JP2019179511A - Driving support system, information processing apparatus, and driving support method - Google Patents

Abstract

To provide a safe driving support system that concentrates attention on a driver within a predetermined range when an object with a high priority is nearby.SOLUTION: A driving support system detects an object within a target range; measures a distance between a vehicle and each detected object; acquires a priority of each detected object; turns on a centralized alert mode when there is an object with a priority equal to or higher than a first threshold within a first range from the vehicle; selects, as an alert target object, an object that is within the first range and has a priority equal to or higher than a second threshold among objects detected in a state where the centralized alert mode is on; and notifies the driver of the presence of the selected alert target object.SELECTED DRAWING: Figure 3

Description

  The present disclosure relates to a driving support system, an information processing apparatus, and a driving support method that preferentially call a driver attention to a highly dangerous object.

  In recent years, a driving assistance system (for example, a head-up display) that projects an image on a space in front of a vehicle has been proposed. This type of driving support system requires less movement of the driver's viewpoint compared to a conventional display, and is particularly convenient for beginners of driving and elderly people.

  Such a driving support system is used to display information on the driving state of the vehicle such as the driving speed, or to display a destination by superimposing assist information such as an arrow on the windshield in connection with the car navigation system. However, as shown in Patent Document 1, an object such as an automobile, a bicycle, a motorcycle, or a pedestrian is detected from an image obtained by an infrared camera and a visible camera mounted on the vehicle, and is superimposed on the foreground. Therefore, it may be used as a safe driving assistance system that alerts the driver.

  In the vehicle information display device of Patent Document 1, when a plurality of objects are present around the vehicle, the plurality of objects are detected and highlighted, but walking is an important object near the vehicle. Highlighting other objects far away from the car in the presence of a driver may distract the driver and lead to an accident.

JP2015-127160A

  The present disclosure has been devised in view of the above-described conventional circumstances, and a safe vehicle information display system and information for concentrating a driver's attention on a predetermined range when an object with high priority exists nearby. It aims at providing a processing device and a driving support method.

  The present disclosure is a driving support system including an object detection unit, a distance measurement unit, a storage unit that stores related information on the type and priority of an object, a notification unit, and a control unit. The object detection unit detects an object in a predetermined range around the vehicle, the distance measurement unit measures the distance between the vehicle and each detected object, and the related information stored in the storage unit Based on the priority of each detected object, the central alert mode is turned on when there is an object having a priority equal to or higher than the first threshold within the first range from the own vehicle. Is selected in the first range and the priority is equal to or higher than the second threshold value as the alert target object, and the driver detects the presence of the alert target object by the notification unit. A driving assistance system to notify Subjected to.

  Further, the present disclosure provides information processing for controlling a driving support system including an object detection unit, a distance measurement unit, a storage unit that stores information related to the type and priority of an object, and a notification unit. The apparatus detects an object in a predetermined range around the own vehicle by the object detection unit, measures a distance between the own vehicle and each detected object by the distance measurement unit, and stores the distance in the storage unit. The priority of each detected object is acquired based on the related information, and the centralized alert mode is turned on when there is an object with a priority equal to or higher than the first threshold within the first range from the own vehicle. , An object that is within the first range and has a priority equal to or higher than the second threshold among the objects detected in the state where the centralized alert mode is on is selected as an alert object requiring an alert, and the notification unit Information to notify the driver of the presence To provide a management apparatus.

  The present disclosure also includes a step of detecting an object within a predetermined range around the own vehicle, a step of measuring a distance between the own vehicle and each detected object, and priority of each detected object. The step of acquiring the degree, the step of turning on the centralized alert mode when an object having a priority equal to or higher than the first threshold is present in the first range from the own vehicle, and the state in which the centralized alert mode is on. Selecting a target within the first range and having a priority equal to or higher than a second threshold as a target alert target, and notifying the driver of the presence of the selected target alert target; A driving support method is provided.

  It should be noted that any combination of the above-described components and a representation of the present disclosure converted between a method, an apparatus, a system, a recording medium, a computer program, and the like are also effective as an aspect of the present disclosure.

  According to the present disclosure, there are provided a safe driving support system, an information processing apparatus, and a driving support method for concentrating a driver's attention in a predetermined range when an object with high priority is nearby.

Block diagram of a driving support system according to the present disclosure The flowchart which shows the driving assistance method in this indication Schematic diagram showing information stored in the storage unit in the present disclosure Schematic diagram for showing the first example situation The schematic diagram which shows the information regarding the target object in the 1st example condition which the driving assistance system in this indication acquired. Schematic diagram for illustrating the operation of the driving support system in the first example situation Schematic diagram for illustrating the second example situation The schematic diagram which shows the information regarding the target object in the 2nd example condition which the driving assistance system in this indication acquired. Schematic diagram for illustrating the operation of the driving support system in the second example situation Schematic diagram for illustrating the third example situation The schematic diagram which shows the information regarding the target object in the 3rd example situation which the driving assistance system in this indication acquired. Schematic diagram for illustrating the operation of the driving support system in the third example situation

  Hereinafter, an embodiment that specifically discloses a driving support system, an information processing apparatus, and a driving support method according to the present disclosure will be described in detail with reference to the accompanying drawings as appropriate. However, more detailed description than necessary may be omitted. For example, detailed descriptions of already well-known matters and repeated descriptions for substantially the same configuration may be omitted. This is to avoid the following description from becoming unnecessarily redundant and to facilitate understanding by those skilled in the art. The accompanying drawings and the following description are provided to enable those skilled in the art to fully understand the present disclosure, and are not intended to limit the subject matter described in the claims.

  The driving support system in the present disclosure may be a system for alerting any driver to an object ahead. In the following, a head-up display that projects and displays an image on the foreground (HUD) will be described as an example. The information processing apparatus according to the present disclosure may be a control unit of the driving support system according to the present disclosure. The driving support method in the present disclosure may be executed by the information processing apparatus (that is, the control unit of the driving support system) in the present disclosure.

  First, the hardware configuration of the driving support system according to the present disclosure will be described. FIG. 1 is a block diagram of a driving support system according to the present disclosure. As illustrated in FIG. 1, the driving support system 100 according to the present disclosure includes, for example, an object detection unit 110, a distance measurement unit 120, a storage unit 130, a notification unit 140, a control unit 150, and a speed detection unit 160. The structure containing these may be sufficient. Of course, the driving support system 100 according to the present disclosure may include other means, but only means that are highly relevant will be described here.

  The object detection unit 110 is a sensor that can detect an object around the host vehicle, and may be, for example, a visible camera, an infrared sensor, an ultrasonic sensor, a sound sensor, or a combination thereof. In this embodiment, the object detection unit 110 is a pedestrian, a bicycle, a motorcycle, or a car based on characteristics such as the shape, size, temperature, moving speed, sound, and reflectance of the moving object. Can be determined. In this disclosure, for convenience of explanation, the types of objects are limited to pedestrians, bicycles, motorcycles, and cars. However, the object detection unit 110 may be a moving object of a category other than the above, or other than moving objects. For example, it may be configured to detect an object such as a lane, a road sign, a building, a utility pole, a fence, and the like.

  The distance measuring unit 120 may be a millimeter wave radar, an infrared sensor, or the like, and can measure the distance between the vehicle and the object. The distance measuring unit 120 may be configured by a forward monitoring system shared with an adaptive cruise control system of the own vehicle or a collision damage reducing brake system. In the present disclosure, for convenience of explanation, the distance measurement unit 120 will be described separately from the object detection unit 110, but may be physically realized by the same sensor.

  The storage unit 130 may be a medium that can store any information, and is typically a RAM, a ROM, a flash memory, a hard disk, or the like. The storage unit 130 in the present disclosure stores at least related information on the type and priority of an object. In the following, for convenience of explanation, as shown in FIG. 3, the storage unit 130 stores priorities corresponding to four types of objects such as pedestrians, bicycles, motorcycles, and cars. The higher the number, the higher the priority. The degree is high. For example, since the pedestrian has high risk, “4” which is the highest priority is given. Of course, the display of the type and priority of the object is not limited to the above, and the priority definition may be set such that the lower the number, the higher the priority.

  The notification unit 140 is a means for notifying the driver of the presence of the alert target object, and may preferably include a display unit that superimposes a predetermined image on a screen where the situation around the host vehicle can be visually recognized. Specifically, it includes, but is not limited to, a head-up display (HUD) in which an emphasis symbol such as a predetermined icon is superimposed on a position corresponding to an alert target object on the windshield. The notification unit may include at least one of a speaker, a vibrator, and the like, and may notify the driver of the presence of the alert target object by at least one of voice and vibration. In addition, the notification unit 140 may be a combination of several means among a HUD, a speaker, and a vibrator.

  The control unit 150 is a microprocessor, for example, and controls the driving support system 100 by performing various calculations. The control unit 150 may constitute an information processing apparatus according to the present disclosure. Moreover, the process (step) which the control part 150 performs may comprise the driving assistance method in this indication, and it mentions later for details. In the present disclosure, for convenience of explanation, the control unit will be described as one means. However, the present disclosure is not necessarily physically realized by one processor, and each device has a respective processing device. The processing devices may constitute the control unit 150 together. Further, the central processing unit (CPU) and the processing device for each component may perform a coordinated control.

  The speed detector 160 detects the traveling speed of the vehicle body on which the driver is riding based on, for example, the rotation of wheels. Further, the speed detection unit 160 may function as a simple input unit to which wheel rotation information included in information communicated in the in-vehicle network is input. At this time, the in-vehicle network may be, for example, a CAN (Controller Area Network). Since the speed detector 160 may be a conventional sensor connected to a general speed meter, a detailed description is omitted.

  Next, various processes (steps) in the driving support system 100 will be described in detail with reference to the drawings. In addition, each step demonstrated below may comprise the driving assistance method, and these steps may be performed by the information processing apparatus (namely, control part 150 of the driving assistance system 100) in this indication.

  FIG. 2 is a flowchart illustrating a driving support method according to the present disclosure. As shown in FIG. 2, the driving support method according to the present disclosure includes the following steps.

  First, the control part 150 detects the target object in the predetermined range around the own vehicle (step S210). The “predetermined range around the host vehicle” typically includes the foreground of the vehicle that can be viewed from the windshield, but the present disclosure is not limited thereto. In this embodiment, the object detection unit 110 detects, for example, a moving object in front of the vehicle, and the moving object is a pedestrian based on characteristics such as shape, size, temperature, moving speed, sound, and reflectance. Determine whether it is a bicycle, bike, or car.

  Next, the control unit 150 measures the distance between the vehicle and each detected object (step S220), and the priority of each object detected based on the related information stored in the storage unit. Is acquired (step S230). Obviously, steps S210 to S230 need not be executed sequentially. For example, step S210 to step S230 may be executed at the same time, or the distance between the subject vehicle and the target object may be measured (step S220) after the priority of the target object is acquired first (step S230). .

  And the control part 150 turns ON concentration alert mode, when the target object with a priority more than a 1st threshold value exists in a 1st range from the own vehicle (step S240). The “first range” here is preferably set to a safe distance (e.g., within 7 m) from the host vehicle that can normally avoid a collision if alerting the driver. As a more preferred embodiment, the first range may be changed according to the traveling speed of the host vehicle measured by the speed detector 160. For example, when the traveling speed increases, it is necessary to secure a larger safety distance, and therefore the first range may be switched to a range larger than usual (for example, a range within 10 m from the host vehicle). On the other hand, the “first threshold value” is set so as to correspond to an object (for example, only the pedestrian when the first threshold value is set to “4”) that the driver should pay attention to. Is preferred.

  In the state where the car is stopped, there is no danger even if an object with high priority is nearby, so the control unit 150 is only in the case where the shift position of the car is in the “drive” state, for example. You may turn on central alert mode.

  In the state where the centralized alert mode is on (step S250, “YES”), the control unit 150 alerts an object that is within the first range and has a priority level equal to or higher than the second threshold among the detected objects. It selects as a target object (step S260). The “second threshold” here is preferably set so as to correspond to an object that the driver should pay attention to, and is the same as the above “first threshold” (for example, “4”: walking) Only a person) or different (for example, “3”: including pedestrians and bicycles).

  In other words, when the centralized alert mode is on, not all detected moving objects are targeted to alert the driver, but are within the first range (ie within a safe distance) and have a high priority. Only objects are selected as alert target objects. Thereby, it is possible to prevent the driver's attention from being distracted.

  By the way, when an object is located very close to the host vehicle, there is a high risk of collision, so it is necessary to alert the driver even if the object is not a high priority object. Therefore, when an object is present in a second range (for example, a range within 2 m from the host vehicle) that is smaller than the first range (for example, a range within 7 m from the host vehicle), the priority of the target is the first. You may select as an alert target object regardless of whether it is 2 threshold values or more.

  On the other hand, when there is no object having a priority equal to or higher than the first threshold within the first range from the host vehicle, the control unit 150 may maintain the default state without turning on the centralized alert mode (step S250). , "NO"). In the default state, the control unit 150 may select, for example, each detected object as an alert target object (step S270). As a result, when there is no object to be preferentially noted within the safe distance, the driver can be alerted for all detected moving objects. However, the processing in the default state is not limited to the above, and may be any other processing such as not selecting an alert target object.

  Finally, the control unit 150 notifies the driver of the presence of the selected alert target object (step S280). There are various specific methods for notifying the driver of the presence of the alert target object. For example, an emphasis symbol such as a “□” icon is superimposed on the position corresponding to the alert target object on the screen such as HUD. May call the driver's attention. Furthermore, the driver's attention may be drawn by generating sound and vibration using a speaker or a vibrator radar. Preferably, the notification method may be changed according to the traveling speed of the host vehicle acquired by the speed detection unit 160. For example, when the traveling speed is fast, it is normal for the driver to make the icon superimposed on the corresponding position of the alert target object red, blink the icon, or generate a warning sound. A higher level of attention may be drawn.

  Next, the operation in three different situations of the driving support system according to the present disclosure will be described in detail with reference to FIGS. In the following, an example in which the boundary line of the first range is represented by a broken line X, the boundary line of the second range is represented by a broken line Y, and the first threshold value and the second threshold value are “4” (that is, only for pedestrians). I will explain to you.

  FIG. 4 is a schematic diagram for illustrating a first example situation. In the first situation, a pedestrian P1, a pedestrian P2, a bicycle B1, a car V1, and a car V2 exist within a range in front of the vehicle that is visible from the windshield. The control unit 150 can acquire information on distances and priorities corresponding to the respective objects as illustrated in FIG. 5 by executing Steps S210 to S230.

  And the control part 150 judges whether the target (namely, pedestrian) with a priority of 4 or more exists in the range within 7 m from the own vehicle. As a result, since the pedestrian P1 exists at a position 5 m away, the control unit 150 turns on the concentrated alert mode (step S240).

  In the state where the centralized alert mode is on (step S250, “YES”), the control unit 150 detects an object that is within a range of 7 m from the own vehicle and has a priority of 4 or more ( That is, a pedestrian is selected as an alert target object (step S260). In this situation, since the only pedestrian within the range of the broken line X is the pedestrian P1, the pedestrian P1 is selected as the alert target object.

  Finally, the control unit 150 notifies the driver of the presence of the pedestrian P1, which is the selected alert target object (step S280). Specifically, as shown in FIG. 6, the icon “□” is superimposed and displayed around the pedestrian P1.

  Thereby, when there is an object with high priority nearby, the driver can concentrate his attention on a predetermined range.

  FIG. 7 is a schematic diagram for illustrating a second example situation. In the second situation, a pedestrian P1, a pedestrian P2, a bicycle B1, a car V1, and a car V2 are present in a range in front of the vehicle that is visible from the windshield. The difference from the first situation is that in the second situation, the vehicle V1 exists within 2 m from the own vehicle. The control unit 150 can acquire information on distances and priorities corresponding to the respective objects as illustrated in FIG. 8 by executing Steps S210 to S230.

  And the control part 150 judges whether the target (namely, pedestrian) with a priority of 4 or more exists in the range within 7 m from the own vehicle. As a result, since the pedestrian P1 exists at a position 5 m away, the concentrated alert mode is turned on (step S240).

  In the state where the centralized alert mode is on (step S250, “YES”), the control unit 150 detects an object that is within a range of 7 m from the own vehicle and has a priority of 4 or more ( That is, a pedestrian is selected as an alert target object (step S260). In the second situation, since the pedestrian within the range of the broken line X is only the pedestrian P1, the pedestrian P1 is selected as the alert target object.

  In addition, when there is an object within a range of 2 m from the own vehicle, the control unit 150 selects the object to be alerted regardless of whether the priority of the object is equal to or higher than the second threshold. To do. In the second situation, the vehicle V1 has a low priority, but the control unit 150 selects the vehicle V1 as an alert target object because it is located at a distance of 1 m from the own vehicle and the risk of contact is extremely high.

  Finally, the driver is notified of the presence of the pedestrian P1 and the car V1 that are the selected alert target objects (step S280). Specifically, as shown in FIG. 9, the icon “□” is superimposed and displayed around the pedestrian P1 and the car V1. As a result, an object at a close distance is selected as an alert target object even if the priority of the object is not high, so that safety is further improved.

  FIG. 10 is a schematic diagram for illustrating a third exemplary situation. In the third situation, a pedestrian P1, a bicycle B1, a car V1, and a car V2 are present in a range in front of the vehicle that is visible from the windshield. The difference from the first situation and the second situation is that there is no pedestrian within 7 m from the own vehicle in the third situation. The control unit 150 can acquire information on distances and priorities corresponding to the respective objects as illustrated in FIG. 11 by executing Steps S210 to S230.

  And the control part 150 judges whether the target (namely, pedestrian) with a priority of 4 or more exists in the range within 7 m from the own vehicle. As a result, since there is no target that satisfies the condition, the central alert mode is not turned on and the default state is maintained.

  When the central alert mode is not in the on state (that is, in the default state) (step S250, “NO”), the control unit 150 selects each detected object as an alert target object (step S270).

  Finally, the selected alert target object is notified to the driver (step S280). Specifically, as shown in FIG. 12, an icon “□” is superimposed and displayed around each detected object.

  Thereby, when there is no high priority object nearby, the driver can be alerted to all the objects.

  As mentioned above, although this indication was explained using an embodiment, the technical scope of the invention concerning this indication is not limited to the range given in the embodiment mentioned above. It will be apparent to those skilled in the art that various modifications and improvements can be made to the embodiment described above. It is also apparent from the scope of the claims that the embodiment added with such changes or improvements can be included in the technical scope of the present invention.

  The execution order of each process such as operation, procedure, step, and stage in the apparatus, system, program, and method shown in the claims, the description, and the drawings is particularly “before” or “prior to”. ”And the like, and can be realized in any order unless the output of the previous process is used in the subsequent process. Regarding the operation flow in the claims, the description, and the drawings, even if it is described using “first”, “next”, etc. for convenience, it does not mean that it is essential to carry out in this order. Absent.

  The present disclosure is useful as a safe driving support system that concentrates the driver's attention in a predetermined range when an object with high priority exists nearby.

100 driving support system 110 object detection unit 120 distance measurement unit 130 storage unit 140 notification unit 150 control unit 160 speed detection unit

Claims (10)

In a driving support system comprising an object detection unit, a distance measurement unit, a storage unit storing related information on the type and priority of the object, a notification unit, and a control unit,
The controller is
The object detection unit detects an object in a predetermined range around the vehicle,
Measure the distance between each object detected by the distance measuring unit and the vehicle,
Based on the related information stored in the storage unit, obtain the priority of each detected object,
When there is an object with a priority equal to or higher than the first threshold within the first range from the vehicle, turn on the centralized alert mode,
In the state where the concentrated alert mode is on, an object that is within the first range and has a priority equal to or higher than a second threshold among the detected objects is selected as an alert target object,
Notifying the driver of the presence of the alert target object by the notification unit,
Driving support system. The controller is
The driving support system according to claim 1, wherein each detected object is selected as an alert target object in a state where the central alert mode is not on. The controller is
The driving support system according to claim 1 or 2, wherein the first range is changed based on a traveling speed of the host vehicle. The controller is
In the state where the centralized alert mode is on, when an object is present within a second range smaller than the first range from the own vehicle, the object within the second range is also selected as an alert target object. The driving support system according to any one of claims 1 to 3. The controller is
The driving support system according to any one of claims 1 to 4, wherein the centralized alert mode is turned on only when a shift position of the host vehicle is in a driving state. The notification unit includes a display unit that superimposes a predetermined image on a screen that can visually recognize the situation around the vehicle,
The controller is
The driving support system according to any one of claims 1 to 5, wherein a driver is notified of the presence of the alert target object by superimposing an emphasis symbol at a position corresponding to the alert target object on the screen. . The notification unit includes at least one of a speaker and a vibrator,
The controller is
The driving support system according to claim 1, wherein the driver is notified of the presence of the alert target object by at least one of voice and vibration. The controller is
The driving support system according to any one of claims 1 to 7, wherein a method of notifying a driver of the presence of the alert target object is changed according to a distance between the own vehicle and the alert target object. An information processing apparatus for controlling a driving support system comprising: an object detection unit; a distance measurement unit; a storage unit storing related information on the type and priority of the object; and a notification unit,
Detecting an object in a predetermined range around the vehicle by the object detection unit,
Measure the distance between each object detected by the distance measuring unit and the vehicle,
Based on the related information stored in the storage unit, obtain the priority of each detected object,
When there is an object with a priority equal to or higher than the first threshold within the first range from the vehicle, turn on the centralized alert mode,
In the state where the concentrated alert mode is on, an object that is within the first range and has a priority equal to or higher than a second threshold among the detected objects is selected as an alert target object,
Notifying the driver of the presence of the alert target object by the notification unit,
Information processing device. A driving support method,
Detecting an object within a predetermined range around the vehicle;
Measuring the distance between the vehicle and each detected object;
Obtaining a priority of each detected object;
A step of turning on the centralized alert mode when an object having a priority equal to or higher than the first threshold exists within the first range from the own vehicle;
Selecting a target that is within the first range and has a priority level equal to or higher than a second threshold among the detected targets in the state where the concentrated alert mode is on;
And a step of notifying the driver of the presence of the selected alert target object.

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