JP2017068672A - Driving support device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To urge a driver to correct his/her driving posture as necessary when surroundings of a vehicle have changed, and to make the driver confirm a change in the surroundings of the vehicle more reliably.SOLUTION: A driving support device according to an embodiment comprises: a recognition processing part for recognizing surroundings of a vehicle; a driving support processing part for performing a driving support control in accordance with the surroundings of the vehicle recognized by the recognition processing part; a detection processing part for detecting information relating to a driver's visual line of the vehicle; and an output processing part. When the surroundings of the vehicle have changed, the output processing part outputs, on the basis of detection results obtained by the detection processing part, a first notification for notifying the driver that the surroundings of the vehicle have changed when the driver's driving postures including the driver's visual line direction have been detected to satisfy a predetermined condition, and a first alarm for alarming the driver that the driving postures do not satisfy the predetermined condition when the driving postures have been detected not to satisfy the predetermined condition.SELECTED DRAWING: Figure 7

Description

  Embodiments described herein relate generally to a driving support apparatus.

  2. Description of the Related Art Conventionally, a technique for performing driving support control according to a situation around a vehicle recognized by a sensor or a camera is known. In such a technique, when it is correctly recognized that the situation around the vehicle has actually changed, it is erroneously recognized that the situation around the vehicle has changed even though it has not actually changed. In some cases. Therefore, if there is a notification that the surrounding conditions of the vehicle have changed, the driver corrects any improper driving posture such as one-handed driving or side-by-side driving. It is necessary to drive carefully after confirming the changes in the situation.

JP 2003-34205 A

  In the technology as described above, when the situation around the vehicle changes, the driver is urged to correct the driving posture as necessary, and the driver is more surely confirmed the change in the situation around the vehicle. It is hoped that.

  The driving support device according to the embodiment includes a recognition processing unit that recognizes a situation around the vehicle, a driving support processing unit that executes driving support control according to the situation around the vehicle recognized by the recognition processing unit, A detection processing unit that detects information related to the driver's line of sight, and a driving posture including a direction of the driver's line of sight satisfies a predetermined condition based on a detection result by the detection processing unit when a situation around the vehicle changes. Is detected, the first notification is output to notify the driver that the situation around the vehicle has changed, and if it is detected that the driving posture does not satisfy the predetermined condition, the driving posture is predetermined. An output processing unit that outputs a first warning that warns the driver that the above condition is not satisfied. With such a configuration, when the situation around the vehicle changes, the driver is urged to correct the driving posture as necessary using the first notification and the first alarm, and more reliably. The driver can be made to confirm changes in the situation around the vehicle.

  In the driving support device according to the embodiment, the fact that the driving posture satisfies the predetermined condition means that the direction of the driver's line of sight is normally detected, and the driver's line of sight is predetermined with respect to the traveling direction of the vehicle. It is in the angle range. With such a configuration, it is possible to easily determine whether or not the driver is performing, for example, one-handed driving or side-viewing driving using two conditions.

  In the driving support device according to the embodiment, the output processing unit determines that the driving posture is predetermined when the state in which the driving posture does not satisfy the predetermined condition continues even after the first alarm is output. Until it is detected that the above condition is satisfied, a second alarm for repeatedly warning the driver that the driving posture does not satisfy the predetermined condition is repeatedly output. With such a configuration, the driver can be more strongly urged to correct the driving posture using the second alarm.

  The driving support device according to the embodiment further includes a display processing unit that displays a change in the situation around the vehicle on the display unit when the situation around the vehicle changes, and the output processing unit includes the first notification. If the detection processing unit does not detect that the driver's line of sight is facing the display unit, the detection processing unit detects that the driver's line of sight is facing the display unit. The second notification for notifying the driver again that the surrounding situation has changed is repeatedly output. With such a configuration, it is possible to make the driver visually recognize changes in the situation around the vehicle using the second notification.

  In the driving support device according to the embodiment, the output processing unit outputs the first notification or the first alarm with sound using a sound output unit capable of outputting sound. With such a configuration, it is possible to more easily use the sound to prompt the driver to correct the driving posture as necessary, and to allow the driver to check a change in the situation around the vehicle.

FIG. 1 is an exemplary perspective view showing a state in which a part of a compartment of a vehicle according to the first embodiment is seen through. FIG. 2 is an exemplary view showing an instrument panel according to the first embodiment. FIG. 3 is an exemplary view showing an example of an image displayed on the display device of the instrument panel according to the first embodiment. FIG. 4 is an exemplary view showing another example different from FIG. 3 of the image displayed on the instrument panel display device according to the first embodiment. FIG. 5 is an exemplary diagram illustrating an arrangement of the imaging device according to the first embodiment. FIG. 6 is an exemplary block diagram showing the configuration of the driving support system mounted on the vehicle according to the first embodiment. FIG. 7 is an exemplary block diagram showing a functional configuration of the ECU according to the first embodiment. FIG. 8 is an exemplary diagram for explaining one-handed operation in the first embodiment. FIG. 9 is an exemplary diagram for explaining a side-view operation in the first embodiment. FIG. 10 is an exemplary flowchart showing a process executed by the ECU according to the first embodiment. FIG. 11 is an exemplary flowchart showing a process executed by the ECU according to the second embodiment. FIG. 12 is an exemplary diagram showing an example of an image displayed on the display device of the navigation device before the situation around the vehicle changes in the modified example. FIG. 13 is an exemplary diagram showing an image displayed by switching from the image of FIG. 12 after the situation around the vehicle changes in the modified example. FIG. 14 is an exemplary diagram showing an example different from FIG. 12 of an image displayed on the display device of the navigation device before the situation around the vehicle changes in the modified example. FIG. 15 is an exemplary diagram showing an image displayed by switching from the image of FIG. 14 after the situation around the vehicle changes in the modified example. FIG. 16 is an exemplary diagram showing an example different from FIGS. 12 and 14 of an image displayed on the display device of the navigation device before the situation around the vehicle changes in the modified example. FIG. 17 is an exemplary diagram showing an image displayed by switching from the image of FIG. 16 after the situation around the vehicle changes in the modification. FIG. 18 is an exemplary diagram showing an example different from FIGS. 12, 14, and 16 of an image displayed on the display device of the navigation device before the situation around the vehicle changes in the modified example. FIG. 19 is an exemplary diagram showing an image displayed by switching from the image of FIG. 18 after the situation around the vehicle changes in the modified example.

  Hereinafter, embodiments will be described with reference to the drawings.

(First embodiment)
First, with reference to FIGS. 1-8, the schematic structure of the vehicle 1 by embodiment is demonstrated.

  The vehicle 1 according to the first embodiment may be, for example, a vehicle (an internal combustion engine automobile) using an internal combustion engine such as an engine as a drive source, or a vehicle (electric vehicle, fuel cell) using an electric motor such as a motor as a drive source. A car). Further, the vehicle 1 may be a vehicle (hybrid vehicle) using both of these as drive sources. In addition, the vehicle 1 can be mounted with various transmissions and various devices (systems, components, etc.) necessary for driving the internal combustion engine and the electric motor. In addition, the method, number, layout, and the like of devices related to driving of the wheels 3 in the vehicle 1 can be variously set.

  As shown in FIG. 1, the vehicle 1 according to the first embodiment includes a vehicle body 2. The vehicle body 2 constitutes a passenger compartment 2a in which an occupant (not shown) gets. In the passenger compartment 2a, a steering unit 4, an instrument panel 25, and the like are provided so as to correspond to a seat 2b of a driver (not shown in FIG. 1) as a passenger. The steering unit 4 is, for example, a steering wheel 4a protruding from the dashboard 12.

  As shown in FIG. 2, the instrument panel 25 is provided with a speedometer 25a, a tachometer 25b, and a display device 25c. The display device 25c is, for example, a liquid crystal display or an organic EL (Electroluminescent) display. In the example of FIG. 2, the display device 25 c is positioned between the speedometer 25 a and the tachometer 25 b at the approximate center of the instrument panel 25.

  In the first embodiment, information related to driving support control executed by the vehicle 1 is displayed on the display device 25c of the instrument panel 25. As an example of the driving support control, for example, follow-up running control that causes the vehicle 1 to automatically follow the preceding vehicle. When the follow-up running control is executed, the display device 25c displays information such as the presence or absence of the preceding vehicle and the distance between the preceding vehicle and the like in the manner shown in FIGS. 3 and 4, for example. Is done. FIG. 3 is an illustrative diagram showing a specific example of an image IM1 displayed on the display device 25c when a preceding vehicle is present. In the image IM1 of FIG. 3, a mark M1 indicating a preceding vehicle is displayed. FIG. 4 is an illustrative diagram showing a specific example of an image IM2 displayed on the display device 25c when there is no preceding vehicle. In the image IM2 in FIG. 4, unlike the image IM1 in FIG. 3, the mark M1 indicating the preceding vehicle is not displayed.

  Returning to FIG. 1, a display device 8 different from the display device 25c and an audio output device 9 are provided in the passenger compartment 2a. The display device 8 is, for example, a liquid crystal display or an organic EL display. Moreover, the audio | voice output apparatus 9 is a speaker, for example. In the example of FIG. 1, the display device 8 and the audio output device 9 are provided in a navigation device 11 that is located at the center (so-called center console) of the dashboard 12 in the vehicle width direction (left-right direction).

  In the first embodiment, information (image) such as the current position of the vehicle 1 and route guidance to the destination is displayed on the display device 8 of the navigation device 11 when the vehicle 1 is traveling. The display device 8 includes an operation input unit 10 such as a touch panel. The occupant of the vehicle 1 can execute various operation inputs (instruction inputs) on the image displayed on the display device 8 by touching the operation input unit 10 with fingers or the like. In addition, the navigation apparatus 11 can also have operation input parts (not shown), such as a switch, a dial, a joystick, and a push button.

  Here, in the first embodiment, as shown in FIG. 5, the imaging device 201 is installed on the steering column 4b of the steering wheel 4a. The imaging device 201 is, for example, a CCD (Charge Coupled Device) camera. The imaging device 201 is adjusted in view angle and posture so that the face of the driver 302 seated on the seat 2b is positioned at the center of the view. The imaging apparatus 201 captures the face of the driver 302 sitting on the seat 2b and sequentially outputs image data obtained by the capturing. In addition, the imaging device 201 should just be installed in the position which can image | photograph the eyes | visual_axis of the driver | operator 302, for example, the center console in which the navigation apparatus 11 is installed, the A pillar by the side of a driver's seat (seat 2b), It may be installed in a room mirror.

  Next, with reference to FIG. 6, the structure of the driving assistance system 100 mounted in the vehicle 1 by 1st Embodiment is demonstrated.

  As shown in FIG. 6, in the driving support system 100, in addition to the ECU 14, the navigation device 11, the steering system 13, the distance measuring units 16 and 17, the brake system 18, the steering angle sensor 19, the accelerator sensor 20, and the shift sensor 21. The wheel speed sensor 22 and the like are electrically connected via an in-vehicle network 23 as an electric communication line. The ECU 14 is an example of a “driving support device”.

  The in-vehicle network 23 is configured, for example, as a CAN (Controller Area Network). The ECU 14 can operate the actuator 13 a of the steering system 13, the actuator 18 a of the brake system 18, and the like by sending a control signal through the in-vehicle network 23. Further, the ECU 14 detects detection results of the torque sensor 13b, the brake sensor 18b, the rudder angle sensor 19, the distance measuring units 16 and 17, the accelerator sensor 20, the shift sensor 21, the wheel speed sensor 22, and the like via the in-vehicle network 23, An operation signal from the operation input unit 10 can be received.

  In the example of FIG. 6, the ECU 14 includes a CPU 14a (Central Processing Unit), a ROM 14b (Read Only Memory), a RAM 14c (Random Access Memory), a display control unit 14d, an audio control unit 14e, and an SSD 14f (Solid State D). Flash memory).

  The CPU 14a controls the entire vehicle 1. The CPU 14a reads a program installed in a non-volatile storage device such as the ROM 14b, and executes arithmetic processing according to the program. The RAM 14c temporarily stores various data used in the calculation of the CPU 14a.

  The display control unit 14d mainly executes image processing using image data obtained by the imaging devices 15 and 201, synthesis of image data displayed by the display devices 8 and 25c, and the like, among arithmetic processing in the ECU 14. . In addition, the voice control unit 14 e mainly executes processing of voice data output from the voice output device 9 among the calculation processes in the ECU 14. The SSD 14f is a rewritable nonvolatile storage device, and can retain data even when the power of the ECU 14 is turned off, for example.

  In the first embodiment, the CPU 14a, the ROM 14b, the RAM 14c, and the like can be integrated in the same package. In the ECU 14, instead of the CPU 14a, other logical operation processors such as a DSP (Digital Signal Processor), a logic circuit, or the like may be used. The ECU 14 may be provided with an HDD (Hard Disk Drive) instead of the SSD 14f (or in addition to the SSD 14f). Note that the SSD 14f and the HDD may be provided separately from the ECU 14.

  The configuration, arrangement, electrical connection form, and the like of the various sensors and actuators described above are examples, and can be set (changed) in various ways.

  Here, the CPU 14a of the ECU 14 according to the first embodiment executes a program stored in the ROM 14b when executing the driving support control, thereby realizing a functional configuration (functional module) as shown in FIG. 7 on the RAM 14c. To do.

  As shown in FIG. 7, the ECU 14 includes a recognition processing unit 401, a driving support processing unit 402, a display processing unit 403, a detection processing unit 404, and an output processing unit 405 as functional configurations.

  The recognition processing unit 401 recognizes the situation around the vehicle 1 based on image data obtained from the imaging device 15 and the like. The driving support processing unit 402 performs driving support control according to the situation around the vehicle 1 recognized by the recognition processing unit 401. For example, when the follow-up running control is executed as the driving support control, the recognition processing unit 401 recognizes the presence / absence of the preceding vehicle, the inter-vehicle distance from the preceding vehicle, and the like. In the following, only the case where the driving support control is the following traveling control will be described as an example. However, the driving assistance control according to the first embodiment is not limited to the following traveling control, and may include a parking assistance control and the like. . In the following, for the sake of simplification, the situation around the vehicle 1 recognized by the recognition processing unit 401 is expressed as a recognition situation.

  The display processing unit 403 controls an image to be displayed on the display device 25 c of the instrument panel 25 according to the recognition status by the recognition processing unit 401. For example, when it is recognized that a preceding vehicle is present, the display processing unit 403 displays an image IM1 (see FIG. 3) including the mark M1 indicating the preceding vehicle on the display device 25c.

  Here, when the recognition status by the recognition processing unit 401 changes, the display processing unit 403 according to the first embodiment displays the change in the recognition status on the display device 25c. The change in the recognition status is a change that triggers switching of the control content of the driving support control. In the follow-up running control as an example of the driving support control, for example, when the state in which it is recognized that the preceding vehicle is present is changed to the state in which it is recognized that there is no preceding vehicle, the vehicle 1 is automatically changed. The control contents are automatically switched to accelerate. Therefore, the display processing unit 403 according to the first embodiment has changed from a state where it is recognized that the preceding vehicle is present to a state where it is recognized that there is no preceding vehicle when the following traveling control is executed. In this case, the image displayed on the display device 25c is switched from the image IM1 (see FIG. 3) including the mark M1 indicating the preceding vehicle to the image IM2 (see FIG. 4) not including the mark M1 indicating the preceding vehicle.

  The detection processing unit 404 detects information related to the line of sight of the driver 302 of the vehicle 1 (see FIG. 5). For example, the detection processing unit 404 tracks the driver 302's face based on the image data obtained from the imaging device 201 and a three-dimensional face model stored in advance in a storage medium such as the SSD 14f, while driving the driver 302. The direction of the face, the position of the eyes, the direction in which the eyes are facing (line-of-sight direction), the movement of the eyes, and the like are detected. Note that the 3D face model is a statistical face shape model that includes the average 3D face shape of the subject, the position of facial parts such as the subject's eyes, mouth, and nose, and changes in the shape of the subject's eyes. It is.

  By the way, as described above, in the follow-up traveling control, for example, when the state in which the preceding vehicle is recognized is changed to the state in which the preceding vehicle is not present, the vehicle 1 is automatically The control contents are automatically switched so as to accelerate at. However, there are cases where it is inappropriate to automatically accelerate the vehicle 1, for example, when it is recognized that there is no preceding vehicle even though the preceding vehicle actually exists. In such a case, if the driver 302 takes an inappropriate driving posture such as one-handed driving or side-view driving, the driver 302 corrects it and displays the situation around the vehicle 1 recognized by the recognition processing unit 401. After visually recognizing with 25c, it is necessary to actually observe the surroundings of the vehicle 1 and to actively operate the vehicle 1. Therefore, when the recognition status by the recognition processing unit 401 changes, a warning is given to the driver 302 to correct the driving posture as necessary, and the driver 302 is more surely notified that the recognition status has changed. It is hoped to do.

  Therefore, when the recognition status by the recognition processing unit 401 changes, the output processing unit 405 according to the first embodiment monitors the detection result of the detection processing unit 404 and determines whether or not the driving posture includes the direction of the driver's line of sight. Determine. Specifically, when it is detected that the driving posture satisfies a predetermined condition, the output processing unit 405 determines that the driving posture is appropriate and detects that the driving posture does not satisfy the predetermined condition. The driving posture is determined to be inappropriate.

  That the driving posture satisfies a predetermined condition means that, for example, the direction of the line of sight of the driver 302 is normally detected and the line of sight of the driver 302 is within a predetermined angle range with respect to the traveling direction of the vehicle 1. It is that.

  The condition that the direction of the line of sight of the driver 302 is normally detected is a criterion for determining whether or not the driver 302 is driving one hand. As described above, the imaging device 201 is provided on the steering column 4b (see FIG. 5). For this reason, as shown in FIG. 8, when the driver 302 operates the steering wheel 4 a with only one hand, the one hand is likely to be placed at a position that blocks the field of view of the imaging device 201. Therefore, when the direction of the line of sight of the driver 302 is not normally detected, it can be determined that the driver 302 is likely to be driving one hand.

  Further, the condition that the line of sight of the driver 302 is within a predetermined angle range with respect to the traveling direction of the vehicle 1 is a criterion for determining whether or not the driver 302 is performing a side-by-side driving. For example, as illustrated in FIG. 9, when the traveling direction of the vehicle 1 is D, when the line of sight of the driver 302 faces both sides of the direction D within a predetermined angle θ, the driver 302 looks aside. It can be determined that the vehicle is not driving.

  Note that the predetermined condition regarding the driving posture described above is appropriately changed according to the installation position of the imaging apparatus 201. In other words, when the imaging device 201 is installed in a center console or the like other than the steering column 4b, it is difficult for a situation in which the driver's 302's line of sight is blocked by hand. The condition (condition that the direction of the line of sight of the driver 302 is normally detected) is replaced with another condition. Another condition is, for example, whether or not the center position in the left-right direction of the steering column 4b and the center position in the left-right direction of the face of the driver 302 are greatly deviated. When these center positions are largely deviated, it can be determined that the driver 302 is taking an inappropriate driving posture.

  When it is detected that the driving posture of the driver 302 does not satisfy the two conditions described above, the output processing unit 405 outputs a first warning that warns the driver 302 that the driving posture does not satisfy the conditions. The sound is output using the output device 9. That is, when it is detected that the driving posture does not satisfy the condition, the output processing unit 405 determines that the driving posture of the driver 302 is inappropriate, and determines that the driving posture is corrected by the first alarm. Person 302 is urged. Note that the first alarm is a voice message or a beep sound including a warning nuance. The volume or sound pattern of the first alarm is adjusted, for example, so as to give the driver 302 some discomfort.

  In addition, the output processing unit 405 determines that the driving posture satisfies the condition when the state in which the driving generation of the driver 302 is detected not to satisfy the two conditions described above continues even after the first alarm is output. A second alarm that warns the driver 302 again that the condition is not satisfied is output by sound using the audio output device 9. Then, the output processing unit 405 repeatedly outputs the second alarm until it is detected that the driving posture satisfies the condition. Note that the second alarm is a voice message or a beep sound including a warning nuance stronger than the first alarm. The volume or sound pattern of the second alarm is adjusted such that, for example, the discomfort given to the driver 302 is greater than that of the first alarm.

  Thus, the output processing unit 405 outputs the second alarm in an output form different from that of the first alarm. That is, since the second alarm is output as a precaution when the first alarm cannot correct the driving posture of the driver 302, the second alarm is the same as the first alarm. If the output is output in this manner, the driver's 302 may not be sufficiently attracted. Therefore, the output processing unit 405 outputs the second alarm at a volume higher than that of the first alarm, for example, or with a voice pattern different from that of the first alarm (that is, alerting more than the first alarm). (With a strong voice pattern).

  The output processing unit 405 determines that there is no problem in the driving posture of the driver 302 when it is detected that the driving generation of the driver 302 satisfies the two conditions described above, and the voice output device 9 is used. The first notification that simply notifies the driver 302 that the recognition status has changed is output. The first notification is a voice message or a beep sound that prompts the driver 302 to visually recognize the display device 25c, and does not include a warning nuance unlike the first warning. For this reason, the first notification may be set to a lower volume than the first alarm, or may be set to a voice pattern that causes less discomfort to the driver 302.

  Next, a process executed by the ECU 14 according to the first embodiment will be described with reference to FIG.

  In the processing flow of FIG. 10, first, in S <b> 1, the recognition processing unit 401 determines whether or not the recognition status around the vehicle 1 has changed. The process of S1 is repeated until it is determined that the recognition status has changed. If it is determined in S1 that the recognition status has changed, the process proceeds to S2.

  In S <b> 2, the display processing unit 403 displays the change in the recognition status on the display device 25 c of the instrument panel 25. In step S <b> 3, the output processing unit 405 monitors the detection result of the detection processing unit 404, that is, the detection result of information related to the driver's 302 line of sight.

  In S4, the output processing unit 405 determines whether or not it is detected that the driving posture including the direction of the line of sight of the driver 302 satisfies a predetermined condition based on the monitoring result in S3. The fact that the driving posture satisfies a predetermined condition means that, for example, information related to the driver's line of sight is normally detected and the driver's line of sight is within a predetermined angle range with respect to the traveling direction of the vehicle 1. It is detected that it is facing. Accordingly, the output processing unit 405 determines whether or not the driver 302 is taking an inappropriate driving posture such as one-handed driving or side-view driving.

  In S4, when it is detected that the driving posture does not satisfy the predetermined condition, it can be determined that the driving posture of the driver 302 is inappropriate. Therefore, it is necessary to prompt the driver 302 to correct the driving posture. Therefore, in S5, the output processing unit 405 outputs a first warning that warns the driver 302 that the driving posture does not satisfy the predetermined condition via sound output device 9. In step S6, the output processing unit 405 determines whether or not the state where the driving posture does not satisfy the predetermined condition continues.

  In S6, when it is determined that the driving posture does not satisfy the predetermined condition, that is, when the driving posture of the driver 302 is not improved despite the output of the first alarm, the driving is performed. It is necessary to strongly encourage the driver 302 to correct the posture. Therefore, in S <b> 7, the output processing unit 405 outputs a second alarm that warns the driver 302 again that the driving posture does not satisfy a predetermined condition via sound output device 9. For example, the output processing unit 405 outputs the second alarm at a volume higher than that of the first alarm, or outputs the second alarm with a voice pattern different from that of the first alarm. Then, the process returns to S6.

  On the other hand, when it is determined in S6 that the driving posture does not satisfy the predetermined condition, it can be determined that the driving posture of the driver 302 has been improved according to the first alarm. Therefore, in this case, the second alarm is not output, and the process ends as it is.

  By the way, if it is determined in S4 that the driving posture satisfies the predetermined condition, it can be determined that the driver 302 is not performing one-handed driving or side-view driving, so a warning that the driving posture is corrected is given to the driver 302. There is no need to do it. Therefore, in S8, the output processing unit 405 outputs a first notification for notifying that the recognition status has changed via the audio output device 9 as a sound. Then, the process ends.

  As described above, the output processing unit 405 according to the first embodiment monitors the detection result by the detection processing unit 404 when the recognition state around the vehicle 1 changes. Then, when it is detected that the driving posture including the direction of the line of sight of the driver 302 satisfies the predetermined condition, the output processing unit 405 provides a first notification that notifies the driver 302 that the recognition status has changed. When it is detected that the driving posture does not satisfy the predetermined condition, a first warning is output to warn the driver 302 that the driving posture does not satisfy the predetermined condition. Thereby, when the recognition situation changes, the driver 302 is urged to correct the driving posture as necessary using the first notification and the first alarm, and the driver 302 is more reliably notified. Changes in recognition status can be confirmed.

  In the first embodiment, the condition that the driving posture satisfies the predetermined condition means that the direction of the line of sight of the driver 302 is normally detected and the line of sight of the driver 302 is predetermined with respect to the traveling direction of the vehicle 1. It is in the angle range. Thereby, it is possible to easily determine whether or not the driver 302 is performing, for example, one-hand driving or side-view driving using two conditions.

  In addition, the output processing unit 405 according to the first embodiment is configured so that, even after the first alarm is output, when the state in which it is detected that the driving posture does not satisfy the predetermined condition continues, the driving posture is the predetermined condition. A second alarm that warns the driver 302 again that the driving posture does not satisfy the predetermined condition is repeatedly output until it is detected that the condition is satisfied. As a result, the driver 302 can be strongly encouraged to correct the driving posture using the second alarm.

  Further, the output processing unit 405 according to the first embodiment outputs the first notification or the first alarm with sound using the sound output device 9 capable of outputting sound. Thereby, it is possible to prompt the driver 302 to correct the driving posture as needed more easily using voice, and to allow the driver 302 to check the change in the recognition status.

(Second Embodiment)
Next, the configuration of the ECU 214 according to the second embodiment will be described with reference to FIG. In the second embodiment, unlike the first embodiment in which the notification that the recognition status output when the driving posture of the driver 302 is appropriate is changed only once by the first notification, the recognition is performed. The notification that the situation has changed can be performed more than once by the first notification and the second notification.

  The output processing unit 2405 according to the second embodiment determines whether or not the line of sight of the driver 302 is facing the display device 25c after outputting the first notification that notifies the driver 302 that the recognition status has changed. Then, it is determined whether or not the driver 302 visually recognizes the display device 25c according to the first notification. Then, the output processing unit 2405 outputs a second notification that notifies the driver 302 again that the recognition status has changed when it is not detected that the line of sight of the driver 302 is facing the display device 25c. Then, the output processing unit 2405 repeatedly outputs the second notification until it is detected that the line of sight of the driver 302 is facing the display device 25c.

  The first notification is a voice message or a beep sound that prompts the driver 302 to view the display device 25c. The second notification is a voice message or a beep sound that prompts the driver 302 to visually recognize the display device 25c. As described above, the output processing unit 2405 outputs the second notification in an output form different from that of the first notification. In other words, the second notification is output as a precaution when the first notification fails to direct the driver 302's line of sight toward the display device 25c. If the output is performed in the same output form as the notification, the driver 302 may not be able to attract the attention of the driver 302 sufficiently. Accordingly, the output processing unit 2405 outputs the second notification at a volume higher than that of the first notification, for example, or with a voice pattern different from that of the first notification (that is, alerting more than the first notification). (With a strong voice pattern).

  In addition, since the other structure of 2nd Embodiment is the same as that of 1st Embodiment mentioned above, description is abbreviate | omitted here.

  Next, a process executed by the ECU 214 according to the second embodiment will be described with reference to FIG. In 2nd Embodiment, the process of S1-S8 similar to 1st Embodiment mentioned above (refer FIG. 10) is performed. In the first embodiment, when it is determined that the driving posture does not satisfy the predetermined condition after the first warning is output (S6; No) and when the first notification is output (S8). In the second embodiment, after the first warning is output, it is determined that the state in which the driving posture does not satisfy the predetermined condition does not continue (S6; No). If the first notification is output (S8), the process proceeds to S19.

  In S <b> 19, the output processing unit 2405 determines whether or not it has been detected that the line of sight of the driver 302 is facing the display device 25 c of the instrument panel 25.

  In S19, when it is detected that the driver's line of sight is directed to the display device 25c, it can be estimated that the driver 302 has visually recognized the display device 25c, so that the driver 302 can further visually recognize the display device 25c. There is no need to prompt the user to complete the process. However, in S19, when it is not detected that the driver's 302 is looking toward the display device 25c, it is necessary to prompt the driver 302 to view the display device 25c again.

  Therefore, in S20, the output processing unit 2405 outputs, via sound, the second notification that notifies the driver 302 again that the recognition status has changed via the sound output device 9. The output processing unit 2405 outputs the second notification in an output form different from the first notification output in S8 in order to further encourage the driver 302 to visually recognize the display device 25c. For example, the output processing unit 2405 outputs the second notification at a volume higher than that of the first notification, or outputs the second notification with a voice pattern different from that of the first notification. Then, the process returns to S19.

  FIG. 11 exemplifies a processing flow in which the process proceeds to S19 when it is determined in S6 that the driving posture does not satisfy the predetermined condition does not continue as an example of the processing flow executed by the ECU 214. However, as another example, if it is determined in S6 that the driving posture does not satisfy the predetermined condition, the ECU 214 may execute a processing flow in which the processing proceeds to S8.

  As described above, the output processing unit 2405 according to the second embodiment outputs the first notification, and if it is not detected that the driver's 302 is looking toward the display device 25c, the driver 302's Until the display device 25c is detected, the second notification for re-notifying the driver 302 that the recognition status has changed is repeatedly output. Thereby, a driver | operator can be made to visually recognize the change of recognition condition more reliably using a 2nd notification.

  In addition, since the other effect of 2nd Embodiment is the same as that of 1st Embodiment, description is abbreviate | omitted here.

(Modification)
In the embodiment described above, an example in which each module in FIG. 7 is realized by cooperation of software (computer program) and hardware (CPU 14a) has been described. However, each module in FIG. 7 may be realized only by hardware. That is, in the embodiment, dedicated hardware (circuit) corresponding to each module in FIG. 7 may be provided.

  In the above-described embodiment, an example is shown in which control is executed based on the line of sight of the driver 302, but the face orientation may be used instead of the line of sight.

  Further, in the above-described embodiment, the example in which the first alarm, the second alarm, the first notification, and the second notification are output from the audio output device 9 as audio is shown. However, the first alarm, the second alarm, the first notification, and the second notification may be output as light or vibration. The first alarm, the second alarm, the first notification, and the second notification may be output as images on the display device 8 of the navigation device 11 or the like. The first alarm, the second alarm, the first notification, and the second notification may be output from a speaker device other than the audio output device 9 provided in the navigation device 11.

  In the above-described embodiment, the processing in the case where the follow-up running control as an example of the driving support control is executed has been mainly described. However, as will be described below, even when parking assistance control as another example of driving assistance control is executed, there is a situation in which the driver 302 wants to confirm a change in the recognition situation. For example, if a cautionary object that was not recognized at the start of parking is newly recognized in the middle, or conversely, a cautionary object that has already been recognized at the start of parking is no longer recognized in the middle It is necessary for the driver 302 to check the change in the situation around the vehicle. Hereinafter, with reference to FIGS. 12-19, the change of the recognition condition in parking assistance control and the process performed when the said change generate | occur | produces are demonstrated more concretely.

  12 to 15 are a bird's-eye view of a situation around the vehicle 1 (a situation around a parking place) as an example of a parking assistance image displayed on the display device 8 of the navigation device 11 when the parking assistance control is executed. A parking assistance image is shown. 16 to 19 show parking assistance images obtained by viewing the surroundings of the vehicle 1 (the surroundings of the parking place) in the field of view behind the vehicle 1 as other examples of parking assistance images. In addition, the mark M2 corresponding to the vehicle 1 is displayed in the overhead parking assistance image illustrated in FIGS.

  FIG. 12 and FIG. 13 show specific examples of changes in the overhead parking assistance image when a cautionary object that has not been recognized at the start of parking is newly recognized on the way. In this specific example, an image IM3 (see FIG. 12) at the start of parking includes a mark M3 indicating another newly recognized vehicle by newly recognizing another vehicle as the attention object. It is switched to IM4 (see FIG. 13).

  14 and 15 show a specific example of a change in the overhead parking assistance image when the attention object that has already been recognized at the start of parking is no longer recognized in the middle. In this specific example, when a person who has already been recognized as a target object is no longer recognized in the middle, the image IM5 at the start of parking including the mark M4 indicating the recognized person (see FIG. 12) displays the mark M4. It is switched to the image IM6 (see FIG. 13) that is not included.

  FIGS. 16 and 17 show specific examples of changes in the parking assistance image in the rear visual field when a cautionary object that has not been recognized at the start of parking is newly recognized in the middle. In this specific example, when a person as a cautionary object is newly recognized, an image IM7 (see FIG. 16) at the start of parking includes an image IM8 (FIG. 17) including a mark M5 indicating the newly recognized person. To see).

  FIG. 18 and FIG. 19 show specific examples of changes in the parking assistance image in the rear view when the attention object that has already been recognized at the start of parking is no longer recognized in the middle. In this specific example, an image IM9 (see FIG. 18) at the start of parking including a mark M6 indicating another recognized vehicle is detected when another vehicle that has already been recognized as the attention object is not recognized. , The image IM10 does not include the mark M6 (see FIG. 19).

  As described above, when the parking assistance image is switched in accordance with the change in the recognition state, it is necessary to notify the driver 302 of the change in the recognition state and to confirm the presence or absence of the attention object. Therefore, even when the recognition status changes during the execution of the parking assistance control, the first notification, the second notification, and the like are output as in the case where the recognition status changes during the execution of the follow-up travel control. It should be noted that at the time of executing the parking assist control, in addition to detecting that the driver's line of sight has visually recognized the display device 8 (the above-described images IM3 to IM10), the driver's 302 has a line of sight. May be set as a condition for stopping the output of the first notification, the second notification, or the like. For example, in the example of FIG. 13, the first notification is made when it is detected that the line of sight of the driver 302 is directed in a direction in which another vehicle indicated by the mark M3 is considered to be located (that is, right rear of the vehicle 1). The condition may be set such that the output of the second notification or the like is stopped. Similarly, in the example of FIG. 17, when it is detected that the line of sight of the driver 302 is directed in the direction in which the person indicated by the mark M5 is supposed to be located (that is, the left rear of the vehicle 1), Condition setting may be performed so that output of the second notification or the like is stopped. If such condition setting is performed, the driver 302 can be more surely checked for the presence or absence of the target object.

  As mentioned above, although embodiment and the modification of this invention were described, embodiment and the modification which were mentioned above are an example to the last, Comprising: It is not intending limiting the range of invention. The above-described embodiments and modifications can be implemented in various forms, and various omissions, replacements, and changes can be made without departing from the spirit of the invention. The above-described embodiments and modifications are included in the scope and gist of the invention, and are included in the invention described in the claims and the equivalents thereof.

1 Vehicle 9 Audio Output Device 14, 214 ECU (Driving Support Device)
25c display device 401 recognition processing unit 402 driving support processing unit 403 display processing unit 404 detection processing unit 405, 2405 output processing unit

Claims (5)

A recognition processor that recognizes the situation around the vehicle;
A driving support processing unit that executes driving support control according to a situation around the vehicle recognized by the recognition processing unit;
A detection processing unit for detecting information related to the line of sight of the driver of the vehicle;
When the situation around the vehicle changes, based on the detection result by the detection processing unit, when it is detected that the driving posture including the driver's line of sight satisfies a predetermined condition, A first notification for notifying the driver that the situation has changed, and if it is detected that the driving posture does not satisfy the predetermined condition, the driving posture does not satisfy the predetermined condition An output processing unit that outputs a first warning that warns the driver of this.   That the driving posture satisfies the predetermined condition means that the direction of the driver's line of sight is normally detected and the driver's line of sight is within a predetermined angle range with respect to the traveling direction of the vehicle. The driving support device according to claim 1, wherein   If the state where it is detected that the driving posture does not satisfy the predetermined condition continues even after the output processing unit outputs the first alarm, the driving posture satisfies the predetermined condition. 3. The driving support device according to claim 1, wherein a second alarm that repeatedly warns the driver that the driving posture does not satisfy the predetermined condition is repeatedly output until detection is made. A display processing unit for displaying a change in the situation around the vehicle on a display unit when the situation around the vehicle changes;
After the output processing unit outputs the first notification, when the detection processing unit does not detect that the driver's line of sight is facing the display unit, the driver's line of sight is displayed on the display unit. The second notification that repeatedly notifies the driver that the situation around the vehicle has changed is repeatedly output until the detection processing unit detects that the vehicle is facing. The driving support device according to Item 1.   The driving support according to any one of claims 1 to 4, wherein the output processing unit outputs the first notification or the first alarm by sound using a sound output unit capable of outputting sound. apparatus.

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