JP2016057490A - Driving support system - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a driving support system that maintains and improves a driver's driving ability by making the driver re-recognize at what point he/she had a problem during visual safety check.SOLUTION: A driving support system comprises: imaging means (4) for imaging a surrounding of a vehicle; distance detection means (5) for detecting a distance from an object (8) around the vehicle; driver condition detection means (6) for detecting a head position and a visual line direction of a driver (3); data recording means (14) for synchronizing and recording with time the image obtained by the imaging means and the information detected by the distance detection means and the driver condition detection means; dangerous situation detection means (12) for detecting a dangerous situation during driving according to the detected information and the vehicle information; and image creation means (11) for creating a teacher image including tentative visual field images (2b, 7b) by reading out data for a certain period of a past time from the data recording means when the dangerous situation detection means detects the dangerous situation during driving. The virtual visual field image is automatically replayed at the end of driving to make the driver recognize the dangerous situation during driving.SELECTED DRAWING: Figure 2

Description

  The present invention relates to a driving support system for recording a driving situation and presenting a situation to be improved to a driver to prevent or improve a reduction in driving ability.

  In evaluating the driving ability of the driver, not only driving skills such as steering wheel operation and brake operation, but also the ability to judge the situation and the safety confirmation by visual observation that form the basis thereof are important factors. In particular, in the case of a novice driver who is proficient in driving skills, there is a risk of lack of experience related to safety confirmation and safety confirmation may be insufficient due to the fact that consciousness is divided into driving operations. Skills may lead to distractions and neglect of safety checks. In addition, older drivers who may experience a decline in physical function or dementia with aging may affect driving, and may suddenly encounter a dangerous situation without being aware of the decline in safety confirmation ability. .

  Therefore, various systems for obtaining vehicle information, external information, driver information, and the like and evaluating the driving ability of the driver have been proposed. For example, Patent Documents 1 and 2 evaluate whether or not there is a problem in the driving state of the driver, and if it is determined that there is a problem, an alarm or warning is activated. Furthermore, in order to improve the driving ability of the driver, it has been proposed to notify the driver of the recorded evaluation result.

  In Patent Literature 3, it is proposed to calculate a driver's driving tendency by calculating a safety confirmation degree from the number of times of visual action and time taken by the driver before starting the lane change from the operation history at the time of the lane change. Yes. However, this method only detects the presence or absence of driver safety confirmation. For this reason, for example, it cannot contribute to the fall of the ability to predict the position and movement of the other vehicle in the blind spot area from the past to the present of the driver, prevention or improvement thereof.

  Patent Document 4 proposes to generate and display a video viewed from the viewpoint of the surroundings of the host vehicle and the viewpoint of another vehicle from the synthesized video of the entire vehicle periphery. However, presenting the image of the blind spot area of the driver can explain the dangerous situation to the driver, but because the field of view is different from the field of view that the driver can see, the driver himself confirmed safety visually. The effect of re-recognizing at what point in time the mistake was made cannot be expected, and there was a problem that it could not necessarily contribute to the improvement of driving ability.

JP-T-2004-524203 JP 2008-282202 A JP 2012-247871 A JP 2011-227571 A

  The present invention has been made in view of the above circumstances, and its purpose is to maintain driving ability by re-recognizing at which point the driver had a problem while visually confirming safety. The purpose is to provide a driving support system for improvement.

  In order to solve the above-mentioned problems, the present inventor has intensively studied, and as a result, the recorded video of the driving situation to be improved is presented in the same image as the field of view when the driver visually confirms safety. By re-recognizing whether or not the vehicle has been operated, the present inventors have realized that the reduction in driving ability can be realized, and that the driving ability can be maintained and improved.

  That is, the driving support system (100) according to the present invention includes an image pickup means (4) for picking up an image around the vehicle and a distance detection means (5) for detecting the distance between the object (8) around the vehicle. The driver state detection means (6) for detecting the head position and the line-of-sight direction of the driver (3), the image acquired by the imaging means, and the detection information of the distance detection means and the driver state detection means are synchronized. Data recording means (14) for recording over time, danger status detection means (12) for detecting a dangerous situation during driving based on the detection information and vehicle information, and the dangerous situation detection means during driving When a dangerous situation is detected, data for a predetermined period of time is read from the data recording means, and a teacher video including virtual visual fields (2b, 7b) according to the visual field of the driver is generated. Video generation means (11) and video reproduction means (13) for reproducing the teacher video, and the teacher video is automatically reproduced at the end of driving in order to make the driver recognize the dangerous situation that occurred during driving. It is possible to set as described above.

  With the above configuration, the driving support system according to the present invention automatically reproduces a teacher video including a virtual visual field image according to the driver's visual field at the end of driving when a dangerous situation during driving is detected, so that the driver himself Can be expected to have the effect of re-recognizing at what point the mistake was made while visually confirming safety, which is advantageous in improving driving ability.

  For example, normally, when changing the lane, the driver starts moving after confirming that there is no other vehicle in the adjacent lane immediately before the start of the lane change (see FIG. 1). At this time, in order to change the lane more safely and smoothly, the driver can check the state of the adjacent lane with the side mirror 2 from the past several seconds to several tens of seconds before, and Confirm the relative position and speed difference, and use these information to estimate the state of the other vehicle 8 in the blind spot area (the area between the side mirror view 2a and the driver view 3a) from the past time to the current time. Therefore, the accuracy of the safety check at the current time is improved.

  Therefore, based on the data acquired over time by synchronizing the video acquired by the imaging means and the detection information of the distance detection means and the driver status detection means, a virtual visual field image according to the driver's visual field for a certain time until the occurrence of danger By generating a teacher image including (2b, 7b) and automatically playing it at the end of driving, it is possible to reproduce the dangerous state with the vehicle existing in the blind spot area in a state close to reality, which is effective for the driver. Can be recognized.

  Therefore, in the present invention, it is advantageous that the teacher image includes the virtual mirror image (2b) and the virtual side window image (7b) from the viewpoint of the driver side by side as the virtual visual field image. As described above, the driver confirms safety by visual inspection through the side mirror and side window when changing lanes, so it is dangerous in a state close to reality with the teacher video that reproduces two virtual view images corresponding to them side by side. It is easy to recognize the degree of danger and is advantageous for obtaining an educational effect.

  In a preferred aspect of the present invention, when an unreproduced portion remains during automatic reproduction of the teacher video at the end of the driving, it can be set so that the unreproduced portion is automatically reproduced when the vehicle starts next time. When there is no room to check the teacher video at the end, it is possible to play back according to the driver's convenience.

  In the present invention, in a mode in which the teacher video can be set to be played back including past dangerous driving history, it is played back including dangerous driving history such as past dangerous driving ranking list and dangerous driving occurrence frequency. Therefore, the driver's own driving tendency can be known, which is advantageous in obtaining an educational effect.

  In the present invention, when an unplayed portion of the teacher video remains, it is possible to prevent the driver from being overlooked or forgotten to see it later in an aspect in which the driver can be notified of the existence of the unplayed portion. it can.

(A) (b) is a top view which shows before and after the following vehicle enters into the blind spot of the side mirror of the own vehicle, (c) (d) is a side mirror image corresponding to them. It is a block diagram which shows the driving assistance system which concerns on this invention embodiment. It is a schematic plan view which shows the visual field of a camera outside a vehicle, and the viewing angle of a radar. It is a top view which shows the visual field of a side mirror, and the visual field of a side window. It is a figure which shows the input image and virtual mirror image | video of a camera outside a vehicle. (A) is a relationship between a dangerous driving level and TTC, (b) is a dangerous driving history, and (c) is a schematic diagram showing a display image example of the occurrence frequency for each dangerous driving level. It is a schematic diagram which shows the teacher image | video which arranged the virtual mirror image | video and the virtual side window image | video up and down. It is a flowchart which shows operation | movement of the driving assistance system which concerns on this invention embodiment. It is a flowchart which shows the operation | movement at the time of vehicle start of the driving assistance system which concerns on this invention embodiment.

Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings.
In FIG. 2, a driving support system 100 according to an embodiment of the present invention includes a processing device 10 (driving support system main body) including a teacher video generation unit 11, a danger situation detection unit 12, a teacher video playback unit 13, and a past data recording unit 14. The input-side external device group 20 that provides basic data to the processing device 10 and the output-side external device group 30 are mainly configured. In the following embodiment, the case where the driving situation and the safety confirmation operation at the time of lane change are detected will be described as an example, and the necessary equipment configuration will be described. The equipment configuration depends on the driving situation assumed by the driving support system 100. Selected.

  The input-side external device group 20 includes a vehicle surrounding imaging unit 21 that captures the surroundings of the vehicle, a distance detection unit 22 that detects the distance between the host vehicle and the other vehicle, and a driver state that detects the position of the driver's head and the line of sight The vehicle information detection means 24 etc. which acquire vehicle information, such as the detection means 23, a vehicle speed, a steering angle, a blinker, etc., may use the existing vehicle equipment.

  As shown in FIG. 3, the vehicle surrounding imaging means 21 includes an outside camera 4 attached to the side mirror 2 of the vehicle 1, and the rear side from the side of the vehicle 1 is stored in the field of view 4 a, and other surrounding vehicles, roads, Take pictures of the surrounding environment at regular intervals. The input camera video is stored in the memory. You may install the camera 4 outside a vehicle in both right and left as needed.

  The distance detection means 22 includes a distance measurement sensor 5 such as a radar or a laser range finder, and is attached to the side mirror 2 or the like. The distance from the side to the rear of the vehicle 1 is stored in the radar viewing angle 5a. The distance to the environment is detected at regular intervals. The input distance information is stored in the memory. The detected distance information to the other vehicle is also used when calculating the moving direction and moving speed of the other vehicle. The distance measuring sensor 5 may be installed on both the left and right as necessary.

  As shown in FIG. 4, the driver state detection unit 23 includes a vehicle interior camera 6 installed in the vehicle interior so that the upper body region including the face of the driver 3 can be photographed, and the driver 3 photographed by the vehicle interior camera 6. An image processing program for detecting the position and line-of-sight direction of the driver's head from the face image. The vehicle interior camera 6 is preferably installed on a dashboard or a column cover. The head position and line-of-sight direction of the driver 3 can be detected from a single camera image, but more accurate by measuring the distance using a plurality of camera images. High detection is possible.

  The vehicle information detection means 24 acquires vehicle information such as the vehicle speed while the vehicle is traveling, the steering angle of the steering wheel, and the operating state of the blinker switch via the in-vehicle network (CAN). Sensor groups such as the vehicle exterior camera 4, the radar 5, and the vehicle interior camera 6 are calibrated in advance, and the association between the vehicle-based coordinate system and each sensor-based coordinate system is known. Calibration data is stored in a memory in the processing apparatus 10 and is read out as necessary.

  Next, the processing device 10 that is a main part of the driving support system 100 will be described. As described above, the processing device 10 includes the teacher video generation unit 11, the dangerous situation detection unit 12, the teacher video reproduction unit 13, and the past data recording unit 14, which are programs operable to execute the respective functions. ROM for storing data and calibration data, CPU for performing arithmetic processing, RAM for reading a program and RAM serving as a temporary storage area for CPU results, input interface group to which the input side external device group 20 is connected, output The computer includes an output interface group to which the side external device group 30 is connected.

  The dangerous situation detection unit 12 detects a dangerous situation during driving based on input information from the distance detection unit 22, the driver state detection unit 23, and the vehicle information detection unit 24. Trigger signal for starting

  Input information from each of the above-mentioned detection means, such as a danger situation during driving, for example, a situation where a collision risk occurs in another vehicle traveling in the adjacent lane when changing lanes, or a danger avoidance operation such as a sharp handle is performed As a detection method based on the above, for example, it is determined that a collision risk has occurred when the distance to the other vehicle measured by the distance measuring sensor 5 is equal to or less than a threshold value. Alternatively, the angular velocity or angular acceleration is calculated from the time change of the steering angle of the steering wheel, and when the angular velocity or angular acceleration is equal to or greater than the threshold value, it is determined that the sudden steering wheel has been turned off (the possibility of a collision has occurred). be able to.

  The past data recording unit 14 is configured by a storage device such as a flash memory, and acquired by the vehicle surrounding imaging unit 21 when the vehicle travels, and the distance detection unit 22, the driver state detection unit 23, and the vehicle information detection unit 24. If the trigger signal is transmitted from the dangerous situation detection unit 12 by detecting the dangerous situation during driving, the data for a certain period of time is instructed. It is read by the video generation unit 11.

  The teacher image generation unit 11 includes a driver visual field range calculation unit 41, a virtual mirror image generation unit 42, a virtual side image generation unit 43, an object tracking unit 44, an object marking unit 45, a dangerous driving level determination unit 46, and the like. The teacher video is generated by the following processing.

  First, data of a past fixed time is read from the past data recording unit 14 to the main memory (RAM) with reference to the timing of the trigger signal when a danger occurs.

  The driver field-of-view range calculation unit 41 calculates the field-of-view range 2a of the side mirror 2 and the field-of-view range 7a of the side window 7 that can be seen from the driver 3 from the time-series data of the head position and line of sight of the driver 3 (see FIG. 4). .

  As shown in FIG. 5, the virtual mirror video generation unit 42 cuts out a video portion reflected in the visual field range 2 a of the side mirror 2 from the video 4 a around the vehicle photographed by the outside camera 4, converts the viewpoint, enlarges / reduces, and reverses horizontally. The virtual side mirror image 2b is generated by performing such processes as above.

  The virtual side image generation unit 43 cuts out a video portion that appears in the visual field range 7a of the side window 7 from the video 4a around the vehicle taken by the outside camera 4, performs processing such as viewpoint conversion, enlargement / reduction, and the like. The side window video 7b is generated. At this time, an image or mark corresponding to the other vehicle may be drawn on the virtual side window video 7b based on the distance information with respect to the other vehicle 8 detected by the distance detecting means 5.

  Then, the virtual mirror video 2b and the virtual side window video 7b are combined to generate a teacher video as shown in FIGS. Note that the teacher video is generated by selecting the video on the right side of the vehicle or the video on the left side of the vehicle depending on whether the dangerous situation occurs on the right or left side of the vehicle, and the corresponding video is also played back. In the illustrated example, a teacher image on the right side of the vehicle of 6 frames at intervals of 0.2 seconds from -0.2 to -1.2 seconds (that is, 0.2 to 1.2 seconds retroactive) from the trigger signal at the time of occurrence of danger is shown. Show.

  The object tracking unit 44 specifies in which position in the video the object that has a possibility of collision is shown from information such as a relative position with respect to the object, a relative speed, and a vehicle speed. In the illustrated example, the other vehicle 8 is specified as the object 8a.

  The object marking unit 45 marks (8b) the area of the object 8a shown in the video. The effect that the marker 8b blinks or the buzzer sound is reproduced at the moment when the object 8a is out of the field of view of the virtual mirror 2b or when it is visible within the field of view of the virtual side window 7b. May be added to generate a video. Further, when the object is present in the blind spot area, a message such as “Beware of blind spot” may be displayed on the screen.

  The dangerous driving level determination unit 46 determines the dangerous driving level by calculating a dangerous driving degree when a dangerous state occurs. As the dangerous driving degree, values such as the closest approach distance to another vehicle, a collision allowance time (TTC), the rotational angular velocity of the steering wheel operated when avoiding the collision, and the rotational angular acceleration are used. The threshold level is determined for the value of the dangerous driving degree, and the dangerous level is determined.

  For example, the danger level is classified into 1 to 5 levels according to the value of the collision allowance time (TTC) (see FIG. 6A). Further, the degree of danger may be checked against a past database, and the history of dangerous driving so far may be listed and ranked. Furthermore, you may display the frequency which the past condition generate | occur | produced for every month and every year (refer FIG.6 (b) (c)). The determined dangerous driving level is recorded together with the teacher video.

  When the vehicle 1 stops, the teacher video playback unit 13 plays back the teacher video (including the dangerous driving level display) recorded during that time on the video output means 31 (such as an in-vehicle monitor) to teach the driver. At this time, it is determined whether or not the reproduction has reached the end when the ignition is turned off. If the reproduction has reached the end, the reproduction flag at the next start is turned off and the system is terminated. On the other hand, if the reproduction has not reached the end, the reproduction flag at the next start is turned on and the system is terminated.

  When the vehicle starts, the next start regeneration flag is read to determine whether it is ON or OFF. If the next start reproduction flag is OFF, the periodic notification mode and the navigation operation reproduction mode are turned OFF, and the operation ends. When the regeneration flag at the next start is ON, the recorded teacher video and the dangerous driving level are read out while the shift position is parked, and are reproduced by the video output means 31 to be taught to the driver.

  Also at this time, it is determined whether or not the reproduction has reached the end. If the reproduction has reached the end, the reproduction flag at the next start, the periodical notification mode, and the reproduction mode at the time of navigation operation are turned off and the process ends. On the other hand, if the reproduction has not reached the end, the periodical notification mode and the reproduction mode at the time of nap operation are turned on and the process ends.

  When the periodic notification mode is ON, the driver is periodically notified that there is an unplayed video by the timer function and the calendar function. For example, an icon is displayed, a sound is played, or a message is played at the beginning of the day or the beginning of the week. When the navigation operation playback mode is ON, when the driver searches for a route, an icon or message is displayed on the navigation screen to notify the driver that there is an unplayed video.

  The output-side external device group 30 includes a video output unit 31, a video recording unit 32, a video transmission unit 33, and the like, and these may use existing in-vehicle devices. As already described, the video output means 31 displays the teacher video reproduced by the teacher video reproduction means 13 on a display device (such as an in-vehicle monitor).

  The video recording means 32 executes a portable storage medium (memory card, hard disk or the like) for recording the teacher video, a media slot or socket for loading the storage medium, and an operation for taking out or writing out the storage medium. Menu screen (GUI) and the like. With this video recording means 32, the driver can carry the recording medium, and after driving is finished, the teacher video can be played back on the outside equipment (home PC, TV, etc.) to check the dangerous driving situation.

  The video transmission means 33 is composed of a communication terminal for recording a teacher video on a server using a communication service such as road-to-vehicle communication, a mobile phone, Wi-Fi, and the like. Thus, it is possible to reproduce and check the teacher video with the external device after the driving is completed.

  Next, the operation of the driving support system 100 based on the above embodiment will be described with reference to FIG.

  First, when the driving support system 100 is activated, the vehicle information acquired by the vehicle information detection means 24 is taken into the system and recording into the memory is started (S101).

  The vehicle 1 starts and enters a running state, and the outside camera 4 is activated, captures an image around the vehicle into the system, and starts recording in the memory (S102). Further, the radar 5 and the distance detecting means 22 are activated, distance data with an object such as another vehicle detected at the radar viewing angle 5a is taken into the system, and recording into the memory is started (S103). The vehicle interior camera 6 and the driver state detection means 23 are activated, and information on the head position and line-of-sight direction of the driver 3 is taken into the system and recording into the memory is started (S104).

  If the dangerous situation detection unit 12 does not detect a dangerous situation during traveling, steps S101 to S104 are continued. On the other hand, when the distance to the other vehicle (8) detected by the distance detection means 22 becomes a certain value or less, the angular velocity or angular acceleration of the steering wheel steering angle obtained by the vehicle information detection means 24 becomes a certain value or more, etc. When it is determined by the dangerous situation detection unit 12 that a dangerous situation has occurred (S105), the teacher video generation unit 11 is activated, and the following steps are executed.

  From the past data recording unit 14, stored data for a certain period in the past from the time of occurrence of the dangerous situation is read (S106). In this data, the visual field range of the driver 3 is calculated from the head position and the line-of-sight direction of the driver 3. The visual field 2a of the video reflected on the mirror 2 and the visual field 7a of the video viewed through the side window 7 are determined (S107). Next, a virtual mirror image 2b and a virtual side window image 7b are generated from the image of the camera 4 outside the vehicle (S108), and an image to be displayed on the display device is generated by combining them (S109).

  Furthermore, the other vehicle (8) that is the target of the dangerous situation is tracked by associating the distance data with the outside camera image, and the position of the object 8a in the virtual mirror image 2b and the virtual side window image 7b is determined. By specifying (S110), marking (8b) is performed so that the driver can easily recognize the position and area of the other vehicle in the virtual mirror image 2b and the virtual side window image 7b (S111), and the distance data and image It is determined from the data and the visual field range of the driver whether or not the other vehicle (8) subject to the dangerous situation has entered the blind spot area of the driver 3 (S112).

  If the target other vehicle is in the blind spot area, a message or the like is displayed on the screen or a buzzer is sounded to alert the driver (S113). If the other vehicle is not in the blind spot area, the generated teacher video is recorded and stored, and transmitted to the server as necessary (S114).

  When the vehicle information detection means 24 determines that the vehicle 1 has stopped (S115), the dangerous driving degree is calculated for the dangerous situation that has occurred during traveling up to that point, and the dangerous situation has occurred multiple times. In this case, the dangerous driving degree is calculated for each scene (S116). The dangerous driving level is determined and recorded by judging the threshold value of the calculated dangerous degree, and display screens such as past dangerous driving history (ranking list) and dangerous driving level (dangerous driving occurrence frequency) are displayed. It is generated and recorded together with the teacher video (S117), and the recorded teacher video and the dangerous driving level are read and reproduced and displayed on the display device (S118).

  Thereafter, it is determined whether or not the teacher image and the dangerous driving level display screen have been reproduced to the end (S119). If the ignition switch is turned off or the shift position enters a range other than the P range during the image reproduction, It is determined that it has not been played to the end, and the next start flag is set to ON (ON) for recording. On the other hand, until the end of video playback, if the ignition switch is on and the shift position is in the P range, playback to the end It is determined that it has been performed, and the next start reproduction flag is turned off (S120).

  Next, the operation of the driving support system 100 based on the above embodiment when the vehicle starts will be described with reference to FIG.

  First, when the ignition switch of the vehicle 1 is turned on, the “next start regeneration flag” recorded at the end of the previous run is read (S201), and it is determined whether or not the “next start regeneration flag” is on. (S202).

  If the “next start playback flag” is on, the video that has not been played back to the end is played back again and displayed on the display device (S203). Thereafter, it is determined whether or not the video has been reproduced to the end (S204). If the ignition switch is turned off during video playback or the shift position is outside the P range, it is determined that the video has not been played back to the end, and “periodic notification mode” is turned on (ON). The “reproduction mode” is turned on, and the process ends (S205).

  On the other hand, if the “reproduction flag at next start” is off in step S202, and if the ignition switch is on and the shift position is in the P range until the end of video playback, it is determined that playback has been completed to the end in step S204. Then, the “next start reproduction flag” is turned off (OFF), the “periodic notification mode” is turned off (OFF), and the “navigation operation reproduction mode” is turned off (OFF), and the process ends (S205).

  As mentioned above, although embodiment of this invention was described, this invention is not limited to the said embodiment, Based on the technical idea of this invention, various deformation | transformation and a change are further possible.

  For example, in the above embodiment, the case where the virtual mirror image 2b according to the field of view 2a of the side mirror 2 is generated has been described. However, a virtual mirror image according to the field of view of the room mirror can be generated and included in the teacher image. .

  Further, in the above embodiment, the case where the driving situation and the safety confirmation operation at the time of lane change are detected has been described as an example. However, the driving support system according to the present invention performs the safety confirmation at the time of turning right and left (driver head operation and passing The present invention can be applied to various driving situations such as the distance to the vehicle, brake and steering operation), and safety confirmation for pedestrians (distance between the driver's head operation and pedestrian, braking and steering operation).

  Furthermore, in the above embodiment, it is determined whether or not the reproduction is completed when the vehicle is stopped, and the “next start reproduction flag”, “periodic notification mode”, and “navigation operation reproduction mode” are determined to be turned on / off. However, if the recorded dangerous driving level of each scene is low, only the dangerous driving history is displayed. Conversely, if there is a scene with the highest dangerous driving level, playback is not possible. It is possible to change the forcing and degree of reproduction, such as holding the shift position in the P range until completion.

1 Vehicle (own vehicle)
2 Side mirror 2a Side mirror visual field 2b Virtual mirror image 3 Driver 4 Outside camera (imaging means)
4a Camera field of view 5 Distance measurement sensor (radar)
5a Radar viewing angle 6 Vehicle interior camera (driver status detection means)
7 Side window 7a Side window visual field 7b Virtual side window video 8 Other vehicle 8a Object 8b Marker 10 Processing device (driving support system main body)
DESCRIPTION OF SYMBOLS 11 Teacher video production | generation part 12 Hazardous condition detection part 13 Teacher video reproduction | regeneration part 14 Past data recording part 20 Input side external equipment group 21 Vehicle surrounding imaging means 22 Distance detection means 23 Driver state detection means 24 Vehicle information detection means 30 Output side external equipment Group 31 Video output means 32 Video recording means 33 Video transmission means 41 Driver visual field range calculation unit 42 Virtual mirror video generation unit 43 Virtual side video generation unit 44 Object tracking unit 45 Object marking unit 46 Dangerous driving level determination unit 100 Driving Support system

Claims (5)

Imaging means for imaging the surroundings of the vehicle;
Distance detecting means for detecting a distance to an object around the vehicle;
Driver state detection means for detecting the head position and line-of-sight direction of the driver;
A data recording means for recording the video acquired by the imaging means and the detection information of the distance detection means and the driver state detection means in synchronization with each other;
A dangerous situation detection means for detecting a dangerous situation during driving based on the detection information and the vehicle information;
When the dangerous situation detection means detects a dangerous situation, the video generation means for reading out data for a certain past time from the data recording means and generating a teacher video including a virtual visual field image according to the visual field of the driver;
Video playback means for playing back the teacher video,
A driving support system, characterized in that the teacher video can be set to be automatically played back by the video playback means at the end of driving in order to make the driver recognize a dangerous situation that occurs during driving.   The driving support system according to claim 1, wherein the teacher video includes a virtual mirror video and a virtual side window video from the viewpoint of the driver side by side as the virtual visual field video.   3. The non-reproduced portion can be set to be automatically reproduced when the vehicle is started next time when the unreproduced portion remains during automatic reproduction of the teacher video at the end of the driving. Driving support system.   The driving support system according to any one of claims 1 to 3, wherein the teacher video can be set to be reproduced including a past dangerous driving history.   5. The driving support system according to claim 1, wherein when there is an unreproduced portion of the teacher video, the driver support system can be set so that the driver is notified of the presence of the unreproduced portion. .

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