (S150 to S180) is configured such that a specified time in which a state in which the deceleration of the host vehicle is greater than a preset first threshold or a state in which the vehicle speed of the host vehicle is less than a preset speed threshold is set. The recognition support system according to claim 1, wherein the continuation is set as one of the activation conditions.   The specified time is recognized by the recognition support means before starting the right / left turn based on the learning value of the standard time required from when the driver operates the direction indicator to start deceleration and starts the right / left turn. The cognitive support system according to claim 2 or 3, wherein the cognitive support system is set to a value that ensures a margin time required for the driver to deal with the situation of the right and left turn points.   3. The activation timing determining means (S190) sets the deceleration of the host vehicle as one of the activation conditions to be equal to or more than a second threshold set larger than the first threshold. 5. The cognitive support system according to any one of 4 above.   Assuming that the deceleration state at the second threshold value is continued, the second threshold value is a predetermined allowable distance or a movement distance or time required for the vehicle speed to reach a preset designated speed. 6. The cognitive support system according to claim 5, wherein the cognitive support system is set to a value that is an allowable time.   The intent estimating means (S110) estimates that the driver has an intention to turn left or right when the direction indicator is operating. Cognitive support system. Lane recognition means (2) for recognizing an own lane in which the own vehicle is traveling and an adjacent lane adjacent to the own lane;
The intention estimating means (S120) can travel to the side indicated by the direction indicator as seen from the lane in which the host vehicle is traveling based on the recognition result of the lane recognition means even when the direction indicator is operating. The cognitive support system according to claim 7, wherein if it is determined that a lane exists, the driver estimates that the driver does not intend to turn left or right.   The intention estimating means (S130) is a value for which the rudder angle of the host vehicle is estimated that the driver is going to cross the lane even when there is a lane that can travel on the side indicated by the direction indicator. The recognition support system according to claim 8, wherein if the above is true, the driver estimates that the driver intends to turn left or right. Dedicated lane determination means (2) for determining whether the lane in which the host vehicle is traveling is a right turn lane or a left turn lane,
The intention estimation means (S140) estimates that the driver has an intention to turn right or left when the dedicated lane determination means determines that the lane is a right turn lane or a left turn lane. The recognition support system according to any one of claims 1 to 9.