JP2019070876A - Safe driving support device and safe driving support method - Google Patents

Abstract

To appropriately issue an alarm when a vehicle is traveling on a curved road.SOLUTION: A control device 10 determines whether a driver of a vehicle 1 does not look ahead carefully on the basis of an angle value indicating a face direction of the driver and a predetermined determination threshold, and issues an alarm when it is determined that the driver does not look ahead carefully. The control device 10 includes: a road shape determination section 33 for determining whether or not a road ahead in a traveling direction of the vehicle 1 under traveling is a curved road; a threshold change section 34 for changing the magnitude of a determination threshold from a predetermined value when the road ahead is determined to be the curved road by the road shape determination section 33; and an inattentive driving determination section 35 for determining whether the driver does not look ahead carefully on the basis of the determination threshold after changing the magnitude by the threshold change section 34 and an angle value when the vehicle 1 is traveling on the curved road.SELECTED DRAWING: Figure 1

Description

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

  Conventionally, a device has been proposed that determines the driver's forward invisibility (side-viewing) according to the face direction of the driver driving the vehicle, and issues a warning to the driver when it is determined that the driver is forward inattentive. There is. This device issues an alarm when the driver's face direction angle continues to deviate from the front (traveling direction) by a predetermined angle or more for a predetermined time or more.

JP 2008-97445 A

  By the way, when the vehicle travels on a straight road, the possibility that the face direction of the driver who is not looking aside changes is low, but when the vehicle travels on a curved road, the driver's face direction is a curve It is easy to change to turn to the end of the road. For this reason, there is a possibility that it may be erroneously determined that the driver is looking aside while driving on a curved road, so a measure is proposed to stop the warning when traveling on a curved road. However, if the warning is uniformly stopped while traveling on a curved road, there is a problem that no warning is issued even if the driver is looking aside while traveling on a curved road.

  Therefore, the present invention has been made in view of these points, and it is an object of the present invention to appropriately issue an alarm when traveling on a curved road of a vehicle.

In the first aspect of the present invention, it is determined whether or not the driver is unfavorably looking ahead based on an angle value indicating a face direction of the driver of the vehicle and a predetermined determination threshold. A road shape determination unit that determines whether the road ahead of the traveling direction of the vehicle during traveling is a curved road; When the shape determination unit determines that the road is the curved road, the threshold change unit changes the size of the determination threshold from a predetermined value, and the threshold change unit increases the size when the vehicle travels the curved road. There is provided a safe driving support apparatus, comprising: a forward invisibility determining unit that determines whether or not the driver is in front in vain on the basis of the determination threshold after a change in speed and the angle value. Do.
According to the safe driving support device of the above configuration, when traveling on a curved road, the magnitude of the determination threshold is changed, for example, when the driver changes the face direction to check the destination of the curved road. Since it is possible to suppress the determination that the user is looking aside, it is possible to suppress the occurrence of an alarm by mistake. On the other hand, when the driver is looking aside, the driver's face direction angle deviates from the size of the judgment threshold after the change, and it is determined that the driver is looking aside while driving on a curved road. Therefore, it is possible to prevent the alarm from being issued even while looking aside.

  Further, the threshold changing unit may change the size of the determination threshold from a predetermined value according to the size of the curve of the curved road.

  In addition, the determination threshold includes a first threshold indicating a predetermined angle and a second threshold indicating a predetermined time, and the forward unfocusedness determining unit determines that the state in which the angle value is larger than the first threshold is the first threshold. When continuing two or more threshold values, it is determined to be forward inattentive, and the threshold value changing unit determines that the road is a curved road, the magnitude of at least one of the first threshold value and the second threshold value May be changed.

  Further, the threshold changing unit may return the size of the determination threshold to the predetermined value when it is determined by the road shape determination unit that the curved road has changed to a straight road.

  In the second aspect of the present invention, it is determined whether or not the driver is unfavorably looking ahead based on an angle value indicating a face direction of the driver of the vehicle and a predetermined determination threshold. A safe driving support method that issues an alarm when it is determined to be a gaze, and determining whether or not the forward direction of the traveling direction of the vehicle while traveling is a curved road, and the curved road When it is determined that the magnitude of the determination threshold is changed from a predetermined value, and when the vehicle travels the curved road, the determination threshold after the size has been changed, and the angle value. And determining based on the driver whether or not he / she is unfaithful ahead.

  According to the present invention, it is possible to appropriately issue an alarm when traveling on a curved road of a vehicle.

FIG. 1 is a block diagram showing an example of the configuration of a vehicle 1; It is a schematic diagram for demonstrating the relationship between the shape of the road 100, and an angle threshold value. It is a figure for demonstrating the relationship between a road shape and the magnitude | size of the determination threshold value. It is a flowchart for demonstrating the flow of a look-aside judging process.

<Configuration of vehicle>
The configuration of a vehicle equipped with the safe driving support device according to the present invention will be described with reference to FIG.

  FIG. 1 is a block diagram showing an example of the configuration of a vehicle 1. The vehicle 1 is a truck as an example. As shown in FIG. 1, the vehicle 1 includes a driver imaging device 4, a road imaging device 6, an alarm device 8, and a control device 10.

  The driver imaging device 4 is provided at the driver's seat (for example, a cab of a truck) of the vehicle 1 and includes, for example, a CCD camera. The driver imaging device 4 captures an image of the driver sitting in the driver's seat from the front, and generates a captured image. For example, the driver imaging device 4 images the face of the driver while the vehicle 1 is traveling, and generates a captured image that can specify the face orientation angle of the driver with respect to the traveling direction of the vehicle 1. The driver imaging device 4 outputs the generated captured image to the control device 10.

  The road image pickup device 6 includes, for example, a CCD camera, and images a road in front of the traveling vehicle 1 to generate a pickup image. For example, the road imaging device 6 images a lane or the like while the vehicle 1 is traveling, and generates a captured image which can specify whether the road being traveling is a straight road or a curved road. The road image pickup device 6 outputs the generated pickup image to the control device 10.

  The warning device 8 is a device that gives a warning to the driver when the driver in driving is unfaithful in the forward direction (wandering). The alarm device 8 includes, for example, a speaker that emits a sound such as an alarm, a display unit that displays a warning screen, and a vibration generation unit that generates vibration. The alarm device 8 may perform an alarm by combining at least two of sound, display, and vibration.

  The control device 10 controls the operations of the driver imaging device 4, the road imaging device 6 and the alarm device 8. In the present embodiment, the control device 10 acquires an angle value indicating the face orientation angle of the driver when the traveling direction of the vehicle 1 is based, and the driver is based on the acquired angle value and a predetermined determination threshold. It has a function of a safe driving support device that determines whether or not there is forward inattentiveness, and issues an alarm if it is determined that it is forward invisibility. For example, when the state in which the acquired angle value is larger than the angle threshold θ continues for the time threshold T or more, the control device 10 determines that the user is looking forward to the front.

  By the way, when the vehicle 1 travels on a straight road, there is a low possibility that the face direction of the driver who is not looking aside changes, but when the vehicle travels on a curved road, a driving that does not look aside The direction of the person's face is likely to change so as to turn to the end of the curved road. For this reason, there is a possibility that it may be erroneously determined that the driver is looking aside while traveling on a curved road in the normal determination of looking aside.

  On the other hand, in the present embodiment, the details will be described later, but when it is determined that the road ahead of the traveling vehicle 1 is a curved road, the size of the determination threshold in the case of looking aside is changed. The aptitude determination is performed using the changed determination threshold. Thus, it is possible to suppress false determination that a driver is looking aside while driving on a curved road, and to prevent a warning from being issued when the driver is looking aside.

<Detailed Configuration of Control Device>
The detailed configuration of the control device 10 will be described with reference to FIG.
As shown in FIG. 1, the control device 10 has a storage unit 20 and a control unit 30.

  The storage unit 20 includes, for example, a read only memory (ROM) and a random access memory (RAM). The storage unit 20 stores programs for the control unit 30 to execute and various data. In addition, the storage unit 20 stores information on the face direction angle value of the driver.

  The control unit 30 is, for example, a CPU (Central Processing Unit). The control unit 30 executes the program stored in the storage unit 20 to control the look-aside judging process. As shown in FIG. 1, the control unit 30 includes an angle value acquisition unit 32, a road shape determination unit 33, a threshold change unit 34, a look-aside determination unit 35, and an alarm control unit 36.

  The angle value acquisition unit 32 acquires an angle value indicating the face orientation angle of the driver with respect to the traveling direction of the vehicle 1. Specifically, the angle value acquisition unit 32 acquires an angle value based on a captured image captured by the driver imaging device 4. The angle value acquisition unit 32 acquires, as angle values, for example, a yaw angle value indicating the face direction angle of the driver in the yaw direction with respect to the traveling direction or a pitch angle value indicating the face direction angle of the driver in the pitch direction with respect to the traveling direction. Do. The angle value acquisition unit 32 continuously acquires angle values at predetermined intervals. The angle value acquisition unit 32 outputs the acquired angle value to the looking-aside judging unit 35.

  The road shape determination unit 33 determines the shape of the road on which the vehicle 1 is traveling. The road shape determination unit 33 determines whether or not the front in the traveling direction of the traveling vehicle 1 is a curved road. For example, the road shape determination unit 33 determines whether the road is a curved road based on a captured image captured by the road imaging device 6. Moreover, the road shape determination unit 33 may acquire the size of the curvature radius of the curved road when the road is a curved road. The road shape determination unit 33 outputs the determination result to the threshold change unit 34. In addition, the shape of the road can be determined from the steering angle, the curvature of the road, the yaw rate, the shape of the white line of the road, map cruise information and the like which are known techniques.

  When the road shape determination unit 33 determines that the road is a curved road, the threshold change unit 34 determines the size of the determination threshold (specifically, the angle threshold θ and the time threshold T), which is the threshold at the time of looking aside Change from a predetermined value. On the other hand, when it is determined by the road shape determination unit 33 that the road shape has changed from a curved road to a straight road, the threshold change unit 34 returns the size of the determination threshold to a predetermined value. Thus, the determination threshold is adjusted in accordance with the shape of the road on which the vehicle 1 travels.

  FIG. 2 is a schematic view for explaining the relationship between the shape of the road 100 and the angle threshold. FIG. 2A shows the angle threshold θ1 when the road 100 is a straight road, and FIG. 2B shows the angle threshold θ2 when the road 100 is a curved road. Here, the magnitude of the angle threshold θ2 is larger than the angle threshold θ1. This is because the driver's face direction angle when traveling on a curved road becomes larger than the driver's face direction angle when traveling on a straight road, and thus, while looking into a curve road, It becomes difficult to determine that there is. On the other hand, the magnitude of the angle threshold value θ2 is smaller than the angle assumed to be clearly looking aside when the driver travels a curved road. Thus, the driver can appropriately determine the driver's look while driving on a curved road.

  The threshold changing unit 34 changes the size of the determination threshold from a predetermined value in accordance with the size of the curve of the curved road. Specifically, the threshold changing unit 34 increases the angle threshold θ in proportion to the size of the curve. Further, the threshold changing unit 34 may change not only the angle threshold θ (first threshold) but also the time threshold T (second threshold) as the determination threshold. For example, the threshold changing unit 34 may increase the time threshold T in proportion to the size of the curve. As described above, when it is determined that the road is a curved road, the threshold changing unit 34 changes at least one of the angle threshold θ and the time threshold T.

  FIG. 3 is a diagram for explaining the relationship between the road shape and the size of the determination threshold. The horizontal axis of the graph in FIG. 3 indicates the road shape, and the degree of curve increases as the horizontal axis increases. As shown in the graph of FIG. 3, when the road shape is a straight road, the determination threshold maintains a predetermined value (reference value), and when the road shape is a curved road, the determination threshold becomes large. There is. In particular, the determination threshold increases as the degree of curve of the curved road increases.

  The look-aside judging unit 35 judges whether or not the driver is in the forward unsighted state (wandering) based on the face direction angle value of the driver and the determination threshold value. Specifically, when the driver's face direction angle value continues to be larger than the angle threshold θ, the looking aside determining unit 35 determines that looking aside is in progress when the time threshold T or more continues.

  When the vehicle 1 travels on a curved road, the looking-aside judging unit 35 drives based on the judgment threshold (the angle threshold θ and the time threshold T) and the face direction angle value after the size is changed by the threshold changing unit 34. It is determined whether the person is looking aside. When the vehicle 1 travels on a straight road, the looking aside determination unit 35 performs the looking aside determination using the determination threshold of the reference value.

  The alarm control unit 36 causes the alarm device 8 to issue an alarm when the driver is looking aside. That is, the alarm control unit 36 causes the alarm device 8 to issue an alarm when it is determined that the looking-aside determining unit 35 is looking aside.

<Attack decision processing>
The flow of the inattentiveness determination process will be described with reference to FIG. 4. The look-aside judging process is realized by the control unit 30 of the control device 10 executing a program stored in the storage unit 20.

FIG. 4 is a flow chart for explaining the flow of the look-aside judging process. The flowchart of FIG. 4 is started, for example, from the point at which the vehicle 1 starts traveling.
First, the angle value acquisition unit 32 acquires an angle value indicating the face orientation angle of the driver with respect to the traveling direction of the vehicle 1 (step S102). For example, the angle value acquisition unit 32 acquires the angle value of the yaw direction of the driver with respect to the traveling direction based on the captured image captured by the driver imaging device 4.

  Next, the road shape determination unit 33 determines the shape of the road on which the vehicle 1 is traveling (step S104). For example, the road shape determination unit 33 determines whether the shape of the road is a straight road or a curved road based on the captured image captured by the road imaging device 6.

  Then, if it is determined to be a curve (step S106: Yes), the threshold changing unit 34 changes the size of the determination threshold from a predetermined value (reference value) (step S108). For example, the threshold changing unit 34 increases at least one of the angle threshold θ and the time threshold T.

  Next, the looking-aside determining unit 35 determines whether the driver is looking aside based on the determination threshold whose size has been changed and the driver's face direction angle value while the vehicle 1 is traveling on a curved road. It is determined (step S110). For example, if the face direction angle value continues larger than the time threshold T after change in a state in which the face direction angle value is larger than the angle threshold θ after change, it is determined that a look-ahead is under way.

  If it is determined in step S106 that the road is not a curved road (No), that is, when the vehicle 1 travels on a straight road, the looking-aside judging unit 35 sets the reference threshold to the judgment threshold (angle threshold It is determined whether the driver is looking aside by using θ, the time threshold T) (step S110).

  If it is determined in step S110 that the user is looking aside (Yes), the alarm control unit 36 causes the alarm device 8 to issue an alarm (step S112). On the other hand, when it is determined in step S110 that the user is not looking aside (No), the processing in steps S102 to S108 described above is repeated.

<Effect of this embodiment>
In the embodiment described above, when it is determined that the road ahead of the traveling vehicle 1 is a curved road, the size of the determination threshold (the angle threshold θ and the time threshold T) is changed. Then, it is determined whether or not the driver is looking aside using the determination threshold after the change and the face direction angle value of the driver.
As a result, when traveling on a curved road, the size of the determination threshold is changed. For example, when the driver changes the direction of the face in order to check the tip of the curved road, it is determined that the driver is looking aside Can be suppressed, so that an erroneous alarm can be suppressed. On the other hand, when the driver is looking aside, the driver's face direction angle deviates from the size of the judgment threshold after the change, and it is determined that the driver is looking aside while driving on a curved road. Therefore, it is possible to prevent the alarm from being issued even while looking aside.

  As mentioned above, although the present invention was explained using an embodiment, the technical scope of the present invention is not limited to the range given in the above-mentioned embodiment, and various modification and change are possible within the range of the gist. is there. For example, a specific embodiment of device distribution and integration is not limited to the above embodiment, and all or a part thereof may be functionally or physically distributed and integrated in any unit. Can. In addition, new embodiments produced by any combination of a plurality of embodiments are also included in the embodiments of the present invention. The effects of the new embodiment generated by the combination combine the effects of the original embodiment.

Reference Signs List 1 vehicle 4 driver imaging device 6 road imaging device 8 alarm device 10 control device 32 angle value acquisition unit 33 road shape determination unit 34 threshold change unit 35 sidewalk determination unit 36 alarm control unit

Claims (5)

It is determined whether or not the driver is in front inattentiveness on the basis of an angle value indicating the face direction of the driver of the vehicle and a predetermined determination threshold, and when it is determined that the operator is involuntary forward A safe driving support device that issues an alarm,
A road shape determination unit that determines whether or not the front of the traveling direction of the traveling vehicle is a curved road;
A threshold change unit configured to change the size of the determination threshold from a predetermined value when the road shape determination unit determines that the road is the curved road;
When the vehicle travels on the curved road, it is determined whether or not the driver is in front of the driver based on the determination threshold after the size is changed by the threshold changing unit and the angle value. A forward in sight check unit,
Safe driving support device equipped with. The threshold change unit changes the size of the determination threshold from a predetermined value according to the size of the curve of the curved road.
The safe driving support device according to claim 1. The determination threshold includes a first threshold indicating a predetermined angle and a second threshold indicating a predetermined time,
The forward unfocusedness determining unit determines that forward unregarding, when the state in which the angle value is larger than the first threshold continues more than the second threshold,
The threshold changing unit changes the magnitude of at least one of the first threshold and the second threshold when it is determined that the road is the curved road.
The safe driving support device according to claim 1. The threshold changing unit returns the size of the determination threshold to the predetermined value when it is determined by the road shape determination unit that the curved road has changed to a straight road.
The safe driving support device according to any one of claims 1 to 3. It is determined whether or not the driver is in front inattentiveness on the basis of an angle value indicating the face direction of the driver of the vehicle and a predetermined determination threshold, and when it is determined that the operator is involuntary forward A safe driving support method that issues an alarm,
Determining whether the road ahead of the traveling direction of the traveling vehicle is a curved road;
Changing the magnitude of the determination threshold from a predetermined value if it is determined that the road is a curved road;
During the traveling of the curved road of the vehicle, based on the determination threshold after the change in size and the angle value, it is determined whether the driver is unfocused forward;
Safe driving support method provided with.

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