JP3841853B2 - Vehicle operating status monitoring device - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a vehicular driving situation monitoring apparatus that monitors a driving situation of a driver of a vehicle and issues a warning if necessary.
[0002]
[Prior art]
Based on the steering amount and vehicle speed of the vehicle steering, the driver's response delay time and the deviation amount between the vehicle position and the traveling lane are estimated, and the estimated response delay time and deviation amount and the response delay time and deviation in the normal state 2. Description of the Related Art Conventionally, a driving situation monitoring device that compares a quantity and determines a driving situation of a driver (for example, an abnormal steering state due to a decrease in driving ability due to a driver's sleep or fatigue) has been known ( JP-A-5-85221).
[0003]
[Problems to be solved by the invention]
However, the conventional monitoring device calculates the deviation amount between the actual vehicle position and the travel lane (reference vehicle position) based on the steering amount and the vehicle speed, and is a physical quantity directly related to the behavior of the vehicle. The deviation amount is not calculated on the basis of, for example, an error in the deviation amount due to a road surface condition (for example, unevenness or inclination of the road surface) or an individual difference of a driver (for example, whether or not a beginner), There was a problem that the accuracy of determination of the driving situation of the driver was lowered.
[0004]
The present invention has been made paying attention to this point, and provides a vehicle driving situation monitoring device that can more accurately grasp the behavior of the vehicle and improve the judgment accuracy of the driving situation of the driver. Objective.
[0005]
[Means for Solving the Problems]
  To achieve the above object, the present invention is based on behavior amount detection means for detecting a behavior amount related to yaw motion or lateral motion of a vehicle, vehicle speed detection means for detecting the vehicle speed of the vehicle, and changes in the behavior amount. A behavior reference setting means for setting a behavior reference; a lateral displacement behavior amount calculating means for calculating a lateral displacement behavior amount of the vehicle based on the behavior amount, the behavior reference and the vehicle speed;ComputedLateral displacement behaviorComparison result of deviation amount according to the specified deviation amountDetermination means for determining whether or not the driver's driving situation is appropriate, and lane change determination means for determining whether or not the driver of the vehicle is willing to change lanes, The vehicle driving situation monitoring device for monitoring the driving situation of the vehicle driver, in which the driver judges that the driving situation of the driver is abnormal when the driver does not intend to change lanes and the driving situation of the driver is not appropriate And the behavior criterion setting means is configured to calculate the calculationIsOf lateral displacement behaviorDifference between maximum and minimum valuesThe driving condition monitoring device for a vehicle according to claim 1, wherein the behavior criterion is reset or corrected according to the condition.
[0006]
  In order to achieve the same object, the present invention provides a vehicle driving situation monitoring device for monitoring a driving situation of a vehicle driver, a behavior amount detecting means for detecting a behavior quantity relating to yaw motion or lateral motion of the vehicle, Vehicle speed detecting means for detecting a vehicle speed of the vehicle, behavior reference setting means for setting a behavior reference based on the change in the behavior amount, and a lateral displacement behavior amount of the vehicle based on the behavior amount, the behavior reference, and the vehicle speed Lateral displacement behavior amount calculating means for calculatingComputedLateral displacement behaviorComparison result of deviation amount according to the specified deviation amountDetermination means for determining whether or not the driving situation of the driver is appropriate based on the detection, and the detectionIsVehicle behaviorSize and generation timeLane change determining means for determining whether or not the driver has changed the lane based on the driver, and it is determined that the lane change has not been performed and the driver is in an inappropriate driving situation. It is determined that the driving status of the vehicle is abnormalIt is characterized byA vehicle driving condition monitoring device according to claim 2 is provided.
[0007]
  Further, in the apparatus according to claim 2, it is preferable that the behavior amount is a yaw rate, and the lane change determining means determines the lane change based on a detected magnitude and generation time of the yaw rate.
[0008]
  Also,The apparatus of claim 1.It is desirable that the determination means perform determination based on a plurality of data having different measurement points.
[0009]
  The apparatus according to claim 2, wherein the behavior criterion setting means is the calculation unit.IsOf lateral displacement behaviorDifference between maximum and minimum valuesIt is desirable to reset or correct the behavior criteria according to the above.
[0010]
In addition, it is desirable to further provide warning means for giving a warning when the determination means determines that the driving situation of the driver is not appropriate.
[0011]
Further, it is desirable to further provide vehicle speed control means for performing vehicle speed control when the determination means determines that the driving situation of the driver is not appropriate.
[0012]
In addition, it is preferable to further provide an in-vehicle device control unit that controls the in-vehicle device that directly acts on the driver when the determination unit determines that the driving situation of the driver is not appropriate.
[0013]
  According to the vehicular driving situation monitoring apparatus of claim 1, a behavior amount related to the yaw motion or the lateral motion of the vehicle is detected, a behavior criterion is set based on the behavior amount, and the behavior amount, the behavior criterion, and the vehicle speed are determined. The lateral displacement behavior amount of the vehicle is calculated based onComputedLateral displacement behaviorComparison result of deviation amount according to the specified deviation amountBased onGood luckIt is determined whether or not the driving situation is appropriateThe vehicle driver is willing to change lanesThe When it is determined that the driver does not intend to change lanes and the driver's driving situation is not appropriate, the driving situation is determined to be abnormal. In addition, the behavior standard is calculatedIsOf lateral displacement behaviorDifference between maximum and minimum valuesIt is reset or corrected according to
[0014]
  According to the vehicle driving condition monitoring device of claim 2,A behavior amount related to the yaw motion or lateral motion of the vehicle is detected, a behavior criterion is set based on the behavior amount, and a lateral displacement behavior amount of the vehicle is calculated based on the behavior amount, the behavior criterion, and the vehicle speed. Based on the comparison result between the deviation amount corresponding to the lateral displacement behavior amount and the predetermined deviation amount, it is determined whether or not the driver's driving situation is appropriate, and based on the detected behavior amount of the vehicle and the generation time. It is then determined whether the driver has changed lanes. AndDetermined that no lane change has been madeAndWhen the driving situation of the driver is not appropriate, it is determined that the driving situation of the driver is abnormal.
[0015]
DETAILED DESCRIPTION OF THE INVENTION
Embodiments of the present invention will be described below with reference to the drawings.
[0016]
FIG. 1 is a block diagram showing the configuration of a vehicle operating condition monitoring apparatus according to a first embodiment of the present invention. This apparatus is driven by a prime mover such as an internal combustion engine or an electric motor and is mounted on a vehicle having a steering. Has been. In the figure, on the input side of the microcomputer 1, a yaw rate sensor 10 for detecting the yaw rate of the vehicle, a vehicle speed sensor 12 for detecting the traveling speed of the vehicle, and a driver's intention to change lanes are detected. A blinker switch 11 is connected. An alarm unit 24 is connected to the output side of the microcomputer 1 to issue an alarm as needed during monitoring of the driving situation of the driver. The alarm unit 24 includes, for example, a lamp, a buzzer, a sound generator, and the like.
[0017]
The signal memory unit 14, the reference line estimation unit 16, the lateral displacement amount differential amount calculation unit 18, the deviation amount calculation unit 20, and the determination unit 22 of the microcomputer 1 represent the functions of the microcomputer 1 as blocks.
[0018]
The signal memory unit 14 stores input signals from the sensors 10, 12 and the switch 11, and updates yaw rate data and vehicle speed data for the past T1 seconds (for example, 30 seconds) from the present every T2 seconds (for example, 10 seconds). To the reference line calculation unit 16.
[0019]
The reference line calculation unit 16 time-integrates the input yaw rate YR (see FIG. 2A) to convert it into a yaw angle YA (see FIG. 2B), and further based on the data of the yaw angle YA. To calculate a reference line (see the broken line in FIG. 4B). Specifically, this calculation is performed using a known least square method as follows.
[0020]
For example, assuming that data of yaw angles YA1, YA2, and YA3 are obtained at times t1, t2, and t3, when approximating the reference line with a linear expression,
YA1 = b1 + b2t1 + e1
YA2 = b1 + b2t2 + e2
YA3 = b1 + b2t3 + e3
And Here, e1 to e3 are residuals, and b1 and b2 are determined so that the square sum of these residuals is minimized. When approximating with a quadratic equation,
[0021]
[Expression 1]
YA1 = b1 + b2t1 + b3t1² + E1
YA2 = b1 + b2t2 + b3t2² + E2
YA3 = b1 + b2t3 + b3t3² + E3
B1 to b3 are determined so that the sum of squares of the residual is minimized. Also, when approximating with a cubic equation,
[0022]
[Expression 2]
YA1 = b1 + b2t1 + b3t1² + B4t1^Three + E1
YA2 = b1 + b2t2 + b3t2² + B4t2^Three + E2
YA3 = b1 + b2t3 + b3t3² + B4t3^Three + E3
B1 to b4 are determined so that the sum of squares of the residual is minimized.
[0023]
When the number of data is large, the approximation is performed by raising the order in the same manner.
[0024]
In the present embodiment, first, a reference line is obtained by a linear expression, a corrected yaw angle YAM (see FIG. 2C) is calculated by subtracting a reference yaw angle corresponding to the reference line from the yaw angle YA, and a lateral displacement is obtained. It outputs to the differential amount calculation part 18.
[0025]
The lateral displacement amount differential amount calculation unit 18 calculates the lateral displacement differential amount DYK (see FIG. 2D) by applying the corrected yaw angle YAM and the vehicle speed V to the following equations.
[0026]
DYK = V × sin (YAM)
When the difference between the maximum value DYKMAX and the minimum value DYKMIN of the lateral displacement differential amount DYK is equal to or greater than a predetermined value α1, the approximate order of the reference line is increased to obtain the reference line again to calculate the lateral displacement differential amount DYK. This is repeated until (DYKMAX−DYKMIN) <α1 is satisfied.
[0027]
Even when (DYKMAX−DYKMIN) ≧ α1, the calculation of the reference line may be terminated when the approximate order of the reference line reaches a predetermined order.
[0028]
The deviation amount calculation unit 20 calculates the deviation amount ΔDIF1 based on the lateral displacement differential amount DYK. The deviation amount ΔDIF1 is calculated as, for example, the area of the hatched portion in FIG. 2D (the time integral value of the absolute value of the lateral displacement differential amount DYK), and the standard deviation or the maximum and minimum values of the DYK value The difference may be used.
[0029]
When the deviation amount ΔDIF1 is greater than or equal to the predetermined deviation amount ΔDIFFIM1 and the winker is not operated, the determination unit 22 greatly deviates from the reference line even though the driver does not intend to change the lane. This means that the operation state is determined to be abnormal, and a signal that instructs the alarm unit 24 to issue an alarm is output.
[0030]
As described above, in the present embodiment, the reference line is calculated based on the detected yaw angle YA, and the driving situation is determined based on the deviation amount ΔDIF1 calculated from the lateral displacement differential amount DYK representing the deviation from the reference line. Therefore, the determination can be made accurately regardless of the road surface condition and the individual differences of drivers. Furthermore, since the warning is issued in consideration of the operating state of the winker, it can be prevented that the driver erroneously determines that there is an abnormality at the time of the course change intended by the driver.
[0031]
FIG. 3 is a flowchart showing a processing procedure in the microcomputer 1, and the functions of the reference line estimation unit 16, the lateral displacement amount differential amount calculation unit 18, the deviation amount calculation unit 20, and the determination unit 22 described above are specifically described. This is realized by the processing of FIG. 3 in the CPU of the microcomputer 1.
[0032]
First, in step S11, the yaw rate YR and the vehicle speed V for T1 second are taken every T2 seconds, and then the reference line is calculated (step S12) and the lateral displacement differential amount DYK is calculated (step S13). Then, it is determined whether or not the difference between the maximum value DYKMAX and the minimum value DYKMIN of the lateral displacement differential amount DYK is smaller than a predetermined value α1, and when (DYKMAX−DYKMIN) ≧ α1, the process returns to step S12, and the reference line The reference order is calculated again by increasing the order of approximation by 1 and repeated until the answer to step S14 becomes affirmative (YES).
[0033]
Note that, as described above, the reference line calculation may be terminated when the approximate order reaches a predetermined order.
[0034]
If (DYKMAX−DYKMIN) <α1 in step S14, the process proceeds to step S15 to calculate the deviation amount ΔDIF1, and then determines whether or not the deviation amount ΔDIF1 is equal to or larger than the predetermined deviation amount ΔDIFLIM1 (step S16). If ΔDIF1 ≧ ΔDIFLMIM1, it is determined whether or not the winker is being operated (step S17). As a result, when ΔDIF1 <ΔDIFLIM1 or when the winker is operated, the present process is immediately terminated. On the other hand, when ΔDIF1 ≧ ΔDIFLIM1 and the winker is not operated, the driving situation is abnormal. A signal for instructing to issue an alarm is output to the alarm unit 24.
[0035]
FIG. 4 is a diagram showing a configuration of a vehicle driving condition monitoring apparatus according to the second embodiment of the present invention. The monitoring apparatus of the present embodiment is a lateral displacement differential amount calculation unit 18 according to the first embodiment. Instead, a lateral displacement amount calculation unit 19 is provided, and the deviation amount calculation unit 20 calculates the deviation amount based on the lateral displacement amount instead of the lateral displacement differential amount. The other points are the same as in the first embodiment.
[0036]
FIG. 5 is a flowchart showing a procedure of processing executed by the microcomputer 1 of this embodiment, and the operation of the monitoring apparatus of this embodiment will be described with reference to this flowchart.
[0037]
First, in steps S21 and S22, data is taken in similarly to steps S11 and S12 in FIG. 3, and a reference line is calculated. In step S23, the lateral displacement differential amount DYK is calculated from the corrected yaw angle YAM and the vehicle speed V, and the lateral displacement amount YK is calculated by time-integrating the DYK value (see FIG. 2E).
[0038]
Next, it is determined whether or not the difference between the maximum value YKMAX and the minimum value YKMIN of the lateral displacement amount YK is smaller than a predetermined value α2 (step S24). If (YKMAX−YKMIN) ≧ α2, the process returns to step S22. Then, the reference order is calculated again by increasing the order of approximation of the reference line, and is repeated until the answer to step S24 becomes affirmative (YES).
[0039]
Even when (YKMAX−YKMIN) ≧ α2, the calculation of the reference line may be terminated when the approximate order reaches a predetermined order.
[0040]
If (YKMAX−YKMIN) <α2 in step S24, the process proceeds to step S25 to calculate the deviation amount ΔDIF2. This deviation amount is calculated as, for example, the area of the hatched portion in FIG. 2 (e) (the time integral value of the absolute value of the lateral displacement amount YK). Differences may be used.
[0041]
Next, it is determined whether or not the deviation amount ΔDIF2 is equal to or larger than a predetermined deviation amount ΔDIFLIM2 (step S26). If ΔDIF2 ≧ ΔDIFLIM2, it is determined whether or not the winker is being operated (step S27). As a result, when ΔDIF2 <ΔDIFLIM2 or when the winker is operated, the present process is immediately terminated. On the other hand, when ΔDIF2 ≧ ΔDIFLIM2 and the winker is not operated, the driving situation is abnormal. A signal for instructing to issue an alarm is output to the alarm unit 24.
[0042]
As described above, in the present embodiment, the reference line is calculated based on the detected yaw angle YA, and the driving situation is determined based on the deviation amount ΔDIF2 calculated from the lateral displacement amount YK representing the deviation from the reference line. Therefore, the same effect as the first embodiment can be obtained.
[0043]
FIG. 6 is a diagram illustrating a configuration of a vehicle driving situation monitoring apparatus according to a third embodiment of the present invention. The monitoring apparatus according to the present embodiment includes a deviation amount calculation unit 20 according to the second embodiment. A driving ability estimation unit 21 that estimates the driving ability of the driver is added to the determination unit 22. The other points are the same as in the second embodiment.
[0044]
FIG. 7 is a flowchart of processing corresponding to the functional block diagram of FIG. 6, and steps S21 to S25 of FIG. 7 are the same as the processing of FIG.
[0045]
In step S31, the driving ability of the driver is estimated based on the deviation amount ΔDIF2 calculated in step S25. Specifically, this estimation is performed as follows.
[0046]
First, the deviation amount ΔDIF2 is calculated m times (for example, 4 times) and n times (for example, 8 times) while changing the sampling timing of the yaw rate YR and the vehicle speed V, and the average value ΔDIFFAVE and standard deviation σDIF of m number of ΔDIF2 values are calculated. An average value ΔDIFAVE3 of n ΔDIF values is calculated. Then, the driving ability levels A to D are determined as shown in FIG. 8 according to whether the average value ΔDIFFAVE is larger than the predetermined deviation amount ΔDIFTH and whether the standard deviation σDIF is larger than the predetermined threshold σTH. Here, when ΔDIFFAVE ≦ ΔDIFTH and σDIF ≦ σTH, since the deviation amount is small on average and the variation thereof is small, it is estimated that the driving ability is the highest (level A). On the other hand, when ΔDIFFAVE> ΔDIFTH and σDIF ≦ σTH, since the deviation amount is large on average and its variation is small, it is estimated that the driving ability is the lowest (level D). Further, when σDIF> σTH, it is estimated that the driving ability is higher when the ΔDIFFAVE value is smaller, and the level B is set when ΔDIFFAVE ≦ ΔDIFTH, and the level C is set when ΔDIFFAVE> ΔDIFTH.
[0047]
Further, the number NOV (= 0 to m) of m ΔDIF2 values exceeding a predetermined value is obtained, and the driving ability levels E to I are determined according to the NOV value. That is, when m = 4, the driving capacities are set to E, F, G, H, and I corresponding to NOV = 0, 1, 2, 3, and 4, respectively.
[0048]
Based on the driving ability levels A to C and E to I, the overall driving ability is determined as shown in FIG. That is, if the predetermined threshold value of the average value ΔDIFFAVE3 of the n ΔDIF values is ΔDIF3TH, it is determined as “normal” when levels A, B and E, or ΔDIFFAVE3 <ΔDIF3TH, and levels A, B and F, G and ΔDIFFE3 ≧ When ΔDIF3TH or level C and E, F, G and ΔDIFFAVE3 ≧ ΔDIF3TH, it is determined as “warning level 1”, and when level A, B, C and H, I and ΔDIFFAVE3 ≧ ΔDIF3TH, or level D and ΔDIFFAVE3 When ≧ ΔDIF3TH, it is determined as “warning level 2”.
[0049]
In addition, without using the average value ΔDIFFAVE3 of n ΔDIF values, it is determined as “normal” when the levels are A, B and E, and when the levels are A, B and F, G or the levels C and E, F, It may be determined as “warning level 1” when G, and “warning level 2” when level A, B, C and H, I or level D.
[0050]
In this way, the driving ability can be determined (estimated) more accurately by determining the driving ability of the driver based on the average value and the variation of the plurality of deviation amounts ΔDIF2.
[0051]
Returning to FIG. 7, in step S <b> 32, it is determined whether or not the driving ability is low, that is, whether or not the driving ability estimated in step S <b> 31 is the warning level 1 or 2, and when this answer is affirmative (YES) Then, it is determined whether or not the turn signal is operated (step S33). As a result, when the driving ability is not warning level 1 or 2, or when the turn signal is operated, this processing is immediately terminated, while the driving ability is warning level 1 or 2 and the turn signal is not operated. Determines that the driving situation is abnormal, and outputs a signal to the alarm unit 24 to instruct to issue an alarm.
[0052]
In this case, at warning level 2, it is desirable to make the warning sound louder than at warning level 1, or to perform both lamp lighting and buzzer sounding. Further, at the warning level 2, a fail safe action such as decelerating the vehicle speed may be performed.
[0053]
As described above, according to the third embodiment, the driving ability of the driver is determined (estimated) more accurately by determining the driving ability of the driver based on the average value and variation of the plurality of deviation amounts ΔDIF2. And finer alerts and fail-safe actions.
[0054]
Next, a fourth embodiment of the present invention will be described with reference to FIGS.
[0055]
FIG. 10 is obtained by changing step S17 of FIG. 3 to step S17a, and the other points are the same as those of the first embodiment.
[0056]
In step S17a of FIG. 10, it is determined whether or not a lane change has been performed. When the lane change is made, this processing is immediately terminated. When the lane change is not made, it is determined that the driving situation is abnormal, and a signal instructing to issue an alarm is output to the alarm unit 24. To do.
[0057]
Here, whether or not the lane change has been made is determined as follows. That is, when the lane change is made, it is known that the yaw rate YR changes as shown in FIG. 11, so that the yaw rate YR shows a peak in one direction (for example, the right direction) and the other direction ( For example, a time T until a point indicating a peak in the left direction) and a difference (amplitude of yaw rate) a between the peak values are measured. When the time T is within the predetermined time T1, T2 (T1> T2) range and the amplitude a is larger than the predetermined value A, it is determined that the lane change has been performed.
[0058]
According to this embodiment, even when the driver changes the lane without operating the turn signal, for example, the determination accuracy can be improved without erroneous determination.
[0059]
In step S17a in FIG. 10, it is determined whether or not the vehicle is within the predetermined time TARC after the lane change. .
[0060]
Also, in step S27 in FIG. 5 or step S33 in FIG. 7, the same determination as in step S17a described above may be performed.
[0061]
In the first to third embodiments described above, it is determined whether or not the winker has been operated (step S17 in FIG. 3, step S27 in FIG. 5, step S33 in FIG. 7) based on the yaw rate YR and the vehicle speed V. 3 is performed immediately after the data acquisition process (step S11 in FIG. 3, step S21 in FIGS. 5 and 7), and when a winker operation is performed, the process ends immediately without performing processes such as calculation of the reference line. May be. Further, in the fourth embodiment, the determination whether or not the lane has been changed (step S17a in FIG. 10) is also performed immediately after step S11. When the lane is changed, the reference line calculation or the like is performed. You may make it complete | finish a process immediately, without performing a process.
[0062]
In the above-described embodiment, the warning to the driver is one that appeals to the driver's vision or hearing. However, the warning is not limited to this, but a method that directly acts on the driver, for example, vibrating the seat. Alternatively, tension may be applied to the seat belt, a specific scent may be released into the passenger compartment, or the operating state of the air conditioner may be changed. Thereby, a driver | operator can be notified more reliably of the deterioration of a driving condition.
[0063]
In the above-described embodiment, the yaw rate is detected by the yaw rate sensor 10, but instead of this, the output of the wheel speed sensor and the vehicle speed sensor or the steering angle sensor and the lateral acceleration sensor for detecting the steering angle of the steering are used. The yaw rate may be calculated using an output or the like.
[0064]
In the above-described embodiment, the reference line is estimated based on the yaw angle YA. However, the reference line may be estimated based on the yaw rate YR or the lateral displacement amount YK.
[0065]
【The invention's effect】
  As described above in detail, according to the vehicular driving condition monitoring apparatus of the first aspect, the behavior amount related to the yaw motion or the lateral motion of the vehicle is detected, and a behavior criterion is set based on the behavior amount, and the behavior The lateral displacement behavior amount of the vehicle is calculated based on the amount, behavior standard and vehicle speed,ComputedLateral displacement behaviorComparison result of deviation amount according to the specified deviation amountBased onGood luckWhether the driver's driving situation is appropriateButJudgedThe vehicle driver is willing to change lanesTherefore, it is possible to accurately grasp the driving situation regardless of the road surface condition and the individual difference of the driver. And if the driver does not intend to change lanes and the driving situation of the driver is determined to be inappropriate, the driving situation is determined to be abnormal. Can be prevented. In addition, the behavior standard is calculatedIsOf lateral displacement behaviorDifference between maximum and minimum valuesTherefore, the driving situation can be determined based on a more appropriate behavior criterion.
[0066]
  According to the vehicle driving condition monitoring device of claim 2,A behavior amount related to the yaw motion or lateral motion of the vehicle is detected, a behavior criterion is set based on the behavior amount, and a lateral displacement behavior amount of the vehicle is calculated based on the behavior amount, the behavior criterion, and the vehicle speed. Based on the comparison result between the deviation amount corresponding to the lateral displacement behavior amount and the predetermined deviation amount, it is determined whether or not the driver's driving situation is appropriate, and based on the detected behavior amount of the vehicle and the generation time. It is then determined whether the driver has changed lanes. AndDetermined that no lane change has been madeAndWhen the driving situation of the driver is not appropriate, it is determined that the driving situation of the driver is abnormal. For example, even when the driver changes the lane without operating the blinker, the determination is not made. Accuracy can be improved.
  According to the vehicle operating state monitoring apparatus of the third aspect, the lane change determination is performed based on the detected yaw rate amplitude and generation time, so that the determination accuracy can be further improved.
[0067]
According to the vehicle driving condition monitoring apparatus of claim 4, the determination of the driving condition is performed based on a plurality of data having different measurement time points. Determination can be made.
[0068]
  According to the vehicle driving condition monitoring apparatus of claim 5, the behavior criterion is calculated.IsOf lateral displacement behaviorDifference between maximum and minimum valuesTherefore, the driving situation can be determined based on a more appropriate behavior criterion.
[0069]
According to the vehicle driving condition monitoring device of the sixth aspect, when it is determined that the driving condition of the driver is not appropriate, a warning is given, so that the driver can take necessary measures.
[0070]
According to the vehicle driving condition monitoring device of the seventh aspect, since the vehicle speed control is performed when it is determined that the driving condition of the driver is not appropriate, the safety can be further improved.
[0071]
According to the vehicle driving situation monitoring device of claim 8, when it is determined that the driving situation of the driver is not appropriate, the in-vehicle device that directly acts on the driver is controlled, so that the driving situation is further deteriorated. The driver can be surely notified.
[Brief description of the drawings]
FIG. 1 is a block diagram showing a configuration of a vehicular driving condition monitoring apparatus according to a first embodiment of the present invention.
FIG. 2 is a diagram showing detection data and transition of parameters calculated based on the detection data.
FIG. 3 is a flowchart showing a procedure of processing executed by the microcomputer of FIG. 1;
FIG. 4 is a block diagram showing a configuration of a vehicular driving condition monitoring apparatus according to a second embodiment of the present invention.
FIG. 5 is a flowchart showing a procedure of processing executed by the microcomputer of FIG. 4;
FIG. 6 is a block diagram showing a configuration of a vehicular driving condition monitoring apparatus according to a third embodiment of the present invention.
7 is a flowchart showing a procedure of processing executed by the microcomputer of FIG. 6;
FIG. 8 is a diagram showing a map for determining a driving ability level of a driver.
FIG. 9 is a diagram showing a map for determining a driving ability level of a driver.
10 is a flowchart of processing in which a part of the processing in FIG. 3 is changed.
FIG. 11 is a diagram for explaining a lane change determination method;
[Explanation of symbols]
1 Microcomputer (behavior reference setting means, lateral displacement behavior amount calculation means, determination means, warning means, lane change determination means, vehicle speed control means, in-vehicle device control means)
10 Yaw rate sensor (behavior detection means)
11 turn signal switch (lane change discrimination means)
12 Vehicle speed sensor (vehicle speed detection means)
24 Alarm section (Warning means)

Claims (8)

A behavior amount detecting means for detecting a behavior amount related to a yaw motion or a lateral motion of the vehicle;
Vehicle speed detecting means for detecting the vehicle speed of the vehicle;
Behavior standard setting means for setting a behavior standard based on the change in the behavior amount;
Lateral displacement behavior amount calculating means for calculating a lateral displacement behavior amount of the vehicle based on the behavior amount, the behavior criterion and the vehicle speed;
Determining means for determining whether or not the driving situation of the driver is appropriate based on a comparison result between the deviation amount according to the calculated lateral displacement behavior amount and a predetermined deviation amount ;
Lane change determining means for determining whether or not the driver of the vehicle is willing to change lanes,
When the driver does not intend to change lanes and the driving situation of the driver is not appropriate, the driving situation of the vehicle is determined to determine that the driving situation of the driver is abnormal. A monitoring device,
The behavior reference setting means, the computed lateral displacement motion amount of the maximum and minimum values for a vehicle driving condition monitoring apparatus characterized by performing a reset or correct the behavior reference according to the difference. In a vehicle driving situation monitoring device that monitors the driving situation of a vehicle driver,
Behavior amount detecting means for detecting a behavior amount related to yaw motion or lateral motion of the vehicle;
Vehicle speed detecting means for detecting the vehicle speed of the vehicle;
Behavior standard setting means for setting a behavior standard based on the change in the behavior amount;
Lateral displacement behavior amount calculating means for calculating a lateral displacement behavior amount of the vehicle based on the behavior amount, the behavior criterion and the vehicle speed;
Determining means for determining whether or not the driving situation of the driver is appropriate based on a comparison result between a deviation amount according to the calculated lateral displacement behavior amount and a predetermined deviation amount ;
The behavior of size and operation based on the generation time's detected vehicle and a lane change determining means for determining whether or not subjected to lane change,
A vehicular driving situation monitoring device, wherein it is discriminated that a lane change has not been made and the driving situation of the driver is abnormal when the driving situation of the driver is not appropriate.   3. The vehicle driving condition monitoring device according to claim 2, wherein the behavior amount is a yaw rate, and the lane change determining unit determines the lane change based on a detected yaw rate magnitude and generation time.   The vehicular driving situation monitoring apparatus according to claim 1, wherein the determination means performs determination based on a plurality of data having different measurement points. The behavior reference setting means, the computed lateral displacement motion amount of the maximum value and the minimum value difference vehicular driving condition according to claim 2, characterized in that the resetting or correcting the behavior criterion in response to the Monitoring device.   The vehicular driving situation monitoring device according to claim 1 or 2, further comprising warning means for giving a warning when the judging means judges that the driving situation of the driver is not appropriate.   The vehicle driving condition monitoring apparatus according to claim 1 or 2, further comprising vehicle speed control means for performing vehicle speed control when the determining means determines that the driving condition of the driver is not appropriate.   The vehicle-mounted apparatus control means which controls the vehicle-mounted apparatus which acts directly on the said driver | operator when the said determination means determines with the said driver | operator's driving condition being unsuitable is further provided. The vehicle driving condition monitoring device as described.

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