JP2019034628A - Driving support method and driving support device - Google Patents

Abstract

To provide a driving support method which can reduce a sense of incongruity of an occupant toward a behavior of a vehicle.SOLUTION: A driving support method includes the steps of: detecting a target vehicle which is traveling ahead of an own vehicle and on an adjacent lane which is adjacent to a traveling lane on which the own vehicle is traveling; detecting an intention of the target vehicle to make a lane change to the traveling lane; determining a reaction behavior to the lane change on the basis of determination criteria; controlling the own vehicle so as to execute the reaction behavior; detecting a sense of incongruity of a user of the own vehicle toward the reaction behavior of the vehicle; and adjusting the determination criteria if a sense of incongruity is detected.SELECTED DRAWING: Figure 7

Description

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

  Patent Document 1 describes that a side vehicle that travels in another lane adjacent to the traveling lane of the host vehicle intends to change the lane to the traveling lane, and when there is no other vehicle behind the host vehicle, An inter-vehicle distance control device that shortens the inter-vehicle distance and increases the inter-vehicle distance from the preceding vehicle when another vehicle exists behind the vehicle is disclosed.

JP 2017-30435 A

  However, the criteria for determining whether the distance between the front vehicle and the front vehicle is shortened or lengthened, that is, whether the rear side is given to the side vehicle or the front side is given depends on the individual. For this reason, in the inter-vehicle distance control based on a uniform standard set in advance, there is a possibility that the occupant feels uncomfortable.

  In view of the above-described problems, an object of the present invention is to provide a driving support method and a driving support device that can reduce a passenger's discomfort with respect to the behavior of a vehicle.

  According to one aspect of the present invention, a target vehicle that travels ahead of a vehicle in an adjacent lane adjacent to a travel lane on which the vehicle travels is detected, and the intention of the target vehicle to change the lane to the travel lane is detected. The reaction behavior to the lane change is determined based on the judgment criteria, the vehicle is controlled to execute the reaction behavior, the vehicle user's uncomfortable feeling with respect to the vehicle reaction behavior is detected, and if the uncomfortable feeling is detected, the judgment criteria is determined. A driving support method and a driving support device for adjustment are provided.

  ADVANTAGE OF THE INVENTION According to this invention, the driving assistance apparatus method and driving assistance apparatus which can reduce the discomfort of the passenger | crew with respect to the action of a vehicle can be provided.

FIG. 2 is a block diagram illustrating an example of a configuration of a driving assistance apparatus according to an embodiment of the present invention. It is a figure explaining operation | movement of the driving assistance apparatus which concerns on embodiment of this invention. It is a figure explaining operation | movement of the driving assistance apparatus which concerns on embodiment of this invention. It is the schematic of an example of electrode arrangement | positioning of an electroencephalogram sensor. It is a graph which shows an example of the waveform of an electroencephalogram. 5 is a graph for explaining an example of a process for determining whether there is a sense of incongruity in the driving support method according to the embodiment of the present invention. 5 is a flowchart for explaining an example of a driving support method according to an embodiment of the present invention. 5 is a flowchart for explaining an example of a method for detecting a sense of incongruity according to an embodiment of the present invention. It is a flowchart for demonstrating an example of the driving assistance method which concerns on the 1st modification of embodiment of this invention. It is a flowchart for demonstrating an example of the reaction action determination method which concerns on the 2nd modification of embodiment of this invention.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings. In the description of the drawings, the same or similar parts are denoted by the same or similar reference numerals, and redundant description is omitted. Each drawing is schematic and includes cases different from actual ones. The following embodiments exemplify apparatuses and methods for embodying the technical idea of the present invention, and the technical ideas of the present invention are specific to the apparatuses and methods illustrated in the following embodiments. It is not what you do. The technical idea of the present invention can be variously modified within the technical scope described in the claims.

(Drive assist device)
As shown in FIG. 1, the driving support device according to the embodiment of the present invention includes a processing circuit 1, an ambient sensor 2, a vehicle sensor 3, a biological information sensor 4, a storage device 5, an output interface (I / F) 6, and an actuator. 7 is provided. For example, as shown in FIG. 2, the driving support device according to the present embodiment is mounted on a vehicle 100, and automatically controls the behavior of the vehicle 100 according to the situation around the vehicle 100, thereby driving the vehicle 100. To help.

  The ambient sensor 2 is a sensor that detects the ambient situation of the vehicle 100 including the situation ahead. The ambient sensor 2 includes, for example, a camera 21, a radar 22, and a communication device 23. The type and number of sensors constituting the ambient sensor 2 are not limited to this.

  The camera 21 includes a solid-state imaging device that captures a predetermined range around the vehicle 100 and acquires a surrounding image. The camera 21 determines from the acquired image the relative position, relative speed, distance between the vehicle 100 and the target, other lanes, pedestrians, bicycles, and the like, the distance between the vehicle 100 and the target, the lane boundary line (white line) on the road, etc. The surrounding data of the vehicle 100 including the road structure is detected, and the detected surrounding data is output to the processing circuit 1. The camera 21 may be a stereo camera or an omnidirectional camera, and may include an infrared camera.

  As the radar 22, for example, a ranging radar using a millimeter wave or an ultrasonic wave, a laser range finder (LRF), or the like can be used. The radar 22 scans a predetermined range around the vehicle 100 and acquires surrounding three-dimensional distance data. The radar 22 detects the relative position and relative speed of the surrounding object with respect to the vehicle 100 from the three-dimensional distance data, the distance between the vehicle 100 and the object, and the like as data on the surrounding state of the vehicle 100. The radar 22 outputs the detected data on the surroundings of the vehicle 100 to the processing circuit 1.

  The communication device 23 is a communication interface that acquires data on the surroundings of the vehicle 100 from the outside by wireless communication. The communicator 23 travels, for example, relative positions, relative speeds, and relative accelerations of other vehicles around the vehicle 100 by vehicle-to-vehicle communication with other vehicles, road-to-vehicle communication with roadside devices, and the like. The situation is detected and output to the processing circuit 1 as ambient situation data. The communication device 23 may acquire traffic information such as traffic congestion information and traffic regulation information for each lane as lane-specific data.

  The vehicle sensor 3 is a sensor that detects a traveling state of the vehicle 100 including position information of the vehicle 100. The vehicle sensor 3 includes a global navigation positioning system (GNSS) receiver 31, a vehicle speed sensor 32, an acceleration sensor 33, and an angular velocity sensor 34. In addition, the kind and number of sensors which comprise the vehicle sensor 3 are not limited to this.

  The GNSS receiver 31 is, for example, a GPS receiver in a global positioning system (GPS). The GNSS receiver 31 calculates position information indicating the latitude, longitude, and altitude of the vehicle 100 based on signals received from a plurality of navigation satellites, and outputs the position information to the processing circuit 1.

  For example, the vehicle speed sensor 32 detects the vehicle speed from the wheel speed of the vehicle 100 and outputs it to the processing circuit 1. The acceleration sensor 33 detects the acceleration of the vehicle 100 and outputs it to the processing circuit 1. The angular velocity sensor 34 detects the angular velocity of the vehicle 100 and outputs it to the processing circuit 1.

  The biological information sensor 4 detects the biological information of the occupant who can acquire the occupant's uncomfortable feeling and outputs the detected biological information to the processing circuit 1. The biological information sensor 4 is composed of, for example, an electroencephalogram sensor that detects an electroencephalogram as occupant's biological information. In addition, occupant cerebral blood flow, heart rate, respiration, sweating, and the like can be employed as biometric information. The biological information sensor 4 may be an image sensor that acquires an occupant's face image. The biological information sensor 4 outputs the occupant's biological information to the processing circuit 1.

  As the storage device 5, a semiconductor storage device, a magnetic storage device, an optical storage device, or the like can be used. The storage device 5 includes a computer-readable storage medium, and may be a single hardware or a plurality of hardware. The storage device 5 may be built in the processing circuit 1. The storage device 5 stores map data 51, an action database 52, and determination reference data 53.

  The map data 51 includes a road type, a road shape, a speed limit, and the like. The behavior database 52 is a database that records reaction behavior and associated data by the driving support apparatus according to the present embodiment. The criterion data 53 is a value (threshold value) that is referred to when the reaction behavior is determined by the driving support apparatus according to the present embodiment. Details of the behavior database 52 and the criterion data 53 will be described later.

  The processing circuit 1 is a controller such as an electronic control unit (ECU) that performs arithmetic and logical operations of processing necessary for operations performed by the driving support device according to the embodiment of the present invention. For example, the processor, the storage device, and the input / output interface May be provided. The processor can correspond to a microprocessor equivalent to an arithmetic logic unit (ALU), a control circuit (control unit), a central processing unit (CPU) including various registers, and the like. The storage device built in or externally attached to the processing circuit 1 includes a semiconductor memory, a disk medium, and the like, and may include a storage medium such as a register, a cache memory, and a ROM and RAM used as a main storage device. For example, the processor can execute a program (driving support program) that is stored in advance in the storage device and indicates a series of processes necessary for the operation of the driving support device according to the embodiment of the present invention.

  The processing circuit 1 may be physically configured by a programmable logic device (PLD) such as a field programmable gate array (FPGA) or the like, and is equivalently processed by software in a general-purpose semiconductor integrated circuit. A functional logic circuit to be set may be used. Each unit constituting the processing circuit 1 may be constituted by a single hardware, or may be constituted by separate hardware. For example, the processing circuit 1 can be configured by a car navigation system such as an in-vehicle infotainment (IVI) system and a driving assistance system such as an advanced driving assistance system (ADAS). The processing circuit 1 is connected to each of the surrounding sensor 2, the vehicle sensor 3, the biological information sensor 4, the storage device 5, the output I / F 6, and the actuator 7 through a communication network such as a controller area network (CAN) bus.

  The processing circuit 1 is a functional or physical block of logical blocks such as an ambient environment recognition unit 11, a lane change detection unit 12, a behavior determination unit 13, a target calculation unit 14, a vehicle control unit 15, a presentation control unit 16, and a discomfort detection unit 17. As a basic hardware resource.

  The processing circuit 1 sequentially calculates the current position of the vehicle 100 in the map data 51 stored in the storage device 5 based on the position information, speed, acceleration, and angular velocity of the vehicle 100 acquired by the vehicle sensor 3. The processing circuit 1 sets a travel route from the current position of the vehicle 100 to a destination set by a passenger or the like, and travels along the travel route at a target speed corresponding to the speed limit or the speed of the preceding vehicle. The vehicle 100 is controlled.

  As shown in FIG. 2, the surrounding environment recognition unit 11 recognizes the traveling lane L2 on which the vehicle 100 travels and the adjacent lanes L1 and L3 adjacent to the traveling lane L2 based on the surrounding conditions detected by the surrounding sensor 2. , And recognize other vehicles around the vehicle 100 traveling in the traveling lane L2 and the adjacent lanes L1, L3. The ambient environment recognition unit 11 acquires the relative position and relative speed of the other vehicle with respect to the vehicle 100 detected by the ambient sensor 2 and the distance between the vehicle 100 and the other vehicle.

  The lane change detection unit 12 detects the target vehicle 200 that travels a predetermined distance range ahead of the vehicle 100 in the adjacent lanes L1 and L3 among the other vehicles recognized by the surrounding environment recognition unit 11, and The intention (predictor) of the lane change to the travel lane L2 is detected. The lane change detection unit 12, for example, based on the state of the direction indicator of the target vehicle 200 detected by the surrounding sensor 2, the transition of the position in the width direction in the adjacent lane L <b> 3 of the target vehicle 200, etc. Detect change intent. In the example illustrated in FIG. 2, the lane change detection unit 12 recognizes the state of the direction indicator of the target vehicle 200 based on the image acquired from the camera 21, and intends to change the lane to the left lane of the target vehicle 200. Is detected.

  As illustrated in FIG. 3, the lane change detection unit 12 may detect the intention of the lane change of the target vehicle 200 based on the road shape acquired from the map data 51. That is, the lane change detection unit 12 recognizes from the map data 51 that the adjacent lane L3 on which the target vehicle 200 travels merges with the travel lane L2 in front of the target vehicle 200, and based on the distance from the junction point The intention of 200 lane changes may be detected. Alternatively, the lane change detection unit 12 detects the relative position of other vehicles around the vehicle 100, and based on the positional relationship between the preceding vehicle of the target vehicle 200 and the target vehicle 200, the presence or absence of the preceding vehicle of the vehicle 100, etc. The intention of changing the lane may be detected, or the intention of changing the lane may be detected by inter-vehicle communication with the target vehicle 200 via the communication device 23.

  The behavior determination unit 13 responds to the intention of the lane change of the target vehicle 200 detected by the lane change detection unit 12 based on the surrounding situation of the vehicle 100 acquired by the ambient sensor 2, the behavior database 52, the determination reference data 53, and the like. The reaction behavior of the vehicle 100 is determined. The action determination unit 13 determines a reaction action based on at least the distance d between the vehicle 100 and the target vehicle 200 in response to the detection of the intention to change the lane of the target vehicle 200. For example, the behavior determination unit 13 divides the distance d by the relative speed of the target vehicle 200 acquired from the time-series relative position of the target vehicle 200, thereby causing a collision time (TTC) between the vehicle 100 and the target vehicle 200. Is calculated. However, since the distance d is a distance along the road, the vehicle 100 and the target vehicle 200 do not actually collide after the TTC has elapsed.

  The action determining unit 13 determines the action to give the front of the vehicle 100 to the target vehicle 200 as a reaction action when the TTC is equal to or greater than the predetermined threshold Tα, and gives the rear of the vehicle 100 to the target vehicle 200 when the TTC is less than the threshold Tα. The action is determined as a reaction action. The threshold value Tα is stored in the storage device 5 as determination criterion data 53 that is a threshold value of a criterion for determining a reaction behavior for a lane change. As the threshold value Tα is larger, the determination of the reaction behavior that yields the rear of the vehicle 100 to the target vehicle 200 increases, and as the threshold value Tα is smaller, the determination of the reaction behavior that yields the front of the vehicle 100 to the target vehicle 200 increases.

  The method for determining the reaction behavior by the behavior determination unit 13 is not limited to the method according to the comparison result between the TTC and the threshold value Tα. For example, the behavior determination unit 13 may be a method that responds to the comparison result between the inter-vehicle time (THW) between the vehicle 100 and the target vehicle 200 and the corresponding threshold value Tβ. THW is calculated by dividing the distance d between the vehicle 100 and the target vehicle 200 by the vehicle speed of the vehicle 100.

  Alternatively, as shown in FIG. 3, the action determination unit 13 changes the lane to the adjacent lane L1 on the opposite side of the adjacent lane L3 on which the target vehicle 200 travels according to the surrounding conditions of the vehicle 100, and the reaction action of the vehicle 100 May be determined as For example, when the intention of changing the lane of the target vehicle 200 is detected and there is no other vehicle traveling in the adjacent lane L1 within a predetermined distance range from the vehicle 100, the behavior determining unit 13 reacts to the lane change to the adjacent lane L1. Determine as an action. The behavior determination unit 13 may determine the lane change to the adjacent lane L1 as the reaction behavior only when the preceding vehicle or the following vehicle exists in the traveling lane L2 within a predetermined distance range from the vehicle 100.

  The types of reaction behavior of the vehicle 100 that can be determined by the behavior determination unit 13 are recorded in the behavior database 52. The behavior database 52 includes the surrounding situation of the vehicle 100 when the lane change detection unit 12 detects the intention of the lane change in the past, the reaction behavior determined for the lane change, and whether or not the passenger feels uncomfortable with the reaction behavior. Are recorded in association with each other.

  The target calculation unit 14 calculates target values such as the speed, acceleration, and steering amount of the vehicle 100 for executing the reaction behavior determined by the behavior determination unit 13. For example, as illustrated in FIG. 2, when a reaction action that gives the target vehicle 200 the front of the vehicle 100 is determined in response to the lane change of the target vehicle 200 to the travel lane L2, the target calculation unit 14 A target speed and a target acceleration that decelerates are calculated. Target values such as speed, acceleration, and steering amount can be determined based on the speed limit of the traveling road, the presence / absence of preceding and following vehicles of the vehicle 100, the degree of congestion around the vehicle, and the like.

  The vehicle control unit 15 generates a control signal for controlling the actuator 7 that realizes the target value calculated by the target calculation unit 14, and outputs the control signal to the actuator 7, thereby determining the reaction behavior determined by the behavior determination unit 13. The vehicle 100 is controlled to execute. In addition, the vehicle control unit 15 travels along a predetermined travel route based on the surrounding state of the vehicle 100 detected by the surrounding sensor 2 and the traveling state of the vehicle 100 detected by the vehicle sensor 3. The actuator 7 is controlled to do this. Note that when executing the reaction behavior, the vehicle control unit 15 may perform automatic driving that performs all of drive control, braking control, and steering control without involving an occupant. Or while the vehicle control part 15 performs the automatic driving | operation which performs at least one part of drive control, braking control, and steering control, a passenger | crew may perform a part of driving operation.

  The actuator 7 controls traveling of the vehicle 100 according to a control signal from the vehicle control unit 15. The actuator 7 includes an accelerator actuator 71, a brake actuator 72, and a steering actuator 73. The accelerator actuator 71 is composed of a throttle valve, for example, and controls the accelerator opening of the vehicle 100. The brake actuator 72 is composed of, for example, a hydraulic circuit, and controls the braking operation of the brake of the vehicle 100. The steering actuator 73 is composed of a motor that can transmit torque to the steering shaft, for example, and controls the steering amount of the steering shaft.

  The presentation control unit 16 controls the output I / F 6 so as to present the reaction behavior plan determined by the behavior determination unit 13 to the occupant. For example, the presentation control unit 16 controls the output I / F 6 so as to present to the occupant that the target vehicle 200 gives the front or rear of the vehicle 100 or that the vehicle 100 changes lanes as the reaction behavior. The presentation control unit 16 may control the output I / F 6 so as to display the trajectory of the vehicle 100 showing the reaction behavior on the image showing the road on which the vehicle 100 travels. Alternatively, the presentation control unit 16 may control the output I / F 6 so as to present a guidance instruction prompting the execution of the reaction behavior determined by the behavior determination unit 13 to the occupant.

  The output I / F 6 presents to the occupant the reaction behavior plan determined by the behavior deciding unit 13 in accordance with the control by the presentation control unit 16, the guidance instruction for the reaction behavior to the occupant, and the like. The output I / F 6 includes a display device 61 and a speaker 62. The display device 61 is a display such as a liquid crystal display (LCD), for example, and displays a reaction action plan, a guidance instruction for an occupant, and the like using images, character information, icons, and the like. The speaker 62 reproduces sound indicating a reaction action plan, a guidance instruction for the occupant, and the like by sound and notification sound.

  The uncomfortable feeling detection unit 17 detects the uncomfortable feeling of the occupant from the occupant's biological information detected by the biological information sensor 4. Here, the sense of discomfort of the occupant means a sense of discomfort that the occupant learns due to a difference in actual behavior with respect to the behavior of the vehicle 100 assumed by the occupant. For example, as shown in FIG. 2, the occupant recognizes the following vehicle 300 of the vehicle 100, but a reaction action is given to the target vehicle 200, and the vehicle 100 decelerates and the distance from the following vehicle 300 increases. If it becomes shorter, the passenger may feel uncomfortable. Moreover, although it was assumed that the occupant gave up the front to the target vehicle 200, when the reaction action which gives back to the target vehicle 200 is performed and the vehicle 100 accelerates, the occupant may feel uncomfortable.

  For example, when the biological information sensor 4 is an electroencephalogram sensor, the uncomfortable feeling detection unit 17 is detected based on an occupant's electroencephalogram. Hereinafter, it is assumed that the biological information sensor 4 is an electroencephalogram sensor.

  The electroencephalogram sensor has a plurality of electrodes, and the plurality of electrodes are attached to the head of an occupant (for example, a driver or a passenger other than the driver). As shown in FIG. 4, for example, the plurality of electrodes of the electroencephalogram sensor are arranged on the occupant's top Fz, Fz, Cz, CPz of the occupant involved in the cognitive function according to the International 10-20 Law. The method for attaching the plurality of electrodes of the electroencephalogram sensor to the head is not particularly limited, but may be constituted by, for example, a wearable electrode cap provided with a plurality of electrodes. The electroencephalogram sensor detects occupant's electroencephalogram (brain activity) data and outputs the detected electroencephalogram data to the processing circuit 1.

  For example, the discomfort detection unit 17 performs frequency analysis on the occupant's brain wave data detected by the brain wave sensor, and detects an event-related potential (ERP) indicating a brain reaction that appears as a result of thought or recognition. The occurrence of a sense of discomfort for the passenger is detected. For example, an electroencephalogram pattern when the occupant feels uncomfortable is stored in the storage device 5 in advance, and the degree of coincidence between the electroencephalogram pattern stored in the storage device 5 and the electroencephalogram pattern detected by the electroencephalogram sensor is determined. You may judge the presence or absence of a passenger's discomfort.

  For example, as shown in FIG. 5, the discomfort detecting unit 17 extracts N feature amounts p1, p2,..., PN from an electroencephalogram signal for a predetermined time T (for example, 500 milliseconds), and an electroencephalogram feature vector P = ( p1, p2,..., pN). As the feature amount, for example, a value sampled at a constant interval can be used. Further, as shown in FIG. 6, the discomfort detecting unit 17 determines a feature amount region D when the feature amount of the electroencephalogram when feeling uncomfortable is arranged in the feature space. For example, if there are a plurality of samples, the feature amount region D is determined by defining a circle including the set {P} around the center of gravity of the vector set {P} as the feature amount region D. The discomfort detection unit 17 compares the occupant's brain wave feature vector P measured in real time by the electroencephalogram sensor with the discomfort feature amount region D. If the brain wave feature vector P belongs to the feature amount region D, the discomfort sense of the occupant It is judged that there is. On the other hand, if the electroencephalogram feature vector P does not belong to the feature amount region D, the uncomfortable feeling detection unit 17 determines that the occupant does not feel uncomfortable.

  Further, if there is brain wave data when the occupant feels uncomfortable with the normal brain wave, the discomfort detecting unit 17 sets the plane P0 shown in FIG. 6 by the linear discrimination method, and uses the plane P0. You may judge the presence or absence of a passenger's discomfort. Further, the uncomfortable feeling detection unit 17 may determine the presence or absence of an uncomfortable feeling of the occupant by a support vector machine (SVM), a neural network method, or the like.

  The behavior determination unit 13 adjusts the determination reference data 53 stored in the storage device 5 when the discomfort detection unit 17 detects the discomfort of the occupant with respect to the reaction behavior of the vehicle 100. For example, in the example shown in FIG. 2, when a sense of incongruity of the occupant is detected with respect to the reaction behavior that yields to the target vehicle 200, the behavior determination unit 13 yields the determination reference data 53 to the target vehicle 200. Change to the side where the decision of reaction behavior increases. That is, when the threshold value Tα in TTC is stored as the determination reference data 53, the behavior determination unit 13 increases the threshold value Tα at a predetermined rate. On the other hand, when a sense of incongruity of the occupant is detected with respect to the reaction behavior that gives back to the target vehicle 200, the behavior determination unit 13 increases the determination of the reaction behavior that gives the judgment reference data 53 to the target vehicle 200. Change to the side you want. That is, when the threshold value Tα in TTC is stored as the determination reference data 53, the behavior determination unit 13 decreases the threshold value Tα at a predetermined rate. The rate of increasing or decreasing the threshold value Tα can be set as appropriate.

(Driving support method)
Next, an example of a driving support method using the driving support apparatus according to the embodiment of the present invention will be described with reference to the flowchart of FIG. The series of processing shown in FIG. 7 is repeatedly executed at a predetermined cycle.

  In step S <b> 1, the surrounding environment recognition unit 11 is a vehicle that travels in each of the traveling lane L <b> 2 and the adjacent lanes L <b> 1 and L <b> 3 based on the traveling state detected by the vehicle sensor 3 and the surrounding state of the vehicle 100 detected by the surrounding sensor 2. Recognize other vehicles around 100. The lane change detection unit 12 detects the intention of the lane change to the travel lane L2 of the target vehicle 200 traveling ahead of the vehicles 100 in the adjacent lanes L1 and L3 from the surrounding conditions of the vehicle 100 acquired by the ambient sensor 2. To do.

  In step S2, the action determining unit 13 intends to change the lane of the target vehicle 200 detected in step S1, based on the surrounding situation of the vehicle 100 acquired by the surrounding sensor 2, the action database 52, the determination reference data 53, and the like. The reaction behavior of the vehicle 100 is determined. For example, the behavior determination unit 13 calculates the TTC with the target vehicle 200 by dividing the distance to the target vehicle 200 by the relative speed of the target vehicle 200. And the action determination part 13 determines the reaction action which the vehicle 100 should perform by comparing TTC with the threshold value T (alpha) memorize | stored as the determination reference | standard data 53. FIG.

  In step S <b> 3, the target calculation unit 14 determines whether or not the reaction behavior determined in step S <b> 2 is behavior that yields the front of the vehicle 100 to the target vehicle 200. If it is a reaction action that yields the front of the vehicle 100 to the target vehicle 200, the process proceeds to step S4. If it is not a reaction action that yields the front, the process proceeds to step S7.

  In step S4, the target calculation unit 14 calculates a target speed and a target acceleration at which the vehicle 100 decelerates. The vehicle control unit 15 outputs a control signal that realizes the target speed and target deceleration calculated by the target calculation unit 14 to the actuator 7 so as to execute a reaction action that decelerates and gives the front to the target vehicle 200. The vehicle 100 is controlled.

  In step S <b> 5, whether or not the uncomfortable feeling detection unit 17 has detected the uncomfortable feeling of the occupant within a predetermined time from the execution of the reaction behavior to give the front to the target vehicle 200 based on the occupant's biological information detected by the biological information sensor 4. Determine whether. For example, when the biological information sensor 4 is an electroencephalogram sensor, the uncomfortable feeling detection unit 17 determines whether or not the occupant feels uncomfortable based on the occupant's brain waves. If an occupant discomfort is detected, the process proceeds to step S6. If no occupant discomfort is detected, the process returns to step S1.

  In step S <b> 6, the action determination unit 13 determines the reaction action to transfer the judgment reference data 53 stored in the storage device 5 to the target vehicle 200 in response to the detection of the passenger discomfort in step S <b> 5. Change to the increasing side. For example, when the criterion data 53 is the threshold value Tα in TTC, the behavior determination unit 13 increases the threshold value Tα at a predetermined rate.

  In step S7, the target calculation unit 14 calculates a target speed and a target acceleration at which the vehicle 100 maintains or accelerates the vehicle speed. The vehicle control unit 15 outputs a control signal that realizes the target speed and target deceleration calculated by the target calculation unit 14 to the actuator 7, thereby maintaining or accelerating the vehicle speed and causing the target vehicle 200 to give the reaction behavior to the rear. The vehicle 100 is controlled to execute.

  In step S <b> 8, whether the discomfort detecting unit 17 detects the discomfort of the occupant within a predetermined time from the execution of the reaction behavior to give back to the target vehicle 200 based on the occupant's biological information detected by the biological information sensor 4. Determine whether. For example, when the biological information sensor 4 is an electroencephalogram sensor, the uncomfortable feeling detection unit 17 determines whether or not the occupant feels uncomfortable based on the occupant's brain waves. If an occupant discomfort is detected, the process proceeds to step S9. If no occupant discomfort is detected, the process returns to step S1.

  In step S <b> 9, the action determination unit 13 determines the reaction action to give the determination reference data 53 stored in the storage device 5 forward to the target vehicle 200 in response to the detection of the passenger discomfort in step S <b> 8. Change to the increasing side. For example, when the criterion data 53 is the threshold value Tα in TTC, the behavior determination unit 13 decreases the threshold value Tα at a predetermined rate. The adjusted threshold value Tα is used for determining the reaction behavior in the next and subsequent cycles.

(Discomfort detection method)
Next, an example of the uncomfortable feeling detection method corresponding to the processes in steps S5 and S8 in FIG. 7 will be described with reference to the flowchart in FIG. In the following, an example will be described in which the biological information sensor 4 is an electroencephalogram sensor and an uncomfortable feeling is detected from the occupants' electroencephalogram.

  First, in step S21, the electroencephalogram sensor measures an occupant's electroencephalogram signal in real time. In step S <b> 22, the discomfort detecting unit 17 stores the electroencephalogram signal measured at a predetermined time T (for example, 500 milliseconds) in the storage device 5. In step S23, the uncomfortable feeling detection unit 17 extracts N feature amounts from the electroencephalogram signal at a predetermined time T, and generates an electroencephalogram feature vector P = (p1, p2,..., PN).

  In step S24, the uncomfortable feeling detection unit 17 reads the feature amount region D when it is arranged in the feature space from the storage device 5, and compares the feature vector P of the electroencephalogram measured in real time from the occupant with the uncomfortable feature amount region D. . If the electroencephalogram feature vector P belongs to the feature amount region D, the process proceeds to step S25, and it is determined that the passenger feels uncomfortable. On the other hand, when the electroencephalogram feature vector P does not belong to the feature amount region D in step S24, the process proceeds to step S26, and it is determined that there is no sense of incongruity of the occupant.

  As described above, according to the driving support apparatus according to the embodiment of the present invention, the reaction behavior to the lane change of the target vehicle 200 is determined based on the surrounding situation and the determination criterion, and the passenger feels uncomfortable with the reaction behavior. When the sense of incongruity is detected, the judgment criteria are adjusted. When determining the behavior of the vehicle 100 with respect to the lane change of the target vehicle 200, since there are individual differences in the occupant's judgment, if the reaction behavior is automatically determined based on a uniform standard, the response behavior of the vehicle 100 is determined. There is a possibility of making the passenger feel uncomfortable. Since the driving support device according to the present embodiment adjusts the determination criteria for determining the reaction behavior according to the passenger's uncomfortable feeling, the driver's uncomfortable feeling with respect to the automatically determined reaction behavior can be reduced.

  Furthermore, in the driving support device according to the embodiment of the present invention, when a sense of incongruity is detected with respect to the reaction behavior that yields the front, the determination criterion is changed to the side where the determination of the reaction behavior that yields the rear increases, and the reaction behavior that yields the rear When a sense of incongruity is detected, the decision is made to increase the response action decision to give up. In other words, since the judgment criteria are adjusted to the side where the determination of the reaction behavior different from the reaction behavior in which a sense of incongruity is detected, it is possible to set the judgment criteria reflecting the passenger's preference, It becomes difficult to determine the reaction behavior, and the occupant's uncomfortable feeling can be reduced or eliminated.

  Furthermore, in the driving assistance apparatus according to the embodiment of the present invention, the lane change to the adjacent lane L1 on the opposite side of the adjacent lane L3 on which the target vehicle 200 travels is set as the reaction behavior of the vehicle 100 according to the surrounding situation of the vehicle 100. Can be determined. For this reason, the choice of the reaction action with respect to the lane change of the object vehicle 200 is increased, a smoother reaction action is possible, and the discomfort given to the passenger can be reduced.

  Furthermore, in the driving assistance apparatus according to the embodiment of the present invention, the occupant's discomfort with respect to the reaction behavior of the vehicle 100 can be detected based on the brain waves of the occupant. For this reason, the burden of the passenger | crew at the time of acquiring the biometric information for detecting a discomfort of a passenger | crew can be reduced.

(First modification)
The driving support method using the driving support apparatus according to the first modification of the embodiment of the present invention immediately executes the reaction behavior when a sense of discomfort of the occupant of the vehicle 100 is detected with respect to the reaction behavior of the vehicle 100. It differs from the above-described embodiment in that it is stopped. Configurations, operations, and effects that are not described in the first modification are the same as those in the above-described embodiment, and are omitted because they overlap.

  With reference to the flowchart of FIG. 9, an example of the driving assistance method using the driving assistance apparatus which concerns on the 1st modification of embodiment of this invention is demonstrated. The processes in steps S31 to S35 and S37 to S38 in FIG. 9 are the same as those in steps S1 to S5 and S7 to S8 in FIG.

  If a sense of incongruity of the occupant is detected with respect to the reaction behavior that yields to the target vehicle 200 in step S35, the process proceeds to step S36. In step S36, if the safety condition that there is no possibility of obstructing traffic of other vehicles around the vehicle 100 even if the reaction behavior determined in step S32 is stopped based on the surrounding situation of the vehicle 100, vehicle control is performed. The unit 15 stops the reaction behavior started in step S34 and decelerating to the front of the target vehicle 200. That is, the vehicle control unit 15 starts maintaining or accelerating the vehicle speed. Further, in step S36, the action determination unit 13 responds to the reaction action that yields the judgment reference data 53 stored in the storage device 5 to the target vehicle 200 in response to the detection of the passenger's discomfort in step S35. Change the side to increase the decision.

  If a sense of incongruity of the occupant is detected with respect to the reaction behavior that leaves the rear to the target vehicle 200 in step S38, the process proceeds to step S39. In step S39, if the safety condition that there is no possibility of obstructing traffic of other vehicles around the vehicle 100 even if the reaction behavior determined in step S32 is stopped based on the surrounding situation of the vehicle 100, vehicle control is performed. The unit 15 stops the reaction behavior started in step S37 and maintaining or accelerating the vehicle and giving back to the target vehicle 200. That is, the vehicle control unit 15 starts deceleration. Further, in step S39, the action determination unit 13 responds to the reaction action that yields the determination reference data 53 stored in the storage device 5 to the target vehicle 200 in response to the detection of the passenger's discomfort in step S38. Change the side to increase the decision.

  As described above, according to the driving support device according to the first modification of the embodiment of the present invention, when a sense of discomfort of the occupant with respect to the reaction behavior is detected, the reaction behavior can be stopped immediately if the safety condition is satisfied. . Thereby, the passenger | crew's uncomfortable feeling with respect to the automatically determined reaction action can further be reduced.

(Second modification)
As a second modification of the embodiment of the present invention, referring to the flowchart of FIG. 10, reaction behavior determination using a behavior database 52 in which reaction behavior according to the surrounding situation and presence / absence of occupant discomfort are associated with each other. Details of the method will be described.

  In step S41, the lane change detection unit 12 changes the lane change to the travel lane L2 of the target vehicle 200 that travels ahead of the vehicles 100 in the adjacent lanes L1 and L3 based on the surrounding conditions of the vehicle 100 acquired by the ambient sensor 2. Detect intent.

  In step S <b> 42, the behavior determination unit 13 determines the reaction behavior for the lane change of the target vehicle 200 using the ambient state of the vehicle 100 acquired by the ambient sensor 2, the behavior database 52, and the determination reference data 53. That is, the action determination unit 13 refers to the action database 52 and selects a reaction action with less detection of discomfort of the occupant among reaction actions in a situation that matches the surrounding situation in step S41.

  In step S43, the behavior determination unit 13 updates the behavior database 52 by recording in the behavior database 52 the presence or absence of a sense of discomfort detected by the discomfort detection unit 17 with respect to the reaction behavior determined in step S42.

  In this way, by determining the sense of incongruity using the behavior database 52 and updating the behavior database according to the presence or absence of the sense of incongruity, even if there are a plurality of adoptable reaction behavior options, the occupant feels uncomfortable. The least likely response behavior can be determined.

(Other embodiments)
While embodiments of the present invention have been described as described above, it should not be understood that the description and drawings that form part of this disclosure limit the present invention. From this disclosure, various alternative embodiments, examples and operational techniques will be apparent to those skilled in the art.

  For example, in the embodiment of the present invention, the presentation control unit 16 may control the output I / F 6 so as to present the execution instruction of the reaction behavior determined by the behavior determination unit 13 to the occupant. Then, instead of detecting an uncomfortable feeling of the occupant with respect to the vehicle control by the vehicle control unit 15, an uncomfortable feeling of the occupant with respect to the reaction behavior determined by the action determining unit 13 may be detected. Even in this case, the occupant's uncomfortable feeling with respect to the reaction behavior determined by the behavior determination unit 13 can be reduced or eliminated.

  In addition, of course, the present invention includes various embodiments that are not described here, such as configurations in which the respective configurations described in the above embodiments are arbitrarily applied. Therefore, the technical scope of the present invention is defined only by the invention specifying matters according to the scope of claims reasonable from the above description.

1 Processing Circuit 2 Ambient Sensor 3 Vehicle Sensor 4 Biological Information Sensor 5 Storage Device 7 Actuator 100 Vehicle 200 Target Vehicle

Claims (7)

Detecting a target vehicle that travels ahead of the vehicle in an adjacent lane adjacent to a travel lane in which the vehicle travels;
Detecting the intention of the lane change of the target vehicle to the travel lane,
Determining a response behavior of the vehicle to the lane change based on a criterion;
Controlling the vehicle to perform the reaction behavior;
Detecting a sense of discomfort of the vehicle occupant with respect to the reaction behavior of the vehicle;
The driving support method, wherein the determination criterion is adjusted when the uncomfortable feeling is detected. When the sense of discomfort with respect to the reaction behavior that yields the front of the vehicle to the target vehicle is detected, the determination criterion is changed to a side on which the determination of the reaction behavior that yields the rear of the vehicle to the target vehicle increases.
When the sense of incongruity with respect to the reaction behavior that yields the rear to the target vehicle is detected, the determination criterion is changed to a side that increases the determination of the reaction behavior that yields the front to the target vehicle. The driving support method according to claim 1. When the sense of discomfort with respect to the reaction behavior that yields the front of the vehicle to the target vehicle is detected, the execution of the reaction behavior that yields the front is stopped,
3. The driving support method according to claim 1, wherein when the sense of incongruity with respect to the reaction behavior that yields the rear of the vehicle to the target vehicle is detected, execution of the reaction behavior that yields the rear is stopped. .   The driving support method according to any one of claims 1 to 3, wherein, as the reaction behavior, a lane change to a lane adjacent to the traveling lane and opposite to the adjacent lane is executed.   Based on the past database in which the situation around the vehicle when the intention of the lane change is detected, the reaction behavior determined for the lane change, and the presence or absence of discomfort with the reaction behavior are associated with each other 5. The driving support method according to claim 4, wherein reaction behavior is determined.   The driving assistance method according to claim 1, wherein the uncomfortable feeling is detected based on a brain wave of the occupant. A sensor for detecting a target vehicle traveling ahead of the vehicle in an adjacent lane adjacent to a traveling lane in which the vehicle travels;
Detecting the intention of the target vehicle to change the lane to the travel lane, determining a reaction behavior for the lane change based on a criterion, and controlling the vehicle to execute the reaction behavior; A driving support device, comprising: a processing circuit that detects an uncomfortable feeling of the vehicle occupant with respect to a reaction behavior and adjusts the determination criterion when the uncomfortable feeling is detected.

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