JP4385734B2 - VEHICLE DRIVE OPERATION ASSISTANCE DEVICE AND VEHICLE HAVING VEHICLE DRIVE OPERATION ASSISTANCE DEVICE - Google Patents

Description

  The present invention relates to a driving operation assisting device for a vehicle that assists a driver's operation.

  Conventional vehicle driving assistance devices calculate a potential risk potential around the host vehicle and perform steering reaction force control based on the risk potential (see, for example, Patent Document 1). This device detects relative motion information with respect to obstacles around the host vehicle, and calculates the risk potential at that time.

Prior art documents related to the present invention include the following.

Japanese Patent Application Laid-Open No. 10-211886

  In the above-described conventional device, even when there are a plurality of obstacles around the host vehicle, only the steering reaction force is controlled. Therefore, for the driver, the risk to which obstacle the steering reaction force is controlled. There was a problem that it was difficult to judge. In such a vehicular driving operation assistance device, it is desired to transmit information on a plurality of obstacles existing around the host vehicle to the driver in an easily understandable manner.

A vehicle driving operation assisting device according to the present invention includes obstacle detection means for detecting other vehicles around the own vehicle, lane detection means for detecting a lane identification line of the own lane, detection results and lane detection by the obstacle detection means Risk potential calculation for calculating a first risk potential based on the degree of approach between the host vehicle and another vehicle and a second risk potential based on the relative position between the host vehicle and the lane identification line based on the detection result by the means. Means, a reaction force generating means for generating an operation reaction force on an operating device operated by the driver, a tactile stimulus applying means for giving a tactile stimulus to the driver via a tactile sense, and a risk potential calculation means . 1 of the risk potential and the second risk potential, the operation reaction force generating means and the tactile stimulation applying means to transmit to the driver by the operation reaction force and tactile stimulation And a Gosuru control means, the control means, in response to the first risk potential by controlling operation reaction force generating means so as to increase the operation reaction force, so as to increase the tactile stimulus in response to the second risk potential While controlling the tactile stimulus application means and at least one of the first risk potential and the second risk potential is increased , the operation reaction force or the tactile stimulus is changed nonlinearly.

  Since a plurality of risk potentials around the host vehicle are transmitted to the driver as operational reaction forces and tactile stimuli, the plurality of risk potentials can be transmitted to the driver separately. In addition, when at least one of the risk potentials increases, the operation reaction force or the tactile stimulation is nonlinearly changed, so that the driver can be surely notified that the risk potential is increasing.

<< First Embodiment >>
A vehicle operation assistance device according to a first embodiment of the present invention will be described with reference to the drawings. FIG. 1 is a system diagram showing a configuration of a vehicle driving assistance device 1 according to the first embodiment of the present invention, and FIG. 2 is a configuration diagram of a vehicle on which the vehicle driving assistance device 1 is mounted. .

First, the configuration of the vehicle driving assistance device 1 will be described.
The front camera 20 is a small CCD camera, a CMOS camera, or the like attached to the upper part of the front window, detects the state of the front road as an image, and outputs it to the controller 50. The detection area by the front camera 20 is about ± 30 deg in the horizontal direction with respect to the center line in the front-rear direction of the vehicle, and the front road scenery included in this area is captured as an image. The rear side camera 21 is a small CCD camera, a CMOS camera, or the like attached to the upper left and right sides of the rear window, and detects road conditions behind and behind the vehicle with the same performance as the front camera 20. . The front camera 20 and the rear side camera 21 output the detected road conditions around the host vehicle to the controller 50.

  The vehicle speed sensor 30 detects the vehicle speed of the host vehicle by measuring the number of rotations of the wheels and the number of rotations on the output side of the transmission, and outputs the detected host vehicle speed to the controller 50.

  The controller 50 includes a CPU and CPU peripheral components such as a ROM and a RAM, and controls the vehicle driving operation assisting device 1 as a whole. The controller 50 detects a traveling environment around the own vehicle, that is, an obstacle situation, from the own vehicle speed input from the vehicle speed sensor 30 and the image information around the vehicle input from the front camera 20 and the rear side camera 21. The controller 50 performs image processing on image information from the front camera 20 and the rear side camera 21, and detects an obstacle situation around the host vehicle. Here, the obstacle situation around the host vehicle includes the amount of displacement of the host vehicle from the lane identification line (lane marker), the presence / absence of the other vehicle traveling in the adjacent lane, and the degree of approach.

The controller 50 calculates the risk potential of the host vehicle for each obstacle based on the detected obstacle situation, and transmits each risk potential to the driver in an easily understandable manner.
Specifically, the controller 50 calculates the risk potential RPlane of the host vehicle with respect to the lane marker of the host lane, and the risk potential RPv with respect to the rear side vehicle existing on the adjacent lane on the rear side of the host vehicle. Then, the risk potential RPlane for the lane marker is transmitted to the driver through the driver's seat as tactile stimulus information. Further, the risk potential RPv for the rear side vehicle is expressed by a reaction force of the winker lever 61 (winker operation reaction force) generated when the driver operates the winker lever 61 or a winker sound when the winker lever 61 is operated. Control. Furthermore, the controller 50 transmits the risk potential RPv for the rear side vehicle to the driver as visual information.

  The winker reaction control device 60 controls the winker operation reaction force when the driver performs the winker operation according to a command from the controller 50. Further, the winker reaction control device 60 controls the operation of the winker sound accompanying the operation of the winker lever 61. The winker reaction control device 60 can change the reaction force when operating the winker lever 61 by the spring force of a spring that is linked to the pin of the winker cancellation mechanism, for example. Further, the winker reaction control device 60 controls the speaker 62 that generates a winker sound (flashing sound) in response to a command from the controller 50. Hereinafter, the winker operation reaction control and the winker sound operation control are collectively referred to as winker reaction control.

  In response to a command from the controller 50, the seat side shape changing mechanism 70 changes the shape of the driver's seat in order to transmit the risk potential RPlane for the lane marker as tactile stimulus information to the driver. FIG. 3 shows a configuration of a driver seat 71 that is mounted on a vehicle equipped with the vehicle driving operation assisting device 1 and whose shape is controlled by the seat side shape changing mechanism 70.

  As shown in FIG. 3, the driver's seat 71 includes a cushion portion 72, a backrest portion 73, and a headrest (not shown). The cushion portion 72 includes a seat cushion frame 72a and left and right side frames 72b and 72c, and covers these frames 72a to 72c with urethane pads. Similarly, the backrest part 73 includes a seat back frame 73a and left and right side frames 73b and 73c, and covers these frames 73a to 73c with urethane pads. The seat cushion frame 72a and the seat back frame 73a are provided with springs 72d and 73d for indicating a urethane pad, respectively.

  The seat side shape changing mechanism 70 includes motor units 72e and 72f that rotate the left and right subframes 72b and 72c of the cushion portion 72, and motor units 73e and 73f that rotate the left and right subframes 73b and 73c of the backrest portion 73, respectively. It has. The rotational torques of the motor units 72e and 72f attached to the cushion portion 72 are transmitted to the subframes 72b and 72c via the torque cables 72g and 72h, respectively, and the left and right subframes 72b and 72c are moved to the left and right ends of the seat cushion frame 72a. Rotate each as a center. Similarly, the rotational torques of the motor units 73e and 73f attached to the backrest 73 are transmitted to the subframes 73b and 73c via the torque cables 73g and 73h, respectively, and the left and right subframes 73b and 73c are transmitted to the seatback frame 73a. Rotate around the left and right ends respectively.

  The seat side shape changing mechanism 70 controls the motor units 72e, 72f, 73e, 73f in accordance with commands from the controller 50, respectively, and the left and right side portions 72i, 72j of the cushion portion 72 and the left and right side portions 73i of the backrest portion 73, Each of 73j is rotated. That is, the left and right side portions 72i, 72j, 73i, 73j of the cushion portion 72 and the backrest portion 73 are pressed against the driver or rotated away from the driver, and the driver presses the thigh or flank of the driver to The risk potential for RPlane is transmitted to the driver.

  The display device 80 includes, for example, a liquid crystal monitor, displays the risk potential RPv for the rear side vehicle calculated by the controller 50 on the monitor, and transmits it to the driver as visual information.

  Next, the operation of the vehicular driving assist device 1 according to the first embodiment will be described. First, an outline of the operation will be described. FIG. 4 shows an overview of display control, blinker reaction control, and sheet shape control. As shown in FIG. 4, the forms of display control, winker reaction control, and seat shape control are changed according to the magnitude of the risk potential RPv with respect to the rear side vehicle and the presence / absence of the winker operation.

  (A) When the risk potential RPv for the rear side vehicle is small without the winker operation, (b) When the risk potential RPv for the rear side vehicle is large without the winker operation, (c) The rear side with the winker operation The contents of the control in the four cases will be briefly described when the risk potential RPv for the side vehicle is small and (d) the risk potential RPv for the rear side vehicle is large with the winker operation.

(A) When the risk potential RPv for the rear side vehicle is small without the winker operation When the winker lever 61 is not operated and the risk potential RPv for the rear side vehicle is equal to or lower than a predetermined value, the risk for the lane marker The change of the shape of the driver's seat 71 according to the potential RPlane and the winker reaction force control and display according to the risk potential RPv with respect to the rear side vehicle are performed.

  With respect to the risk potential RPlane for the lane marker of the own lane, the cushion portion 72 and the side portions 72i, 72j, 73i, 73j of the backrest portion 73 are rotated to the driver side by a control amount corresponding to the risk potential RPlane. Then, the side portions 72i, 73i or 72j, 73j in the direction in which the risk potential RPlane is generated are pressed against the driver.

  About the risk potential RPv with respect to a rear side vehicle, the approach degree of the rear side vehicle with respect to the own vehicle, ie, the magnitude | size of risk potential RPv, is displayed on the monitor of the display apparatus 80. FIG. Further, the winker operation reaction force is increased in accordance with the risk potential RPv for the rear side vehicle. FIG. 5 shows a display example when a rear side vehicle is detected on the adjacent lane on the rear side of the host vehicle.

  The display monitor M of the display device 80 displays the risk potential RPv for the host vehicle A, the rear side vehicle B, and the rear side vehicle B as shown in FIG. As shown in FIG. 5, for example, the host vehicle A and the rear side vehicle B are represented by pentagons and are displayed in different colors so that they can be easily distinguished. The risk potential RPv between the host vehicle A and the rear side vehicle B is displayed as a bar in stages according to the size. Specifically, when the risk potential RPv for the rear side vehicle B is calculated, a bar representing the risk potential RPv is displayed from the own vehicle A side. As the risk potential RPv increases, the number of displayed bars increases and the length of the bars also increases.

(B) When the risk potential is large without the winker operation When the risk potential RPv for the rear side vehicle is larger than the predetermined value when the winker lever 61 is not operated, the driver seat corresponding to the risk potential RPlane for the lane marker The change of the shape of 71 and the winker reaction force control and display according to the risk potential RPv for the rear side vehicle are performed. Further, the control amount of the shape change of the driver's seat 71 is corrected based on the risk potential RPv for the rear side vehicle.

  Regarding the risk potential RPlane for the lane marker of the own lane, the cushion portion 72 and the side portions 72i, 72j, 73i, 73j of the backrest portion 73 are rotated to the driver side by a control amount corresponding to the risk potential RPlane for the lane marker. At this time, the control amounts of the side portions 72i, 72j, 73i, 73j of the driver's seat 71 are corrected based on the risk potential RPv for the rear side vehicle. That is, by changing the shape of the driver's seat 71, the risk potential RPv for the rear side vehicle is transmitted to the driver in addition to the risk potential RPlane for the lane marker. For example, when the risk potential RPlane for the lane marker is constant, the control amount is increased as the risk potential RPv for the rear side vehicle increases, and the side portions 72i, 72j, 73i, 73j are strongly pressed against the driver.

  As for the risk potential RPv for the rear side vehicle, the risk potential RPv is displayed on the monitor of the display device 80, and the winker operation reaction force is increased according to the risk potential RPv for the rear side vehicle. FIG. 6 shows a display example when a rear side vehicle is detected on the adjacent lane on the rear side of the host vehicle.

  The display monitor M of the display device 80 displays the risk potential RPv for the host vehicle A, the rear side vehicle B, and the rear side vehicle B as shown in FIG. The display forms of the host vehicle A and the rear side vehicle B are the same as those in FIG. However, when the risk potential RPv for the rear side vehicle is large, the display of the risk potential RPv on the display monitor M is blinked.

(C) When the winker operation is performed and the risk potential is small When the winker lever 61 is operated and the risk potential RPv for the rear side vehicle is below a predetermined value, the driver seat 71 corresponding to the risk potential RPlane for the lane marker The change of the shape and the blinker sound control and display corresponding to the risk potential RPv for the rear side vehicle are performed.

  Regarding the risk potential RPlane for the lane marker of the own lane, the side portions 72i, 72j, 73i, 73j of the driver seat 71 are rotated to the driver side by a control amount corresponding to the risk potential RPlane.

  Regarding the risk potential RPv for the rear side vehicle, the magnitude of the risk potential RPv is displayed on the monitor of the display device 80 as shown in FIG. Further, the blinker sound generation interval is changed according to the risk potential RPv for the rear side vehicle. Specifically, as the risk potential RPv for the rear side vehicle increases, the blinker sound generation interval is shortened.

(D) When the risk potential is large with the blinker operation,
When the risk potential RPv for the rear side vehicle exceeds a predetermined value in the state where the blinker lever 61 is operated, the change of the shape of the driver's seat 71 according to the risk potential RPlane for the lane marker and the rear side vehicle Performs blinker sound control and display according to the risk potential RPv. Further, the control amount of the shape change of the driver's seat 71 is corrected based on the risk potential RPv for the rear side vehicle.

  Here, similarly to the case of (b), the control amount of the shape change of the driver's seat 71 is set based on the risk potential RPlane for the lane marker and the risk potential RPv for the rear side vehicle. Furthermore, vibration is generated in the driver's seat 71 to inform the driver that the risk potential RPv for the rear side vehicle is large.

  As for the risk potential RPv for the rear side vehicle, the risk potential RPv is displayed on the monitor M of the display device 80 as shown in FIG. 6, and the display of the risk potential RPv is blinked. In addition, as the risk potential RPv for the rear side vehicle increases, the blinker sound generation interval is shortened.

  Hereinafter, the processing procedure of the control described above with reference to FIG. 7 will be described in detail. FIG. 7 is a flowchart showing a processing procedure of the driving operation assistance control process for a vehicle according to the first embodiment. This processing content is continuously performed at regular intervals, for example, every 50 msec.

  In step S110, the relative position of the own vehicle with respect to the lane marker of the own lane is detected. Specifically, the lane marker of the own lane is recognized based on the image signal of the front area of the own vehicle detected by the front camera 20, and the displacement amount Δw from the lane marker of the own vehicle in the left-right direction of the vehicle is calculated. Here, the displacement amount Δw from the lane marker present on both the left and right sides of the host vehicle is calculated.

In step S120, the risk potential RPlane for the lane marker is calculated based on the displacement amount Δw from the lane marker calculated in step S110. The risk potential RPlane is set so as to increase as the host vehicle moves closer to the lane marker. The risk potential RPlane for the lane marker can be calculated from the following (Equation 1).
RPlane = 1 / Δw (Formula 1)

  Since the displacement amount Δw from the lane markers present on the left and right sides of the host vehicle is used, the risk potential RPlane for the lane markers on the left and right sides is calculated. However, for example, when the host vehicle is traveling ahead of the right lane marker, the risk potential RPlane with respect to the right lane marker becomes large, and the risk potential RPlane with respect to the left lane marker becomes relatively small. Therefore, even if the shape of the driver's seat 71 is controlled based on the risk potential RPlane with respect to the left and right lane markers, the driver is pressed from both the left and right sides of the driver's seat 71 and the driver feels uncomfortable. There is no.

  In step S130, information relating to the rear side vehicle detected by the rear side camera 21 is read. Specifically, a rear side vehicle existing on the adjacent lane is recognized, and a vehicle front-rear distance D between the host vehicle and the rear side vehicle and a vehicle speed V1 of the rear side vehicle are detected. Further, the host vehicle speed V0 detected by the vehicle speed sensor 30 is detected.

  In step S140, the risk potential RPv for the rear side vehicle is calculated based on the information about the rear side vehicle detected in step S130. In order to calculate the risk potential RPv for the rear side vehicle, first, a margin time TTC and an inter-vehicle time THW between the host vehicle and the rear side vehicle are calculated.

The margin time TTC is a physical quantity indicating the degree of approach between the host vehicle and another vehicle. The allowance time TTC is a value indicating how many seconds later the inter-vehicle distance D becomes zero when the current traveling state continues, that is, when the host vehicle speed V0 and the vehicle speed V1 of the other vehicle are constant. Here, the margin time TTC between the host vehicle and the rear side vehicle is calculated by the following (Equation 2).
TTC = D / (V1-V0) (Formula 2)
This means that the smaller the margin time TTC is, the greater the degree of approach between the host vehicle and the rear side vehicle is.

The inter-vehicle time THW indicates the time required for the host vehicle to reach the current position of the other vehicle. Here, the inter-vehicle time THW from the host vehicle to the rear side vehicle is calculated by the following (Equation 3) using the host vehicle speed V0 and the inter-vehicle distance D.
THW = D / V0 (Formula 3)

Next, the risk potential RPv for the rear side vehicle is calculated using the margin time TTC and the inter-vehicle time THW calculated as described above. The risk potential RPv can be calculated by the following (Formula 4).
RPv = a / THW + b / TTC (Formula 4)
Here, the constants a and b are parameters for appropriately weighting the inter-vehicle time THW and the margin time TTC, respectively. The constants a and b are set appropriately in advance.

  In step S150, a winker operation state is detected. That is, it is detected whether or not the winker lever 61 is operated.

  In step S160, the operation modes of the winker reaction control, the sheet shape control, and the display control are determined, and the control amount in each control is determined. Here, the operation mode of each control is divided based on the winker operation state detected in step S150, and when the winker lever 61 is not operated and when it is operated, the winker reaction control, seat shape control, and Determine the amount of display control. In the following, how to set the control amount of each control will be described.

First, the control amount setting when the blinker is not operated will be described.
When it is detected that the winker lever 61 is not operated, the control amount S of the driver's seat 71 is set according to the map shown in FIG. The horizontal axis of FIG. 8A represents the risk potential RPlane for the lane marker, and the vertical axis represents the risk potential RPv for the rear side vehicle. Further, the contour line of the seat control amount S is indicated by a solid line. The map of FIG. 8A represents the control amount S of the right side portions 72i and 73i for the risk potential RPlane for the right lane marker, and the left and right side portions 72j for the risk potential RPlane for the left lane marker. , 73j, the control amount S.

  As shown in FIG. 8A, when the rear side risk potential RPv is equal to or less than a predetermined value RPva set in advance, the seat control amount S increases as the lane risk potential RPlane increases. The seat control amount S is determined based on the posture of the side portions 72i, 72j, 73i, 73j when the seat shape control is not performed, and the side portions 72i, 72j, 73i, 73j from the reference posture to the inside of the driver seat 71, that is, This is the amount of change in the posture (shape) of the side portions 72i, 72j, 73i, 73j when rotating to the driver side. For example, when the host vehicle is running close to the right lane marker, the risk potential RPlane for the right lane marker increases. As a result, the seat control amount S increases, the right subframes 72b and 73b of the cushion portion 72 and the backrest portion 73 rotate by the control amount S, and the right side portions 72i and 73i rotate and are pressed against the driver.

  When the rear side risk potential RPv exceeds the predetermined value RPva, the seat control amount S corresponding to the lane risk potential RPlane is corrected according to the rear side risk potential RPv. When the lane risk potential RPlane is constant, the seat control amount S is increased as the rear side risk potential RPv increases. For example, as shown in FIG. 8A, when the rear side risk potential RPv is equal to or less than a predetermined value RPva, it is assumed that the seat control amount S = S1 when the lane risk potential RPlane = RPlane1. When the rear side risk potential RPv exceeds the predetermined value RPva and becomes RPv1, for example, the seat control amount S = S2 when the lane risk potential RPlane = RPlane1 (S2> S1).

  The seat control amount S is set so as to continuously change according to the change in the lane risk potential RPlane, and the seat control amount S with respect to the lane risk potential RPlane even in the region where the rear side risk potential RPv exceeds the predetermined value RPva. The value of is set appropriately so that it does not overlap.

  The winker operation reaction force Fw is set according to the rear side risk potential RPv, and the winker operation reaction force Fw increases as the rear side risk potential RPv increases. That is, when there is a rear side vehicle on the adjacent lane, the winker operation reaction force Fw is increased to make it difficult for the driver to operate the winker lever 61.

  When the rear side risk potential RPv is equal to or less than the predetermined value RPva, the rear side risk potential RPv is displayed on the display monitor M of the display device 80 as shown in FIG. At this time, the number of bars to be lit is determined according to the magnitude of the rear side risk potential RPv. Further, when the rear side risk potential RPv exceeds a predetermined value RPva, the rear side risk potential RPv on the display monitor M is blinked as shown in FIG.

Next, control amount setting at the time of operating the blinker will be described.
When it is detected that the winker lever 61 is operated, the control amount S of the driver's seat 71 is set according to the map shown in FIG. As shown in FIG. 8B, when the rear side risk potential RPv is equal to or less than a predetermined value RPvb set in advance, the seat control amount S increases as the lane risk potential RPlane increases. Here, the predetermined value RPvb is a value smaller than the predetermined value RPva set when the winker is not operated.

  When the rear side risk potential RPv exceeds the predetermined value RPvb, the seat control amount S corresponding to the lane risk potential RPlane is corrected according to the rear side risk potential RPv. Similarly to when the winker is not operated, when the lane risk potential RPlane is constant, the seat control amount S is increased as the rear side risk potential RPv increases.

  Further, when the rear side risk potential RPv exceeds a value RPvc larger than the predetermined value RPvb, the driver seat 71 is vibrated. Generation of vibration in the driver's seat 71 can be realized by, for example, moving the side portions 72i, 72j, 73i, 73j of the driver's seat 71 in small increments by the seat side shape changing mechanism 70. Alternatively, a vibrating body for vibrating the driver seat 71 can be incorporated in the driver seat 71.

  The winker sound generation interval Pw is set according to the rear side risk potential RPv, and the winker sound generation interval Pw becomes shorter as the rear side risk potential RPv increases. That is, when the degree of approach with the rear side vehicle existing on the adjacent lane is high, the blinker sound generation interval Pw after the blinker operation is performed is shortened to alert the driver.

  When the rear side risk potential RPv is equal to or less than the predetermined value RPvb, the rear side risk potential RPv is displayed on the display monitor M of the display device 80 as shown in FIG. At this time, the number of bars to be lit is determined according to the magnitude of the rear side risk potential RPv. Further, when the rear side risk potential RPv exceeds the predetermined value RPvb, the rear side risk potential RPv on the display monitor M is blinked as shown in FIG.

  As described above, after determining the control amounts of the winker reaction control, the sheet shape control, and the display control in step S160 according to the winker operation state, the process proceeds to step S170. In step S170, a command is output to the display device 80 so that the display content determined in step S160 is displayed. As a result, the risk potential RPv for the rear side vehicle is bar-displayed stepwise on the display monitor M of the display device 80. Further, when the rear side risk potential RPv exceeds the predetermined value RPva or RPvb, the risk potential RP on the display monitor M blinks.

  In step S180, a command is output to the seat side shape changing mechanism 70 to rotate the side portions 72i, 72j, 73i, 73j of the driver's seat 71 by the seat control amount S determined in step S160. Thereby, the shape of the driver's seat 71 changes according to the risk potential RPlane with respect to the lane marker, and the lane risk potential RPlane is transmitted to the driver as a tactile stimulus. When the risk potential RPv for the rear side vehicle exceeds a predetermined value RPva or RPvb, the seat control amount S further increases according to the rear side risk potential RPv, and the side portions 72i, 72j, 73i, 73j of the driver seat 71 It is strongly pressed against the driver. Thereby, the risk potential RPv for the rear side vehicle is also transmitted to the driver as a tactile stimulus.

  In step S190, if the winker lever 61 is not operated, a command is output to the winker reaction control device 60 so as to generate the winker reaction force Fw determined in step S160. By generating the winker reaction force Fw according to the risk potential RPv with respect to the rear side vehicle, when the driver operates the winker lever 61, the rear side risk potential RPv is used as an operation reaction force of the winker lever 61. I can tell you.

  Further, in step S200, when the winker lever 61 is operated, a command is output to the winker reaction control device 60 so as to generate a winker sound at the winker sound interval Pw determined in step S160. As a result, when the driver is already operating the blinker lever 61 to perform lane change or overtaking operation, if the risk potential RPv for the rear side vehicle is large, the blinker sound is generated at short intervals. The driver's attention can be alerted. Thus, the current process is terminated.

Thus, in the first embodiment described above, the following operational effects can be achieved.
(1) The controller 50 calculates a plurality of risk potentials for the host vehicle based on the obstacle situation around the host vehicle. Then, the calculated plurality of risk potentials are transmitted to the driver by operating reaction force and tactile stimulation of the operating device. Furthermore, the operation reaction force or the tactile stimulus is changed non-linearly with at least one of the calculated risk potentials. Thereby, the risk potential for a plurality of obstacles around the host vehicle can be separately transmitted to the driver as an operation reaction force or a tactile stimulus, or an operation reaction force and a tactile stimulus, respectively. Further, when the risk potential for the obstacle is increased, the operation reaction force or the tactile stimulus is changed in a non-linear manner, so that an increase in the risk potential can be surely notified to the driver. Here, changing the reaction force or tactile stimulus nonlinearly means that the reaction force or tactile stimulus does not change linearly with respect to the change in risk potential, but changes discontinuously with respect to the change in risk potential. Represents that
(2) The controller 50 calculates the rear side risk potential (first risk potential) RPv based on the degree of approach with the rear side vehicle existing behind the host vehicle, and determines the difference between the host vehicle and the host lane. A lane risk potential (second risk potential) RPlane is calculated based on the relative position to the lane identification line. By notifying the driver of the risk potential RPv for the rear side vehicle and the risk potential RPlane for the lane marker as an operation reaction force or a tactile stimulus, a plurality of obstacle situations around the host vehicle can be reliably transmitted to the driver. .
(3) The controller 50 controls the operation reaction force, specifically, the reaction force generated in the winker lever 61 based on the risk potential RPv for the rear side vehicle. Further, a tactile stimulus is given to the driver based on the risk potential RPlane for the lane marker. The tactile stimulation can be generated, for example, by rotating the left and right end portions 72i, 72j, 73i, 73j of the driver seat 71 to the driver side. As a result, when the risk potential RPv for the rear side vehicle is large, the reaction reaction force of the winker lever 61 when the driver performs the winker operation to change the lane or the like increases, and the driver The degree of approach can be informed intuitively. Further, as the risk potential RPlane with respect to the lane marker increases, the driver seat 71 is given a strong tactile stimulus by greatly changing the shape of the driver's seat 71, so that the driver is surely informed that the host vehicle is driving near the lane marker. be able to.
(4) As shown in FIGS. 8A and 8B, when the rear side risk potential RPv exceeds predetermined values RPva and RPvb, the seat control amount S based on the lane risk potential RPlane is further increased to the rear side risk potential. Increase according to RPv. Thus, the degree of approach with the rear side vehicle can be transmitted to the driver as a tactile stimulus from the driver seat 71.
(5) As shown in FIG. 8B, when the rear side risk potential RPv exceeds a predetermined value RPvc, vibration is added to the driver seat 71 in addition to the seat control amount S based on the lane risk potential RPlane. As a result, the driver can be surely notified that the risk potential RPv for the rear side vehicle is very high. In particular, since the driver's seat 71 is vibrated after the winker operation is performed, the driver's attention is alerted when the driver is about to change lanes. Further, since no vibration is generated in the driver's seat 71 when the winker operation is not performed, the driver is not bothered.
(6) After the winker operation is performed, the winker operation sound is controlled based on the risk potential RPv for the rear side vehicle. Thereby, in the situation where the driver is going to change lanes, the degree of approach with the rear side vehicle can be provided as a sound, and the driver's attention can be drawn.
(7) Since the risk potential RPv for the rear side vehicle is displayed on the display device 80, the degree of approach with the rear side vehicle can also be provided to the driver as visual information.

<< Second Embodiment >>
Below, the driving operation assistance device for a vehicle according to the second embodiment of the present invention will be described. The configuration of the vehicular driving assistance device according to the second embodiment is the same as that of the first embodiment shown in FIGS. Here, differences from the first embodiment will be mainly described.

  In the second embodiment, the method for setting the seat control amount S of the driver's seat 71 is different from that of the first embodiment described above. Specifically, the seat control amount S of the driver's seat 71 is determined using both the risk potential RPlane for the lane marker and the risk potential RPv for the rear side vehicle.

FIGS. 9A and 9B show control amount setting maps when the winker is not operated and when the winker is operated. First, the control amount setting when the blinker is not operated will be described.
When the winker lever 61 is not operated, as shown in FIG. 9A, the seat control amount S increases as the risk potential RPlane for the lane marker increases. Further, when the risk potential RPv for the rear side vehicle is large, the seat control amount S is increased as the rear side risk potential RPv increases.

  Here, as indicated by a broken line in FIG. 9A, the seat control amount S is determined only by the risk potential RPlane for the lane marker, or based on the risk potential RPlane for the lane marker and the risk potential RPv for the rear side vehicle. A switching line L1 for switching whether to decide is set. When the risk potential RPv for the rear side vehicle exceeds the switching line L1, the seat control amount S is set based on the lane risk potential RPlane and the rear side risk potential RPv. That is, when the rear side risk potential RPv exceeds the switching line L1, assuming that the lane risk potential RPlane is constant, the seat control amount S increases as the rear side risk potential RPv increases.

The switching line L1 is appropriately set in advance so that the threshold value of the rear side risk potential RPv for switching the setting method of the control amount S decreases as the lane risk potential RPlane increases.
The setting method of the winker reaction force Fw with respect to the rear side risk potential RPv is the same as that in the first embodiment described above.

Next, control amount setting at the time of operating the blinker will be described.
Even when the winker lever 71 is operated, the seat control amount S is determined only by the risk potential RPlane for the lane marker, or the risk potential RPlane for the lane marker, as in the map of FIG. 9A when the winker is not operated. A switching line L2 for switching whether to determine based on the risk potential RPv for the rear side vehicle is set. However, the switching line L2 when the winker is operated is set to a level lower than the switching line L1 when the winker is not operated. That is, when the risk potential RPlane with respect to the lane marker is the same, when the winker lever 61 is operated, the seat control amount S is set with a smaller value as a threshold value than when the winker lever 61 is not operated. Switch the method.

Furthermore, the vibration start line L3 for causing the driver's seat 71 to generate vibration is set at a level higher than the switching line L2. As with the switching line L2, the vibration start line L3 is set such that the rear side risk potential RPv for determining the start of vibration decreases as the lane risk potential RPlane increases. When the lane risk potential RPlane and the rear side risk potential RPv that exceed the vibration start line L3 are generated, the driver seat 71 is vibrated to alert the driver.
The setting method of the blinker sound generation interval Pw for the rear side risk potential RPv is the same as that in the first embodiment described above.

Thus, in the second embodiment described above, the following operational effects can be obtained in addition to the effects of the first embodiment described above.
(1) As shown in FIGS. 9A and 9B, when the lane risk potential RPlane and the rear side risk potential RPv exceed predetermined levels L1 and L2, in addition to the lane risk potential RPlane, the rear side risk potential RPv The sheet control amount S is set based on the above. Thus, the degree of approach with the rear side vehicle can be transmitted to the driver as a tactile stimulus from the driver seat 71.
(2) As shown in FIG. 9B, the lane risk potential RPlane and the rear side risk potential RPv are operated in addition to the seat control amount S based on the predetermined level L3, the lane risk potential RPlane and the rear side risk potential RPlane. Vibration is applied to the seat 71. Accordingly, the driver can be surely notified that the risk potential RPlane for the lane marker and the risk potential RPv for the rear side vehicle are very high. In particular, since the driver's seat 71 is vibrated after the winker operation is performed, the driver's attention is alerted when the driver is about to change lanes. Further, since no vibration is generated in the driver's seat 71 when the winker operation is not performed, the driver is not bothered.

<< Third Embodiment >>
Below, the driving operation assistance apparatus for vehicles by the 3rd Embodiment of this invention is demonstrated. The configuration of the vehicular driving assistance device according to the third embodiment is the same as that of the first embodiment shown in FIGS. 1 and 2. Here, differences from the above-described first embodiment will be mainly described.

  In the third embodiment, an indicator lamp is used instead of the winker operation reaction force and the winker sound to inform the driver of the risk potential RPv for the rear side vehicle. For example, the indicator lamps are arranged on both the left and right sides of the driver in the passenger compartment.

  FIG. 10 shows an overview of display control, indicator lamp control, and sheet shape control in the third embodiment. As shown in FIG. 10, when (a) the risk potential RPv for the rear side vehicle is small without the winker operation, and (b) the risk potential RPv for the rear side vehicle is large without the winker operation, the indicator lamp is Keep it off. When (c) the winker operation is performed and the risk potential RPv for the rear side vehicle is small, and (d) the winker operation is performed and the risk potential RPv for the rear side vehicle is large, the indicator lamp blinks. The blinking cycle of the indicator lamp is set according to the risk potential RPv for the rear side vehicle. This informs the driver of the rear side risk potential RPv.

  The contents of sheet shape control and display control other than the indicator lamp control are the same as those in the first embodiment described above. It is also possible to set the sheet control amount S using the maps of FIGS. 9A and 9B by combining the third embodiment and the second embodiment described above.

  Thus, the degree of approach with the rear side vehicle can be transmitted to the driver also by blinking the indicator lamp based on the risk potential RPv for the rear side vehicle. The risk potential RPlane for the lane marker is transmitted as a tactile stimulus by changing the shape of the driver's seat 71, and the magnitude of the rear side risk potential RPv is transmitted by the blinking cycle of the indicator lamp. The potential can be transmitted independently and the control can be easily understood by the driver.

  In the first and second embodiments described above, the blinker sound generation interval Pw is changed according to the risk potential RPv for the rear side vehicle when the blinker lever 61 is operated. In this case, the blinker sound can be controlled in consideration of the relationship between the direction in which the rear side vehicle is present and the direction in which the blinker lever 61 is operated. For example, when the winker lever 61 is operated in the direction in which the rear side vehicle exists, the winker sound generation interval Pw is changed according to the risk potential RPv for the rear side vehicle. On the other hand, when the winker lever 61 is operated in the direction opposite to the direction in which the rear side vehicle exists, the normal interval can be set without changing the winker sound generation interval Pw. It is also possible not to perform the operation control of the blinker sound when the blinker lever 61 is operated. In this case, it is not necessary to control the winker sound speaker 62 by the winker reaction control device 60.

  In the first to third embodiments described above, the display examples of the risk potential RPv with respect to the rear side vehicle have been described with reference to FIGS. 5 and 6, but the display examples of the rear side risk RPv are these. It is not limited to. The shapes of the host vehicle A and the rear side vehicle B can be changed, and the display format of the risk potential RPv can be changed. Further, when the rear side risk potential RPv exceeds a predetermined value, the rear side vehicle B can be blinked instead of the risk potential RPv. When another vehicle is detected on the left rear side of the own vehicle, the other vehicle is displayed on the left side of the own vehicle A on the display monitor M, and the risk potential for the other vehicle between the own vehicle A and the other vehicle. Can also be displayed. The display control according to the risk potential RPv for the rear side vehicle can be omitted. In this case, it is not necessary to provide the display device 80.

  In the first to third embodiments described above, the risk potential RPlane for the lane marker is transmitted to the driver by rotating the side portions 72i and 72j of the cushion portion 72 and the side portions 73i and 73j of the backrest portion 73. did. However, the present invention is not limited to this, and any of the side portions 72i and 72j of the cushion portion 72 and the side portions 73i and 73j of the backrest portion 73 can be rotated. When the risk potential RPlane with respect to the lane marker is small, the side portions 72i and 72j of the cushion portion 72 or the side portions 73i and 73j of the backrest portion 73 are controlled, and when the risk potential RPlane increases, the side portion of the cushion portion 72 Both 72i and 72j and the side parts 73i and 73j of the backrest part 73 can also be controlled.

  Further, the seat side shape changing mechanism 70 is not limited to the configuration shown in FIG. For example, instead of the motor units 72f, 72g, 73f, and 73g, an air bag or the like may be built in the driver seat 71 to change the shape of the driver seat 71.

  In the first to third embodiments described above, the driver seat 71 is vibrated when the risk potential RPv for the rear side vehicle or the risk potential RPlane for the lane marker increases. However, the present invention is not limited to this, and the blinker lever 61 can be vibrated instead of the driver seat 71. Alternatively, it is possible to generate vibration in a steering wheel or the like that is an operating device operated by the driver.

  In the first to third embodiments described above, the rear side risk potential RPv is calculated from (Equation 4) using the margin time TTC and the inter-vehicle time THW between the host vehicle and the rear side vehicle. However, the present invention is not limited to this. For example, the reciprocal of the margin time TTC between the host vehicle and the rear side vehicle can be used as the rear side risk potential RPv.

  In the first to third embodiments described above, the front camera 20, the rear side camera 21, and the vehicle speed sensor 30 are used as obstacle detection means, and the controller 50 is used as risk potential calculation means and control means. . Further, the winker reaction control device 60 is used as the operation reaction force generating means and the winker sound control means, the seat side shape changing mechanism 70 is used as the tactile stimulus applying means, and the display device 80 is used as the display means. However, the present invention is not limited to these, and a radar device such as a laser radar can be used as the obstacle detection means instead of the rear side camera 21.

1 is a system diagram of a vehicle driving assistance device according to a first embodiment of the present invention. The block diagram of the vehicle carrying the driving operation assistance apparatus for vehicles shown in FIG. The figure which shows the structure of a seat side shape change mechanism. The figure explaining the outline | summary of the control by 1st Embodiment. The figure which shows the example of a display of the risk potential with respect to a rear side vehicle. The figure which shows the example of a display of the risk potential with respect to a rear side vehicle. The flowchart which shows the process sequence of the driving operation assistance control program in the driving assistance device for vehicles of 1st Embodiment. (A) The figure which shows the control amount setting map at the time of winker non-operation, (b) The figure which shows the control amount setting map at the time of winker operation. (A) The figure which shows the control amount setting map at the time of winker non-operation, (b) The figure which shows the control amount setting map at the time of winker operation. The figure explaining the outline | summary of the control by 3rd Embodiment.

Explanation of symbols

20: Front camera 21: Rear side camera 30: Vehicle speed sensor 50: Controller 60: Winker reaction control device 70: Seat side shape changing mechanism 80: Display device

Claims (14)

Obstacle detection means for detecting other vehicles around the host vehicle;
Lane detection means for detecting a lane identification line of the own lane;
Based on the detection result by the obstacle detection means and the detection result by the lane detection means, a first risk potential based on the degree of approach between the host vehicle and the other vehicle, and the host vehicle and the lane identification line A risk potential calculating means for calculating a second risk potential based on the relative position ;
An operation reaction force generating means for generating an operation reaction force on the operation device operated by the driver;
Tactile stimulus applying means for applying tactile stimulus to the driver via tactile sense;
The operation reaction force generating means and the tactile stimulus application so as to transmit the first risk potential and the second risk potential calculated by the risk potential calculation means to the driver by the operation reaction force and the tactile stimulus. Control means for controlling the means,
The control means controls the operation reaction force generating means to increase the operation reaction force in accordance with the first risk potential, and the tactile sensation to increase the tactile stimulus in accordance with the second risk potential. controls the stimulus applying means, at least one rise of the first risk potential and the second risk potential Then, vehicle, characterized in that changing the operation reaction force or the tactile stimulation nonlinear Driving assistance device. The vehicle driving assistance device according to claim 1,
The obstacle detection means detects a rear side vehicle existing behind the host vehicle as the other vehicle . In the driving assistance device for vehicles according to claim 1 or 2 ,
The control means increases the output of the tactile stimulus based on the second risk potential according to the first risk potential when the first risk potential exceeds a predetermined value. Auxiliary device. In the driving assistance device for vehicles according to claim 1 or 2 ,
The control means sets the output of the tactile stimulus based on the first risk potential in addition to the second risk potential when the first risk potential and the second risk potential exceed a predetermined level. A driving operation assisting device for a vehicle. In the driving assistance device for vehicles according to claim 1 or 2 ,
It further comprises vibration generating means for generating vibration,
When the first risk potential exceeds a predetermined value, the control means gives vibration to the driver by the vibration generating means in addition to the tactile stimulus based on the second risk potential . Driving assistance device. The vehicle driving assistance device according to claim 3 ,
It further comprises vibration generating means for generating vibration,
When the first risk potential exceeds a second predetermined value greater than or equal to the predetermined value, the control means causes the driver to vibrate by the vibration generating means in addition to the tactile stimulus based on the second risk potential. A driving operation assisting device for a vehicle, characterized in that: In the driving assistance device for vehicles according to claim 1 or 2 ,
It further comprises vibration generating means for generating vibration,
When the first risk potential and the second risk potential exceed a predetermined level, the control means applies vibration to the driver by the vibration generation means in addition to tactile stimulation based on the second risk potential. A driving operation assisting device for a vehicle. The vehicle driving operation assistance device according to claim 4,
It further comprises vibration generating means for generating vibration,
When the first risk potential and the second risk potential exceed a second predetermined level higher than the predetermined level, the control means, in addition to the tactile stimulus based on the first risk potential and the second risk potential, A driving operation assisting device for a vehicle , wherein the driver is vibrated by the vibration generating means . In the driving assistance device for vehicles according to any one of claims 1 to 8 ,
The driving reaction assisting device for a vehicle, wherein the operation reaction force generating means generates the operation reaction force on a winker lever . The vehicular driving assist device according to any one of claims 1 to 9 ,
The vehicle tactile stimulus assisting device, wherein the tactile stimulus imparting means imparts the tactile stimulus to the driver by changing the shape of the left and right ends of the driver seat . In the driving assistance device for vehicles according to claim 1 or 2 ,
A vehicle driving operation assisting device , further comprising a winker sound control means for controlling a winker operation sound based on the first risk potential . In the driving assistance device for vehicles according to claim 1 or 2 ,
A vehicular driving assist device , further comprising display means for displaying the first risk potential . In the driving assistance device for vehicles according to any one of claims 5 to 8 ,
The vehicle driving operation assisting device , wherein the vibration generating means generates vibration in a driver's seat .   A vehicle comprising the vehicular driving assist device according to any one of claims 1 to 13.

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