JP3945305B2 - Driver future situation prediction device - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a driver future situation prediction apparatus that determines a driving characteristic of a driver and predicts a possibility that the driver will encounter an unexpected situation in the future.
[0002]
[Prior art]
As an apparatus for evaluating the driving characteristics of a driver, for example, a device according to Japanese Patent Laid-Open No. 2000-247162 is disclosed. This device objectively evaluates the driver's long-term driving condition or instantaneous driving condition from the viewpoint of safe driving and environmental impact, and informs the driver of the evaluation result, This system is intended to make the driver aware of safe driving and environmental considerations.
[0003]
[Problems to be solved by the invention]
Conventional devices objectively evaluate a driver's long-term driving state or instantaneous driving state. However, conventional devices are generally not driven, such as high acceleration / deceleration and lateral acceleration, that is, sudden operation of the accelerator, brake, and steering wheel, and short distance between vehicles. Driving is evaluated from the viewpoint. Moreover, the evaluation is performed using the same information without distinguishing between the long-term driving state evaluation method and the instantaneous driving state evaluation method. Therefore, the evaluation result is frequently transmitted even if the instantaneous driving state is not encouraged, or the evaluation result is transmitted even if the person is aware that the driving is at risk. There was a problem.
[0004]
The present invention predicts a driver's chance of encountering an unexpected situation, i.e., a driver's unexpected encounter degree and transmits a prediction result to the driver, etc. without bothering the driver. The results can be communicated, and the driver's future unexpected encounter level can be objectively evaluated and communicated to correct misunderstandings of the driver and encourage driving improvements or to drive safely. It is an object of the present invention to provide a driver future situation predicting device that can promote maintenance and improvement of safety awareness to existing drivers.
[0005]
[Means for Solving the Problems]
The present invention will be described with reference to the following drawings showing an embodiment.
(1) The driver future situation prediction apparatus according to claim 1 includes at least one of vehicle state detection means 13 for detecting the traveling state of the host vehicle and traveling environment detection means 14 for detecting the traveling environment. Information detection means 11, driver information detection means 12, 100 for detecting the state of the driver of the own vehicle or the driving operation of the driver of another vehicle, the travel information detection means 11, and the driver information detection means 12 , 100 instantaneously predicting a driver's unexpected encounter degree in a predetermined driving situation, and outputting a prediction result according to the predicted unexpected encounter degree; Driving information accumulating means 40 for accumulating information detected by the driving information detecting means 11, and long-term driver characteristic determination for determining the characteristics of the driver from the information accumulated in the driving information accumulating means 40 Driver unexpected encounter prediction for predicting the future unexpected encounter degree of the driver based on the stage 50, the driver characteristic determined by the long-term driver characteristic determination means 50, and the preset unexpected encounter probability. By providing the means 60 and the transmission means 30 for transmitting the predicted results of the instantaneous unexpected encounter prediction means 20 and the driver unexpected encounter prediction means 60 to a driver, a manager or a third party, the above-described object is achieved. Achieve.
(2) The invention according to claim 2 is the driver future situation prediction apparatus according to claim 1, wherein the transmission means 30 transmits a prediction result of the instantaneous unexpected encounter prediction means 20 to the driver, and the driving The prediction result of the unexpected person encounter prediction means 60 is transmitted to an administrator or a third party.
(3) The invention according to claim 3 is the driver future situation prediction apparatus according to claim 1 or claim 2, wherein the instantaneous unexpected encounter prediction means 20 has a predetermined driving situation determined by the travel information detection means 11. If detected, it is determined whether or not the driving of the driver of the host vehicle is intentional based on the state of the driver of the host vehicle detected by the driver information detecting means 12, and the determination result The degree of unexpected encounter is predicted based on the above.
(4) According to a fourth aspect of the present invention, in the driver future situation prediction device according to the third aspect, the travel information detecting means 11 detects an intersection of temporary stop regulation by the travel environment detecting means 14, and The vehicle state detection means 13 detects a deceleration operation of the own vehicle when entering the intersection of the stop restriction, and the driver information detection means 12 gazes at the driver of the own vehicle when entering the intersection of the stop restriction. The momentary accidental encounter prediction means 20 detects the movement, and the traveling environment detection means 14 detects the intersection of the suspension restriction, and the vehicle state detection means 13 decelerates the host vehicle when entering the intersection. Is not detected, it is determined whether or not the driving at the intersection is intentional based on the detection result of the driver information detecting means 12, and the driver is determined based on the determination result. Characterized in that to predict the accidental encounter degree.
(5) A fifth aspect of the present invention is the driver future situation prediction apparatus according to the first or second aspect, wherein the driver information detecting means 100 provides information on the driving operation of the driver of the other vehicle outside the vehicle. The instantaneous unexpected encounter prediction means 20 of the other vehicle received by the receiving means 100 when a predetermined driving situation is detected by the travel information detecting means 11. Determining whether the driver of the other vehicle has performed a driving operation that avoids an unexpected situation based on information related to the driving operation of the driver, and predicting the driver's unexpected encounter level based on the determination result It is characterized by.
(6) According to a sixth aspect of the present invention, in the driver future situation prediction device according to the fifth aspect, the travel information detecting means 11 is configured such that the vehicle state detecting means 13 or the travel environment detecting means 14 A lane change action is detected, the receiving means 100 detects information related to the driving operation of the driver of the vehicle on the side or the rear of the host vehicle, and the instantaneous unexpected encounter prediction means 20 is the driving information detecting means. 11, when a lane change action of the host vehicle is detected, based on information on sudden braking or sudden operation of the side vehicle received by the receiving means when the lane of the host vehicle is changed, or Based on the sudden braking or sudden operation information of the succeeding vehicle received by the receiving means 100 after the lane change, the driver of the side vehicle or the succeeding vehicle can perform the avoidance driving operation. It determines whether performed, wherein the predicting accidental encounter degree based on the determination result.
(7) A seventh aspect of the present invention is the driver future situation prediction apparatus according to the fifth aspect, wherein the travel information detecting means 11 is connected to the own vehicle by the vehicle state detecting means 13 or the travel environment detecting means 14. A right turn action is detected, the receiving means 100 detects information related to the driving operation of the driver of the oncoming vehicle when the host vehicle turns right, and the instantaneous unexpected encounter prediction means 20 is detected by the travel information detecting means 11. When the right turn action of the host vehicle is detected, the driver of the oncoming vehicle avoids based on the information on sudden braking or sudden operation of the oncoming vehicle received by the receiving means 100 when the host vehicle turns right. It is characterized in that it is determined whether or not a driving operation has been performed, and the unexpected encounter degree is predicted based on the determination result.
(8) According to an eighth aspect of the present invention, in the driver future situation prediction apparatus according to the fifth aspect, the travel information detecting means 11 detects an intersection by the travel environment detecting means 14, and the vehicle state detecting means. 13 detects an approaching action of the own vehicle to the intersection, and the receiving means 100 drives the driver of the intersecting vehicle traveling in the direction intersecting the traveling direction of the own vehicle when the own vehicle enters the intersection. Information relating to the operation is detected, and the instantaneous unexpected encounter prediction means 20 detects an intersection by the traveling environment detection means 14 and detects an approaching action to the intersection of the own vehicle by the vehicle state detection means 13. The driving of the crossing vehicle based on the information on the sudden braking or the sudden operation of the crossing vehicle received by the receiving means 100 when the own vehicle enters the intersection. There it is determined whether or not subjected to avoid driving operation, characterized by predicting the accidental encounter degree based on the determination result.
[0006]
In addition, in the section of the means for solving the above-described problems for explaining the configuration of the present invention, the drawings of the embodiments are used to explain the present invention in an easy-to-understand manner. It is not limited.
[0007]
【The invention's effect】
According to the present invention, the following effects can be achieved.
(1) According to the invention of claim 1, the instantaneous unexpected encounter predicting means is configured to determine a predetermined driving situation based on the traveling state of the host vehicle and the driver state of the host vehicle or the driving operation of the driver of the other vehicle. When the unexpected encounter level is high, it is possible to accurately predict that there is a driving situation with a high unexpected encounter level that needs to draw attention to the driver. Thus, by transmitting the prediction result of the instantaneous unexpected encounter prediction means to the driver, the unexpected encounter degree prediction result can be transmitted without bothering the driver. In addition to predicting the degree of unexpected encounters, the information on the driving state and driving environment of the vehicle is stored to predict the degree of unexpected encounters in the future, so the driver will encounter an unexpected situation in the future. The driver's driving suitability can be objectively evaluated in terms of whether the possibility is high or low.
(2) According to the invention of claim 2, since only the prediction result of the momentary unexpected encounter prediction means is transmitted to the driver, it is possible to reduce annoyance to the driver due to frequent transmission of the prediction result. it can. In addition, by transmitting the predicted results of the unexpected driver encounter level prediction means to the manager or a third party, the predicted accident level can be used as reference information for driver guidance, placement, etc., or for setting insurance rates. It can be.
(3) According to the invention of claim 3 and claim 4, when it is predicted that the unexpected encounter level is high and the driver is not aware of this, the unexpected result of the unexpected encounter level is Since it is transmitted to the driver, it is possible to alert the driver effectively.
(4) In the inventions of claims 5 to 8, the receiving means receives information related to the driving operation of the driver of the other vehicle, and based on the received information, the lane change of the own vehicle, the right turn, or the intersection approach Since it is determined whether or not the driver of the other vehicle has performed an avoidance operation in a predetermined traveling situation, the degree of accidental encounter that causes the other vehicle to perform the avoidance operation depending on the traveling state of the own vehicle is high. When it is predicted that the driver is not aware, the predicted result of the unexpected encounter degree is immediately transmitted to the driver, so that the driver can be effectively alerted.
[0008]
DETAILED DESCRIPTION OF THE INVENTION
<< First Embodiment >>
A basic configuration of a first embodiment of a driver future situation prediction apparatus according to the present invention is shown in FIG. This driver future situation prediction device includes vehicle state detection means (for example, a vehicle speed sensor, brake operation detection switch) 13 for detecting the traveling state of the host vehicle, and traveling environment detection means (for example, a CCD camera and an image) for detecting a traveling environment. Driving information detecting means 10 comprising a driving information detecting means 11 having at least one of the processing circuit) 14 and a driver state detecting means (for example, a CCD camera and an image processing circuit) 12 for detecting the driving state of the driver. Momentary unexpected encounter prediction means (for example, calculation by a microcomputer) 20, transmission means (for example, display monitor) 30, driving information storage means (for example, nonvolatile memory) 40, and long-term driver characteristic determination Means (for example, calculation by a microcomputer) 50 and driver unexpected encounter prediction means (for example, microcomputer) And by calculation) 60 Yuta, and a accidental encounter predicted degree storage unit (e.g., ROM) 70 Prefecture.
[0009]
The driving information detected by the driving information detection means 10 and the driving information data related to the driver state are sent to the instantaneous unexpected encounter prediction means 20. Further, the driving information data related to the driving information detected by the driving information detecting means 10 is sent to the driving information accumulating means 40. The driving information accumulating means 40 accumulates driving information data for a predetermined period (for example, driving information data when an ignition switch (not shown) is on for 10 hours). The momentary unexpected encounter prediction unit 20 instantaneously predicts the driver's unexpected encounter degree when a predetermined driving situation is detected by the driving information detection unit 10. Here, the instantaneous unexpected encounter prediction means 20 is based on the state of the driver of the own vehicle detected by the driver information detection means 12 when a predetermined driving situation is detected by the travel information detection means 11. It is determined whether or not the driver's driving is intentional, and the unexpected encounter degree is predicted based on the determination result. The driver's unexpected encounter degree predicted instantaneously by the instantaneous unexpected encounter prediction means 20 is transmitted to the driver, the manager, or the third person via the transmission means 30.
[0010]
On the other hand, driving information data for a predetermined period stored in the driving information storage unit 40 is sent to the long-term driver characteristic determination unit 50. The period for accumulating information may be set to a value desired by the driver, or may be set to a period not related to the on / off state of the ignition switch. The long-term driver characteristic determination means 50 determines the driver characteristic in a predetermined period. The long-term driver characteristic data determined by the long-term driver characteristic determination unit 50 is sent to the driver accidental encounter prediction unit 60. The driver unexpected encounter prediction means 60 reads the information on the relationship between the driver characteristics and the unexpected encounter prediction degree from the unexpected encounter prediction degree storage means 70, and the driver accidental encounter prediction data based on this information and long-term driver characteristic data. Predict the degree. The result predicted by the driver unexpected encounter prediction means 60 is sent to the transmission means 30 and is transmitted to the driver, the manager or a third party.
[0011]
Hereinafter, the operation of the driver future situation prediction apparatus according to the first embodiment of the present invention will be described with reference to FIGS.
[0012]
FIG. 2 shows a traveling scene (driving situation) in which the host vehicle passes through a temporary stop intersection without a traffic light. 3 and 4 are flowcharts showing a process for predicting the unexpected driver encounter level in the travel scene shown in FIG.
[0013]
First, when the ignition switch is turned on in step S101 shown in FIG. 3, the driving information detecting means 10 starts detecting driving information (vehicle state, driving environment) and driver state in step S102. The driving information detected by the driving information detecting means 10 is recorded in the driving information accumulating means 40 (step S103). The driving information storage means 40 records driving information such as the vehicle state and the driving environment until the ignition switch is turned off in step S105 described later. In step S104, it is determined whether or not the ignition switch is turned off. If it is determined in step S104 that the ignition switch is not OFF, the process proceeds to step S105 in order to predict the instantaneous accidental encounter level in the instantaneous accidental encounter prediction means 20.
[0014]
In step S105, when the traveling environment detection unit 14 of the driving information detection unit 10 detects the passage of the temporarily stopped intersection as a predetermined driving situation, the vehicle state detection unit 13 simultaneously decelerates the host vehicle when passing the intersection. And the driver state detection means 12 detects the gaze behavior of the driver of the host vehicle when passing the intersection. Here, the passage of the temporary stop intersection as a predetermined driving situation indicates the passage of the temporary stop intersection without a traffic signal as shown in FIG.
[0015]
In step S106, it is determined in step S105 whether or not a deceleration operation has not been detected when passing through the intersection or entering the intersection. If it is determined in step S105 that no deceleration operation has been detected, the process proceeds to step S107. In step S107, it is determined whether or not the driver did not perform a gaze action in the left-right direction of the intersection when passing through the intersection or entering the intersection in step S105. If it is determined in step S107 that the gaze action in the left-right direction has not been performed, the process proceeds to step S108. On the other hand, if a negative determination is made in step S106 or step S107, the process returns to step S104.
[0016]
In step S108, the instantaneous accidental encounter prediction means 20 determines that the deceleration operation is not performed when passing through the temporary stop intersection without a traffic light, and that the safety check in the left-right direction is neglected and the instantaneous accidental encounter degree is high. . In step S109, the prediction result of step S108 is output to the transmission means 30. In step S110, the transmission means 30 provides the driver with a predicted result of the driver's instantaneous unexpected encounter degree by display and message. Thereafter, the process returns to step S104, and the processes of steps S105 to S110 described above are performed until the ignition switch is turned off.
[0017]
In the above-described step S105, the traveling environment detection means 14 detects the stop intersection without a traffic light, for example, by capturing an image in front of the host vehicle with a CCD camera, and processing the captured image to “stop” the road surface. This can be done by recognizing a display or a stop sign. It can also be detected by a navigation device mounted on the vehicle. Alternatively, by mounting an infrastructure receiver on the vehicle and receiving a signal from an infrastructure such as a transmitter installed at the intersection of the suspension restriction, a suspension restriction intersection without a signal can be detected.
[0018]
As for detection of the deceleration operation by the vehicle state detection means 13 in step S106, for example, when a brake operation detection switch (not shown) provided near the brake pedal is turned on in response to the operation of the brake pedal, the deceleration operation is performed. It can be judged that it was broken. Further, regarding the driver's gaze behavior in the left-right direction by the driver state detection means 12 in step S107, for example, a CCD camera is installed in front of the vehicle to capture the driver's face, and the captured image is processed. Thus, it is possible to detect whether or not the driver is checking the safety of the intersection in the left-right direction.
[0019]
On the other hand, if it is determined in step S104 that the ignition switch is OFF, the process proceeds to step S111. In step S111, it is determined whether or not data has been accumulated in the operation information accumulation means 40 for a predetermined period. If an affirmative determination is made in step S111, the process proceeds to step S112 to start processing in the long-term driver characteristic determination means 50. If a negative determination is made in step S111 and data for a predetermined period has not been accumulated, the processes in steps S101 to S104 and step S111 are performed until the data for the predetermined period is accumulated.
[0020]
In step S113, driving information data is read from the driving information storage means 40 in order to determine long-term driver characteristics. In step S114, the read driving information data is processed, and in step S115, long-term driver characteristics are determined. Thereafter, the process proceeds to step S201 in the flowchart of FIG. The long-term driver characteristic determination process will be described later with reference to the flowchart of FIG.
[0021]
The flowchart of FIG. 4 shows the processing steps relating to the driver unexpected encounter prediction means 60 and the transmission means 30. In response to the process of step S115 in FIG. 3, the process by the driver unexpected encounter prediction means 60 is started in step S201. In step S202, the determination result of the driver characteristic by the long-term driver characteristic determination means 50 determined in step S115 is read. In step S203, the relationship between the driver characteristics stored in advance in the unexpected encounter prediction degree storage means 70 and the unexpected encounter prediction degree is read. In step S204, a future driver unexpected encounter degree is predicted based on the driver characteristics read in step S202 and the unexpected encounter prediction degree read in step S203. In step S205, the predicted result of the future driver unexpected encounter degree predicted in step S204 is output to the transmission means 30. In step S206, the transmission unit 30 provides the manager or a third party with the predicted result of the driver's unexpected encounter degree by a display and a message.
[0022]
Next, the process of determining the long-term driver characteristics and predicting the future unexpected encounter level based on the long-term driver characteristics will be described with reference to FIGS. FIG. 5 is a flowchart showing a process for predicting the unexpected driver encounter level based on long-term driver characteristics in the driving scene shown in FIG. 2 (passing through a temporary stop intersection without a traffic light).
[0023]
First, as the processing of the driving information detecting means 10 and the driving information accumulating means 20 described in step S102 and step S103 of FIG. 3, the intersection information and vehicle speed data are detected and accumulated (A-1). As the data processing for determining the driver characteristics in the long-term driver characteristics determination means 50 in step S114 of FIG. 3, the integrated value P of the vehicle speed score when entering the temporarily stopped intersection is calculated (A-2). Here, a specific method for calculating the integrated value P of the vehicle speed score will be described with reference to FIG.
[0024]
6A and 6B are data of the relationship between the vehicle tip position and the vehicle speed at the actual temporary stop intersection of the driver A and the driver B. FIG. The horizontal axis 0 indicates the stop line position of the temporary stop intersection, and the end of the intersection is set about 2.2 m away from the stop line. In the present embodiment, not only the vehicle speed before the stop line but also the vehicle speed when entering the intersection is detected to determine the characteristics of the driver. Here, the intersection information such as how far the stop line is from the end of the intersection can be detected by the traveling environment detection means 14. For example, an image captured by a CCD camera (not shown) is subjected to processing such as binarization by an image processing circuit to detect a stop line position.
[0025]
The driver A shown in FIG. 6A sufficiently decelerates from the vicinity of the stop line, slowly enters the intersection, and can perform a defense operation on the intersection vehicle and the approaching vehicle. On the other hand, the driver B shown in FIG. 6B passes through the intersection with insufficient deceleration, and cannot perform the defense operation. Therefore, as the vehicle speed score, the lower the speed, the higher the score. Here, the low speed reference is set to a vehicle speed of about 5 km / h, the difference between the reference vehicle speed and the vehicle speed when the driver passes the intersection below the reference vehicle speed, and the distance the vehicle has traveled through the intersection approach section. Is accumulated. 6 is obtained, and this value is set as the vehicle speed score integrated value P.
[0026]
That is, only when the driver passes the intersection at a reference vehicle speed or less, the vehicle speed score integrated value is calculated by integrating the distance. Therefore, as the driver travels at the intersection at a low speed, the difference between the reference vehicle speed and the vehicle speed when the vehicle enters the intersection increases, and the vehicle speed score integrated value P also increases. If it is driving like the driver A, the area of the black part will be large and the vehicle speed score integrated value P will be high, but if it is driving like the driver B, the area of the black part will be small, The vehicle speed score integrated value P is a low value, and can well represent the driver characteristics when entering the temporary stop intersection.
[0027]
Here, the vehicle speed of a vehicle entering the intersection is measured, and the difference between the vehicle travel distance (vehicle tip position with respect to the stop line) converted from the vehicle speed and the vehicle speed when the vehicle enters the intersection Although the example which calculated the vehicle speed score integrated value P by integrating | accumulating this was shown, you may integrate by the elapsed time at the time of intersection approach. However, if the vehicle speed and the travel distance are integrated, the stop state due to waiting for the crossing vehicle to pass does not become an object of integration, so that the driver characteristics can be determined even under the influence of other traffic. In addition, when calculating the vehicle speed score by integrating the vehicle speed and the elapsed time, the integrated value is greater than or equal to a predetermined value because the stop state due to waiting for crossing vehicles may be integrated and become a high value. In such a case, it is desirable to perform a cancellation process such as not adopting the driver characteristics.
[0028]
In the subsequent A-3, as the long-term driver characteristic determination process in step S115 shown in FIG. 3, the average value Pm is calculated from the data of the N vehicle speed score integrated values P calculated in A-2, and temporarily stopped. Determine the driver characteristics when entering the intersection. FIGS. 7 (a) and 7 (b) show driver characteristics when driver A and driver B enter the temporary stop intersection, respectively. The horizontal axis indicates the vehicle speed score integrated value P, and the vertical axis indicates the frequency at which the vehicle speed score integrated value P is calculated. Here, the average value Pam of the vehicle speed score integrated value of the driver A and the average value Pbm of the vehicle speed score integrated value of the driver B are defined as the driver characteristics of the driver A and the driver characteristics of the driver B, respectively.
[0029]
In A-4, as a process of reading the unexpected encounter prediction degree in step S203 of FIG. 4, the driver characteristic P and the unexpected encounter prediction degree K of the intersecting vehicle at the time of entering the temporarily stopped intersection as shown in FIG. The relationship is read from the unexpected encounter prediction degree storage means 70. The higher the value of the driver characteristic P when entering the temporarily stopped intersection, the lower the value of the unexpected encounter prediction degree K with the intersecting vehicle. This relationship is set in advance by running an experiment. The degree of unexpected encounter prediction when the average value Pm of the driver characteristic P is assumed to be the average value Km.
[0030]
Based on the driver characteristic Pm determined in A-3, the unexpected encounter degree Kp with the crossing vehicle is predicted with reference to the P-K table in FIG. 8 (A-5). As a prediction result, for example, as shown in FIG. 9, the unexpected encounter degree Kp with the intersecting vehicle at the temporarily stopped intersection is calculated. From FIG. 8, the unexpected encounter degree of the driver A is Kap, the unexpected encounter degree of the driver B is Kbp, and the probability that the driver B who has entered the intersection with insufficient deceleration will encounter the intersecting vehicle in the future. It can be seen that it is higher than that of driver A.
[0031]
Further, it is calculated how high or low the calculated unexpected encounter degree Kp is with respect to the average value Km of the unexpected encounter prediction degree K. Here, the ratio to the average value Km is represented by Kp / Km. The unexpected encounter degree Kap with the crossing vehicle of the driver A is lower than the average, Kap / Km times, and the unexpected encounter degree Kbp with the crossing vehicle of the driver B is higher than the average, and is Kbp / Km times. The calculated prediction result can be output to the transmission means 30 and transmitted to the manager or a third party.
[0032]
As described above, when the unexpected encounter degree predicted by the driver unexpected encounter prediction means 60 is transmitted via the transmission means 30, it is transmitted to the driver, the manager, or a third party according to the unexpected encounter degree. You may do it. For example, when the predicted unexpected encounter degree is higher than the average value Km of the unexpected encounter prediction degree K, it is communicated to each of the driver, the manager, and the third party, while the predicted unexpected encounter degree is an unexpected encounter degree. When the average value Km is lower than the average value Km, it may be transmitted only to the manager or the third party. Further, when the predicted result of the unexpected encounter degree is transmitted to the manager or the third party, the predicted result predicted by the driver unexpected encounter prediction means 60 is recorded on a recording medium, and is transmitted via an external terminal such as a personal computer. Thus, the prediction result can be transmitted to an administrator or a third party. Alternatively, the prediction result predicted by the driver unexpected encounter prediction means 60 may be transmitted to the base station via the transmission means and then transmitted to the manager or a third party.
[0033]
According to the prediction process of the unexpected encounter degree based on the long-term driver characteristics as described above, the driver sufficiently decelerates when entering the temporary stop intersection based on the long-term accumulated driving information, or the deceleration is not possible. The driver characteristics such as whether the vehicle is sufficient and passing through the intersection are determined, and thereby the degree of unexpected encounter with the intersection vehicle is predicted. Therefore, it is possible to objectively evaluate the driver's driving suitability from the viewpoint of whether the driver is likely to encounter an unexpected situation with the crossing vehicle in the future.
[0034]
As described above, the driver future situation prediction apparatus according to the first embodiment of the present invention has performed whether the driver has performed a deceleration operation when passing through a temporary stop intersection without a traffic signal as shown in FIG. In addition, it is detected whether or not safety confirmation has been performed on the left and right of the intersection. If you do not perform a deceleration operation and pass through an intersection at a constant speed without checking left and right, it is expected that the driver is not aware of this even though the degree of accidental encounter is very high. The In such a situation, it is possible to alert the driver by transmitting the unexpected encounter degree to the driver immediately after predicting the unexpected encounter degree. On the other hand, long-term driver characteristics are also determined, and the driver is more likely to encounter an unexpected situation in the future based on long-term driver characteristics and the unexpected encounter prediction level. The driving suitability can be objectively evaluated.
[0035]
In the first embodiment of the present invention, the method of predicting the unexpected encounter degree differs between the unexpected encounter degree predicted instantaneously and the unexpected encounter degree predicted after a predetermined period of time, and depends on the predicted unexpected encounter degree. Thus, it is set whether to transmit the prediction result immediately after predicting the unexpected encounter degree or to transmit the prediction result after a predetermined period. For example, if you pass through a stop intersection without a traffic light without performing deceleration actions or checking safety on the left and right sides, the unexpected encounter degree is very high, that is, the emergency degree is high, and the driver immediately predicts the unexpected encounter degree. Communicating the prediction results to etc. Accordingly, it is possible to alert the driver according to the degree of urgency (degree of unexpected encounter). If the driver needs to be alerted, the prediction result is immediately transmitted, and if the driver is aware of driving with a high degree of unexpected encounter, the driver does not transmit the prediction result immediately. It is possible to transmit a prediction result that is more suited to the driver's feeling without bothering the driver.
[0036]
<< Second Embodiment >>
FIG. 10 shows the configuration of a driver future situation prediction apparatus according to the second embodiment of the present invention. 10, components having the same functions as those of the driver future situation prediction apparatus according to the first embodiment shown in FIG. 1 are denoted by the same reference numerals, and detailed description thereof is omitted. Here, differences from the first embodiment will be mainly described.
[0037]
As shown in FIG. 10, the driver future situation prediction apparatus according to the second embodiment has at least one of vehicle state detection means 13 and traveling environment detection means 14 as in the first embodiment. Driving information detecting means 10 comprising driving information detecting means 11 and driver state detecting means 12, instantaneous unexpected encounter predicting means 20, transmitting means 30, driving information accumulating means 40, and long-term driver characteristic determining means 50 And a driver unexpected encounter prediction means 60 and an unexpected encounter prediction degree storage means 70. Furthermore, in the second embodiment, there is a receiving means 100 for performing vehicle-to-vehicle communication.
[0038]
When the other vehicle has the driving information detecting unit 80 and the transmitting unit 90, the receiving unit 100 receives the information via the transmitting unit 90 when the driving information detecting unit 80 detects predetermined driving information of the other vehicle. To do. There are various methods for inter-vehicle communication, and for example, a CDMA method can be used. The driving information received by the receiving means 100 is sent to the instantaneous unexpected encounter prediction means 20 and also sent to the driving information storage means 40 and stored for a predetermined period.
[0039]
Hereinafter, the operation of the driver future situation prediction apparatus according to the second embodiment of the present invention will be described with reference to FIGS. 11 and 12.
[0040]
FIG. 11 shows a travel scene (driving situation) in which the host vehicle changes lanes. FIG. 12 is a flowchart showing a process of predicting the unexpected driver encounter level in the driving scene shown in FIG.
[0041]
First, when the ignition switch is turned on in step S301 shown in FIG. 12, detection of driving information (vehicle state) is started by the driving information detecting means 10 of the host vehicle in step S302. Similar to the driving information detection unit 10 of the own vehicle, the driving information detection unit 80 of the other vehicle includes driving information including the operation state of the driver of the other vehicle by turning on the ignition switch (for example, steering steering angle and brake Detection of operation switch operation) is started. The driving information detected by the driving information detecting means 10 is recorded in the driving information accumulating means 40 until the ignition switch is turned off in step S304 described later (step S303). In step S304, it is determined whether or not the ignition switch is turned off. If it is determined in step S304 that the ignition switch is not OFF, the process proceeds to step S305 in order to predict the instantaneous accidental encounter level in the instantaneous accidental encounter prediction means 20.
[0042]
In step S305, when the vehicle state detection unit 13 of the driving information detection unit 10 and the travel environment detection unit 14 detect the lane change behavior of the host vehicle as a predetermined driving situation, the process proceeds to step S306. Here, the predetermined driving situation indicates a lane change action of the host vehicle Ma as shown in FIG. In step S306, it is determined whether or not the avoidance behavior of the succeeding vehicle Mb after the lane change has been received by the inter-vehicle communication along with the lane change behavior of the host vehicle Ma detected in step S305. For example, when the steering steering angle or the brake operation amount of the other vehicle (following vehicle Mb) detected by the driving information detecting unit 80 of the other vehicle suddenly increases immediately after the lane change action of the own vehicle Ma, the following vehicle Mb It can be determined that the avoidance action is performed by sudden braking or sudden steering. If an affirmative determination is made in step S306 that an avoidance action for the following vehicle Mb has been detected, the process proceeds to step S307. On the other hand, if a negative determination is made in step S306, the process returns to step S304.
[0043]
In step S307, the instantaneous unexpected encounter predicting means 20 causes the following vehicle to perform an avoidance action when the host vehicle changes lanes, and predicts that the instantaneous unexpected encounter degree is high. In step S308, the prediction result in step S307 is output to the transmission means 30. In step S309, the transmission means 30 provides the driver with a predicted result of the driver's instantaneous unexpected encounter degree by display and message. Thereafter, the process returns to step S304, and the processes of steps S305 to S309 described above are performed until the ignition switch is turned off.
[0044]
In addition, the detection of the lane change action of the own vehicle in step S305 mentioned above can be performed by a steering angle sensor, a CCD camera, etc., for example. The vehicle front image captured by the CCD camera is subjected to image processing to detect the traveling lane of the host vehicle, and the steering angle is detected by the steering angle sensor to change the lane to the adjacent lane. Can be detected. Note that the lane change behavior can be detected only by image processing without using the steering angle sensor.
[0045]
On the other hand, if it is determined in step S304 that the ignition switch is OFF, the process proceeds to step S310. In step S310, it is determined whether or not data has been accumulated in the driving information accumulation means 40 for a predetermined period. If a positive determination is made in step S310, the process proceeds to step S311 and processing in the long-term driver characteristic determination unit 50 is started. If a negative determination is made in step S310, the processes in steps S301 to S304 and step S310 are performed until data for a predetermined period is accumulated.
[0046]
The processing procedure for the determination of the long-term driver characteristics in steps S311 to S314 and the prediction of the future driver accidental encounter level in steps S201 to S206 (FIG. 4) are as described in the first embodiment. Detailed description will be omitted.
[0047]
As described above, in the second embodiment of the present invention, when the host vehicle changes lanes as shown in FIG. Whether or not a steering wheel has been performed is detected by inter-vehicle communication. When the avoidance action of the following vehicle or the side vehicle is detected by the inter-vehicle communication, it is estimated that the own vehicle has not been confirmed sufficiently and the lane change is started or the timing of the lane change is inappropriate. In this case, it is expected that the driver himself is not aware of the high level of accidental encounters even though the level of accidental encounters is high because the vehicle behind the vehicle is performing avoidance behavior. Is done. In such a situation, it is possible to call attention by transmitting the unexpected encounter degree to the driver or the like immediately after a high unexpected encounter degree is predicted.
[0048]
Further, as in the first embodiment described above, the long-term driver characteristics are also determined, and the future driver encounters an unexpected situation based on the long-term driver characteristics and the unexpected encounter prediction degree set and stored in advance. It is possible to objectively evaluate the driver's driving suitability from the viewpoint of whether the possibility of driving is high or low.
[0049]
In the second embodiment of the present invention, the unexpected encounter degree is predicted according to the degree of the unexpected encounter level based on the information of the avoidance operation of the other vehicle by the inter-vehicle communication, for example, the presence or absence of the avoidance action of the following vehicle. It is set whether the prediction result is transmitted immediately after or whether the prediction result is transmitted after a predetermined period. Accordingly, it is possible to alert the driver according to the degree of urgency (degree of unexpected encounter). Only when the driver needs to be alerted, the prediction result is immediately transmitted, and when the driver is aware of driving with a high degree of unexpected encounter, the prediction result is not transmitted immediately. It is possible to transmit a prediction result that is more suited to the driver's feeling without bothering the driver.
[0050]
<< Third Embodiment >>
The configuration of the driver future situation prediction apparatus in the third embodiment of the present invention is the same as that of the second embodiment shown in FIG. Here, differences from the first and second embodiments will be mainly described.
[0051]
Hereinafter, the operation of the driver future situation prediction apparatus according to the third embodiment of the present invention will be described with reference to FIGS.
[0052]
FIG. 13 shows a travel scene (driving situation) in which the host vehicle makes a right turn at an intersection. FIG. 14 is a flowchart showing a process for predicting the unexpected driver encounter level in the travel scene shown in FIG.
[0053]
First, when the ignition switch is turned on in step S401, detection of driving information (vehicle state) is started by the driving information detecting means 10 of the host vehicle in step S402. The driving information detection means 80 of the other vehicle also starts detecting the driving information of the other vehicle when the ignition switch is turned on. The driving information detected by the driving information detecting means 10 is recorded in the driving information accumulating means 40 until the ignition switch is turned off (step S403). In step S404, it is determined whether or not the ignition switch is turned off. If it is determined in step S404 that the ignition switch is not OFF, the process proceeds to step S405 in order to predict the instantaneous accidental encounter level in the instantaneous accidental encounter prediction means 20.
[0054]
In step S405, when the vehicle state detection unit 13 and the driving environment detection unit 14 of the driving information detection unit 10 detect a right turn action of the host vehicle as a predetermined driving situation, the process proceeds to step S406. Here, the right turn behavior of the host vehicle as the predetermined driving situation indicates the right turn behavior of the host vehicle Ma as shown in FIG. In step S406, it is determined whether an avoidance action (for example, sudden braking or sudden steering) of the oncoming vehicle Mc is received by inter-vehicle communication in accordance with the right turn action of the host vehicle Ma detected in step S405. If an affirmative determination is made in step S406 that an avoidance action for the oncoming vehicle Mc has been detected, the process proceeds to step S407. On the other hand, if a negative determination is made in step S406, the process returns to step S404.
[0055]
In step S407, the instantaneous unexpected encounter prediction means 20 causes the oncoming vehicle to perform an avoidance action when the host vehicle makes a right turn action, and predicts that the instantaneous unexpected encounter degree is high. In step S408, the prediction result of step S407 is output to the transmission means 30, and in step S409, the prediction result of the driver's instantaneous unexpected encounter degree is provided to the driver by a display and a message. Thereafter, the process returns to step S404.
[0056]
In addition, the detection of the right turn action of the own vehicle in step S405 described above can be performed by, for example, a steering angle sensor, a CCD camera, or the like. It is possible to detect that the host vehicle has made a right turn by performing image processing on the image in front of the vehicle imaged by the CCD camera and recognizing the intersection and detecting the steering angle by the steering angle sensor. The right-turning action can be detected only by image processing without using the steering angle sensor.
[0057]
On the other hand, if it is determined in step S404 that the ignition switch is OFF, the process proceeds to step S410. If an affirmative determination is made in step S410 that data has been accumulated in the driving information accumulating means 40 for a predetermined period, the process proceeds to step S411, and processing in the long-term driver characteristic determining means 50 is started. If a negative determination is made in step S410, the processing in steps S401 to S404 and step S410 is performed until data for a predetermined period is accumulated.
[0058]
The processing procedure for the determination of the long-term driver characteristics in steps S411 to S414 and the prediction of the future driver accidental encounter level in steps S201 to S206 (FIG. 4) is as described in the first embodiment. It is the same. Here, an example of the determination process of the long-term driver characteristic in the third embodiment will be described with reference to FIGS.
[0059]
FIG. 15 shows a map of the processing contents of the determination of the long-term driver characteristics and the prediction of the unexpected encounter degree in each driving situation at the right turn. Each driving situation at the time of right turn is, for example, (j) when the oncoming lane is congested and the oncoming vehicle turns to the right while stopping or slowing down, (i) when turning right following the preceding vehicle, (b) a pedestrian crossing You may turn right at an intersection with Here, the determination of the long-term driver characteristics for each driving situation and the prediction of the degree of unexpected encounter are performed.
[0060]
As the processing for detecting and accumulating driving information corresponding to steps S402 and S403 in FIG. 14, the driving information detecting means 10 detects the steering data and vehicle speed data, the inter-vehicle distance data, or the brake operation as the vehicle state at the time of the right turn. And accumulation is performed for a predetermined period. Furthermore, detection and accumulation of information relating to intersections, information relating to own lanes, or information relating to oncoming lanes as information relating to the driving environment is performed for a predetermined period.
As processing of data for driver characteristics corresponding to step S413 (FIG. 14),
(J) Calculation of the average vehicle speed Vj when the host vehicle makes a right turn in the oncoming lane when the oncoming vehicle jam stops (or slows down),
(I) Extraction of the inter-vehicle distance Li between the preceding vehicle and the host vehicle when making a right turn following the preceding vehicle,
(B) When turning right at an intersection with a pedestrian crossing, the brake operation before and after the right turn is extracted.
[0061]
Subsequently, as the long-term driver characteristic determination process corresponding to step S414, N average vehicle speeds Vj generated or extracted in accordance with the driving environment (j, i, b), respectively, generated in a predetermined period. The average value Vjm of the vehicle, the average value Lim of the N inter-vehicle distances Li generated during a predetermined period, and the number of times of braking Nb when performing a right turn N times during the predetermined period are defined as driver characteristics in each driving situation.
[0062]
As a process of reading the unexpected encounter prediction degree corresponding to step S203 (FIG. 4), the driver characteristics and the oncoming straight traveling vehicle in each driving situation, which are set by performing an experimental run in advance as shown in FIGS. Or the relationship with the unexpected encounter prediction degree K with a pedestrian is read from the unexpected encounter prediction degree storage means 70. FIG. 16 shows the relationship between the driver characteristics when passing a right turn in the oncoming lane when the oncoming vehicle is stopped (or slowing down) and the unexpected encounter prediction degree K with the oncoming straight vehicle, and FIG. 17 shows the right turn following the preceding vehicle. FIG. 18 shows the relationship between the driver characteristics at the time of a right turn at an intersection with a pedestrian crossing and the unexpected encounter probability K with a pedestrian. .
[0063]
The driver characteristic when the host vehicle turns right in the oncoming lane in the oncoming vehicle traffic jam stop (or slowing down) situation (j) is the average vehicle speed Vj. The relationship between the driver characteristics when the host vehicle passes the opposite lane and turns right in the oncoming vehicle traffic jam stop (or slowing down) situation (j) in FIG. The higher the value, that is, the higher the driver characteristic value, the higher the unexpected encounter prediction degree K. Similarly, the relationship between the driver characteristics shown in FIG. 18 and the unexpected encounter prediction degree K of the pedestrian also increases as the number of braking operations Nb before and after the right turn at the time of turning right at an intersection with a pedestrian crossing increases, that is, As the driver characteristic value increases, the unexpected encounter prediction degree K increases. Further, the relationship between the driver characteristic at the time of right turn following the preceding vehicle and the unexpected encounter prediction degree K shown in FIG. 17 is that the inter-vehicle distance Li with the preceding vehicle increases, that is, the driver characteristic. The higher the value, the lower the unexpected encounter prediction degree K.
[0064]
Based on the unexpected encounter prediction degree K read in step S203 and the above-mentioned long-term driver characteristics, the process of predicting the unexpected encounter degree for each driving situation at the time of a right turn is performed as follows (step S204).
(J) When the oncoming lane is in a traffic jam stop (or slowing down): From FIG. 16, from the driver characteristics Vjm when the oncoming vehicle is in a traffic jam stop (slowing down) and the host vehicle passes a right turn on the oncoming lane, Of the unexpected encounter degree Kj,
(I) When making a right turn following the preceding vehicle: From FIG. 17, predicting the unexpected encounter degree Ki with the oncoming straight vehicle from the driver characteristic Lim when making a right turn following the preceding vehicle,
(B) When turning right at an intersection with a pedestrian crossing: From FIG. 18, it is possible to predict the degree of unexpected encounter Kb with a pedestrian from the driver characteristic Nb when turning right at an intersection with a pedestrian crossing.
[0065]
In addition, the prediction of the future unexpected encounter level based on the long-term driver characteristics described with reference to FIGS. 15 to 18 is an example in the case where the driving information signal of the other vehicle is not used, and the oncoming vehicle detects the driving information. When the means 80 and the transmission means 90 are provided, it is possible to receive a driving information signal of another vehicle (oncoming vehicle) by inter-vehicle communication and determine the long-term driver characteristics. In this case, when the host vehicle turns right, the avoidance status detected by the driving information detection means 80 of the oncoming vehicle is received by the receiving means 100. The received oncoming vehicle avoidance behavior is stored in the driving information storage means 40. Then, the long-term driver characteristics are determined based on the frequency of appearance of the avoidance behavior of the oncoming vehicle received during the predetermined period, and the urgent level (deceleration) of the avoidance behavior of the oncoming vehicle is integrated to obtain a long-term Driver characteristics can also be determined.
[0066]
Also, in the determination of the momentary unexpected encounter level in step S407 (FIG. 14) described above, not only whether or not the oncoming vehicle has performed avoidance behavior, but also when the urgency level is high, that is, the avoidance behavior of the oncoming vehicle is suddenly braked. It is also possible to determine that the momentary unexpected encounter degree is high only when it is accompanied by a sudden handle. Accordingly, it is possible to predict the degree of instantaneous unexpected encounter along the driver's sense with higher accuracy.
[0067]
As described above, in the third embodiment of the present invention, the driving information of the oncoming vehicle when the host vehicle turns right by inter-vehicle communication is received. Based on the received information on the oncoming vehicle, it is determined whether or not the oncoming vehicle has performed an avoidance action such as a sudden brake or a sudden handle when the host vehicle turns right. When the oncoming vehicle performs an avoidance action, it is presumed that the host vehicle has started making a right turn with insufficient confirmation of surroundings, or that the right turn start timing has been inappropriate. It is also expected that the driver himself is not aware of this despite the high degree of accidental encounters. In such a situation, attention can be alerted by transmitting the unexpected encounter degree to the driver or the like immediately after predicting the unexpected encounter degree.
[0068]
In addition, the long-term driver characteristics are determined, and the driver is considered to be more or less likely to encounter an unexpected situation in the future based on the long-term driver characteristics and the preset unexpected encounter probability. The driving suitability can be objectively evaluated.
[0069]
In the third embodiment of the present invention, the degree of the momentary unexpected encounter degree determined based on the information on the avoidance operation of the oncoming vehicle by the inter-vehicle communication, for example, the oncoming vehicle performs the avoidance action when the host vehicle turns right. Whether to transmit the prediction result immediately after predicting the unexpected encounter degree or to transmit the prediction result after a predetermined period is set according to whether or not the determination is made. Accordingly, it is possible to alert the driver according to the degree of urgency (degree of unexpected encounter). If the driver needs to be alerted, the prediction result is immediately transmitted, and if the driver is aware of driving with a high degree of unexpected encounter, the driver does not transmit the prediction result immediately. It is possible to transmit a prediction result that is more suited to the driver's feeling without bothering the driver.
[0070]
<< Fourth Embodiment >>
The configuration of the driver future situation prediction apparatus in the fourth embodiment of the present invention is the same as that of the second embodiment shown in FIG. Here, differences from the first to third embodiments will be mainly described.
[0071]
Hereinafter, the operation of the driver future situation prediction apparatus according to the fourth embodiment of the present invention will be described with reference to FIGS. 19 and 20.
[0072]
FIG. 19 shows a driving scene (driving situation) in which the host vehicle enters an intersection without a traffic light. FIG. 20 is a flowchart showing a process of predicting the driver unexpected encounter degree in the travel scene shown in FIG.
[0073]
First, when the ignition switch is turned on in step S501, detection of driving information (vehicle state) is started by the driving information detecting means 10 of the host vehicle in step S502. The driving information detection means 80 of the other vehicle also starts detecting the driving information of the other vehicle when the ignition switch is turned on. The driving information detected by the driving information detecting means 10 is recorded in the driving information accumulating means 40 until the ignition switch is turned off (step S503). In step S504, it is determined whether the ignition switch is turned off. If it is determined in step S504 that the ignition switch is not OFF, the process proceeds to step S505 in order to predict the momentary accidental encounter level in the momentary accidental encounter prediction means 20.
[0074]
In step S505, if it is detected by the driving environment detection means 14 of the driving information detection means 10 that the host vehicle has made an intersection approaching action as a predetermined driving situation, the process proceeds to step S506. Here, the predetermined driving situation indicates the intersection approach of the host vehicle Ma as shown in FIG. In step S506, it is determined whether or not an avoidance action (for example, sudden braking or sudden steering) of the crossing vehicle Md has been received by inter-vehicle communication along with the intersection approaching action of the host vehicle Ma detected in step S505. If an affirmative determination is made in step S506 that an avoidance action of the crossing vehicle Md is detected, the process proceeds to step S507. On the other hand, if a negative determination is made in step S506, the process returns to step S504.
[0075]
In step S507, the instantaneous accidental encounter prediction means 20 makes the intersection vehicle perform an avoidance action when the host vehicle enters the intersection, and predicts that the instantaneous accidental encounter degree is high. In step S508, the prediction result of step S507 is output to the transmission means 30, and in step S509, the prediction result of the driver's instantaneous unexpected encounter degree is provided to the driver by a display and a message. Thereafter, the process returns to step S504.
[0076]
Note that the detection of the intersection approaching behavior of the host vehicle in step S505 described above can be performed, for example, by recognizing an intersection by performing image processing on an image in front of the vehicle captured by a CCD camera or the like. Alternatively, the intersection may be detected by a navigation device.
[0077]
On the other hand, if it is determined in step S504 that the ignition switch is OFF, the process proceeds to step S510. If an affirmative determination is made in step S510 that data has been stored in the driving information storage means 40 for a predetermined period of time, the process proceeds to step S511, where the processing in the long-term driver characteristic determination means 50 is started. If a negative determination is made in step S510, the processes in steps S501 to S504 and step S510 are performed until data for a predetermined period is accumulated.
[0078]
The processing procedure for the determination of the long-term driver characteristics in steps S511 to S514 and the prediction of the future driver accidental encounter level in steps S201 to S206 (FIG. 4) is as described in the first embodiment. Therefore, detailed description is omitted.
[0079]
As described above, in the fourth embodiment of the present invention, the driving information of the intersecting vehicle when the host vehicle enters the intersection having no traffic signal is received by inter-vehicle communication. Based on the received information on the intersecting vehicle, it is determined whether or not an avoiding action such as sudden braking or sudden steering is performed on the intersecting vehicle when the host vehicle enters the intersection. When the avoidance action is to be performed by the intersection vehicle, it is presumed that the own vehicle has started entering the intersection in a state where the surrounding confirmation is insufficient, or the timing of the intersection entry is inappropriate. It is also expected that the driver himself is not aware of this despite the high degree of accidental encounters. In such a situation, attention can be alerted by transmitting the unexpected encounter degree to the driver or the like immediately after predicting the unexpected encounter degree.
[0080]
Further, the long-term driver characteristics are determined in the same manner as in the first embodiment described above, and the future driver may encounter an unexpected situation from the long-term driver characteristics and the preset unexpected prediction degree. It is possible to objectively evaluate the driver's driving suitability from the viewpoint of high or low performance.
[0081]
In the fourth embodiment of the present invention, the degree of instantaneous accidental encounter determined based on the information on the avoidance operation of the intersecting vehicle by the inter-vehicle communication, for example, whether or not the intersecting vehicle has performed the avoidance action. Thus, it is set whether to transmit the prediction result immediately after predicting the unexpected encounter degree or to transmit the prediction result after a predetermined period. Accordingly, it is possible to alert the driver according to the degree of urgency (degree of unexpected encounter). If the driver needs to be alerted, the prediction result is immediately transmitted, and if the driver is aware of driving with a high degree of unexpected encounter, the driver does not transmit the prediction result immediately. It is possible to transmit a prediction result that is more suited to the driver's feeling without bothering the driver.
[0082]
As described above, the driver future situation prediction apparatus according to the present invention is based on the traveling state of the own vehicle and the driving state of the own vehicle or the driving operation of the driver of the other vehicle in the instantaneous unexpected encounter prediction means. Thus, the unexpected encounter degree in a predetermined driving situation is predicted instantaneously. Accordingly, it is possible to accurately predict a driving situation with a high degree of unexpected encounter that needs to call attention to the driver, and to transmit the prediction result to the driver when the degree of unexpected encounter is high. As a result, the prediction result can be transmitted without bothering the driver.
[0083]
Furthermore, apart from the prediction of the momentary accidental encounter level, information on the driving state and driving environment of the host vehicle is accumulated for a predetermined period, and long-term driver characteristics are determined based on the accumulated information, and the driver's future Predicted the degree of unexpected encounter. Thus, the driver's driving suitability can be objectively evaluated from the viewpoint of whether the driver is likely to encounter a failure situation in the future. And by transmitting the evaluation result to the driver, it is possible to correct the deviation of the driver's recognition, promote the improvement of driving, and promote the maintenance improvement of the safety awareness for the driver who tries to drive safely. . When the prediction result of the unexpected encounter degree is transmitted to the manager, it can be used as reference information such as guidance and arrangement of the driver. Further, when the prediction result is transmitted to a third party such as an insurance company, it can be used as a guideline for setting the insurance premium rate.
[0084]
Furthermore, when predicting the degree of accidental encounter, whether or not the other vehicle has made an avoidance action in the driving situation such as an intersection approach or a right turn action of the own vehicle using the driving information of the other vehicle received by inter-vehicle communication It is possible to predict the degree of unexpected encounter according to the actual situation. Further, since the predicted unexpected encounter degree is transmitted to the driver according to the degree of the unexpected encounter degree, it is possible to alert the driver.
[0085]
In the first to fourth embodiments described above, the transmission means 30 transmits the prediction result of the instantaneous unexpected encounter prediction means 20 to the driver, and the prediction result of the driver unexpected encounter prediction means 60 is an unexpected encounter degree. Depending on the situation, it is communicated to the driver, manager or third party. That is, since the predicted result is transmitted to the driver only when the unexpected encounter degree is high, the driver's troublesomeness due to frequent transmission of the predicted result can be reduced. However, the driver future situation prediction apparatus according to the present invention is not limited to this. For example, the prediction results of the instantaneous unexpected encounter prediction unit 20 and the driver unexpected encounter prediction unit 60 may be transmitted to the driver, the manager, and a third party, respectively. Further, when the unexpected encounter degree predicted by the driver unexpected encounter prediction means 60 is higher than the average, it is transmitted to the driver, the manager, and the third party, and the predicted unexpected encounter degree is lower than the average. In some cases, it may be transmitted only to an administrator or a third party.
[0086]
In the above-described embodiment, the driving information detected by the driving information detection means 10 is sent to the instantaneous unexpected encounter prediction means 20 and also sent to the driving information storage means 40 and stored for a predetermined period. However, the driver future situation prediction apparatus according to the present invention is not limited to this. For example, the driving information detected by the driving information detecting means 10 may be temporarily stored in the driving information storage means 40 and then sent to the instantaneous accidental encounter prediction means 20 to predict the instantaneous accidental encounter degree. . Further, the transmission means 30 for transmitting the unexpected encounter level is not limited to the display monitor, and a warning corresponding to the unexpected encounter level may be generated.
[0087]
In the above embodiment, the driver information detecting means 12 of the own vehicle and the driving information of the other vehicle including the operation state of the driver of the other vehicle transmitted from the driving information detecting means 80 mounted on the other vehicle are received. The receiving means 100 that corresponds to the driver information detecting means.
[Brief description of the drawings]
FIG. 1 is a diagram showing a basic configuration of a driver future situation prediction apparatus according to a first embodiment of the present invention.
FIG. 2 is a diagram showing a traveling scene passing through a temporary stop intersection without a traffic light
FIG. 3 is a flowchart showing a processing procedure in the driver future situation prediction apparatus according to the first embodiment of the present invention.
FIG. 4 is a flowchart showing a processing procedure in the driver future situation prediction apparatus according to the first embodiment of the present invention.
FIG. 5 is a diagram showing a process for predicting an unexpected encounter degree with an intersecting vehicle at an intersection according to the first embodiment;
FIGS. 6A and 6B are diagrams for explaining a method of calculating an integrated value P of vehicle speed ratings when approaching a temporarily stopped intersection;
FIGS. 7A and 7B are graphs showing driver characteristics when entering a temporary stop intersection.
FIG. 8 is a graph showing the relationship between driver characteristics when entering a temporarily stopped intersection and the degree of unexpected encounter with an intersecting vehicle
FIG. 9 is a diagram showing a predicted result of an unexpected encounter degree with an intersecting vehicle at a temporarily stopped intersection.
FIG. 10 is a diagram showing a basic configuration of a driver future situation prediction apparatus according to a second embodiment.
FIG. 11 is a diagram showing a travel scene in which the host vehicle changes lanes.
FIG. 12 is a flowchart illustrating a processing procedure in the driver future situation prediction apparatus according to the second embodiment.
FIG. 13 is a diagram showing a traveling scene in which the host vehicle makes a right turn.
FIG. 14 is a flowchart showing a processing procedure in the driver future situation prediction apparatus according to the third embodiment;
FIG. 15 is a map showing the unexpected encounter degree prediction process when turning right
FIG. 16 is a diagram showing a relationship between driver characteristics at the time of a right turn and a predicted unexpected encounter degree with an oncoming vehicle.
FIG. 17 is a diagram showing a relationship between driver characteristics at the time of a right turn and a predicted unexpected encounter degree with an oncoming vehicle.
FIG. 18 is a diagram showing a relationship between driver characteristics at the time of a right turn and a predicted degree of unexpected encounter with a pedestrian.
FIG. 19 is a diagram showing a running scene of approaching a temporarily stopped intersection
FIG. 20 is a flowchart showing a processing procedure in the driver future situation prediction apparatus of the fourth embodiment.
[Explanation of symbols]
10, 80: Driving information detection means
11: Driving information detection means
12: Driver state detection means
13: Vehicle state detection means
14: Driving environment detection means
20: Instantaneous unexpected encounter prediction means
30: Transmission means
40: Driving information storage means
50: Long-term driver characteristic prediction means
60: Means for predicting unexpected driver encounters
70: Unexpected encounter prediction degree storage means
90: Transmission means
100: Receiving means

Claims (8)

Vehicle information detecting means for detecting the driving condition of the host vehicle; and driving information detecting means having at least one of driving environment detecting means for detecting the driving environment;
A driver information detecting means for detecting the state of the driver of the own vehicle or the driving operation of the driver of the other vehicle;
Based on the information detected by the driving information detection means and the driver information detection means, the driver unexpectedly predicts the degree of unexpected encounter in a predetermined driving situation, and outputs a prediction result according to the predicted unexpected encounter degree. A means for predicting instantaneous accidents,
Driving information accumulating means for accumulating information detected by the travel information detecting means;
From the information stored in the driving information storage means, long-term driver characteristics determination means for determining the characteristics of the driver,
Based on the driver characteristics determined by the long-term driver characteristic determination means and a preset unexpected encounter degree, a driver unexpected encounter prediction means that predicts the future unexpected encounter degree of the driver;
A driver future situation prediction device comprising: a momentary unexpected encounter prediction means and a transmission means for transmitting a prediction result of the driver unexpected encounter prediction means to a driver, a manager or a third party. In the driver future situation prediction device according to claim 1,
The transmission means transmits a prediction result of the instantaneous unexpected encounter prediction means to a driver, and transmits a prediction result of the driver unexpected encounter prediction means to a manager or a third party. Situation prediction device. In the driver future situation prediction device according to claim 1 or claim 2,
The instantaneous unexpected encounter predicting means is configured to detect the vehicle based on a state of a driver of the own vehicle detected by the driver information detecting means when a predetermined driving situation is detected by the travel information detecting means. A driver future situation prediction device that determines whether or not the driver of the driver is intentional and predicts the unexpected encounter level based on the determination result. In the driver future situation prediction device according to claim 3,
The travel information detecting means detects a stop stop intersection by the travel environment detection means, and detects a deceleration operation of the host vehicle when entering the stop stop intersection by the vehicle state detection means,
The driver information detecting means detects a gaze operation of the driver of the own vehicle at the time of entering the intersection of the temporary stop regulation,
The momentary unexpected encounter prediction means is configured to perform the driving when the travel environment detection means detects a stop restriction intersection and the vehicle state detection means does not detect a deceleration operation of the host vehicle when entering the intersection. A driver's future situation characterized by determining whether or not the driving at the intersection is intentional based on a detection result of the driver information detecting means, and predicting a driver's unexpected encounter degree based on the determination result Prediction device. In the driver future situation prediction device according to claim 1 or claim 2,
The driver information detecting means has receiving means for receiving information on driving operation of the driver of the other vehicle from outside the vehicle,
The instantaneous unexpected encounter prediction means is configured to detect the other vehicle based on information related to the driving operation of the driver of the other vehicle received by the receiving means when a predetermined driving situation is detected by the travel information detecting means. A driver future situation prediction device that determines whether or not a driver has performed a driving operation that avoids an unexpected situation and predicts a driver's unexpected encounter degree based on the determination result. In the driver | operator future condition prediction apparatus of Claim 5,
The travel information detection means detects the lane change behavior of the host vehicle by the vehicle state detection means or the travel environment detection means,
The receiving means detects information related to a driving operation of a driver of a vehicle on the side or rear of the host vehicle,
The instantaneous unexpected encounter predicting means is configured to detect a sudden braking of a side vehicle received by the receiving means when the lane change action of the own vehicle is detected by the travel information detecting means or when the lane change of the own vehicle is changed, or The driver of the side vehicle or the succeeding vehicle avoids based on the information on the sudden operation or the information on the sudden braking or the sudden operation of the succeeding vehicle received by the receiving means after changing the lane of the own vehicle. A driver future situation prediction apparatus characterized by determining whether or not a driving operation has been performed and predicting an unexpected encounter degree based on the determination result. In the driver | operator future condition prediction apparatus of Claim 5,
The travel information detection means detects a right turn action of the host vehicle by the vehicle state detection means or the travel environment detection means,
The receiving means detects information related to the driving operation of the driver of the oncoming vehicle when the host vehicle turns right,
The instantaneous unexpected encounter predicting means is configured to suddenly brake or suddenly operate the oncoming vehicle received by the receiving means when the host vehicle turns right when the driving information detecting means detects a right turn action of the own vehicle. A future driver situation prediction device that determines whether or not the driver of the oncoming vehicle has performed an avoidance driving operation based on the information, and predicts an unexpected encounter degree based on the determination result. In the driver | operator future condition prediction apparatus of Claim 5,
The travel information detection means detects an intersection by the travel environment detection means, and detects an approach action of the own vehicle to the intersection by the vehicle state detection means,
The receiving means detects information related to the driving operation of the driver of the intersecting vehicle that is traveling in a direction intersecting the traveling direction of the own vehicle when the own vehicle enters the intersection,
The instantaneous unexpected encounter predicting means is configured to detect the intersection of the own vehicle when the intersection is detected by the traveling environment detecting means and the approach behavior of the own vehicle is detected by the vehicle state detecting means. Based on the information on sudden braking or sudden operation of the crossing vehicle received by the receiving means, it is determined whether or not the driver of the crossing vehicle has performed an avoidance driving operation, and the degree of unexpected encounter based on the determination result A driver's future situation prediction device characterized by predicting

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