JP4600314B2 - Driver psychological judgment device - Google Patents

Description

  The present invention relates to a driver psychological determination device that determines a driver's psychological state with high accuracy.

In order to improve safety during driving, various devices for determining a driver's psychological state such as rush or impatience have been proposed. As this determination device, for example, the actual inter-vehicle distance with the preceding vehicle is compared with the basic inter-vehicle distance corresponding to the vehicle speed at that time (psychological state determination standard), and the difference between the actual inter-vehicle distance and the basic inter-vehicle distance There is an apparatus for determining a psychological state based on the above (see Patent Document 1). In this device, when the actual inter-vehicle distance at a certain vehicle speed is shorter than the reference inter-vehicle distance necessary for ensuring safe driving, it is determined that the driver's psychological state is impatient.
JP 2003-51097 A

  The inter-vehicle distance from the preceding vehicle varies based on factors other than the driver's psychological state (for example, acceleration / deceleration of the preceding vehicle, traffic jam). For this reason, since the instantaneous length of the inter-vehicle distance does not necessarily reflect only the psychological state of the driver of the host vehicle, the psychological state of the driver cannot be determined with high accuracy simply by the magnitude relationship of the inter-vehicle distance.

  Then, this invention makes it a subject to provide the driver | operator psychology determination apparatus which determines a driver | operator's psychological state with high precision.

  A driver psychological determination device according to the present invention is a driver psychological determination device that determines a driver's psychological state, and a lane change prediction unit that predicts a lane change to another vehicle traveling in an adjacent lane; When the lane change predicting means predicts the lane change of the other vehicle to the own lane, the driver action detecting means for detecting the driver action performed by the driver of the own vehicle, and when the other vehicle changes the lane to the own lane The driver's psychological state is determined based on the difference between the storage means for storing the standard driver behavior of the driver, the driver behavior detected by the driver behavior detection means, and the standard driver behavior stored in the storage means And a driver psychological judgment means.

  In this driver psychological determination device, when it is predicted by the lane change predicting means that another vehicle traveling in the adjacent lane is going to change to the own lane, the driver behavior detecting means detects the driver's behavior. . The driver psychological judgment device reads standard driver behavior from the storage means. This standard driver behavior is a standardized behavior that a driver normally performs when another vehicle changes its lane to the own lane. In the driver psychological determination device, the driver psychological determination means compares the detected driver behavior with the read standard driver behavior, and determines the driver's psychological state from the difference. For example, when another vehicle tries to interrupt the front of the host vehicle, the driver takes an action that can be interrupted smoothly and an action that makes it difficult to interrupt the driver. The psychological state of is clearly different. Therefore, the driver's psychological state accurately appears in the action performed by the driver in response to the interruption of the other vehicle. As described above, the driver psychological determination device can determine the driver's psychological state with high accuracy.

  In the driver psychological determination device of the present invention, the driver action may be an action of changing the inter-vehicle distance.

  In this driver psychological determination device, the driver behavior detection means detects the inter-vehicle distance from the preceding vehicle as the driver behavior. Further, in the driver psychological judgment device, at least the inter-vehicle distance that the driver normally secures when the other vehicle has changed to the own lane as the standard driver behavior is stored in the storage means. In the driver psychological determination device, the driver psychological determination means compares at least the detected inter-vehicle distance with the inter-vehicle distance in the standard driver behavior, and determines the driver's psychological state from the difference. When another vehicle enters the vehicle, the interruption can be performed smoothly as the distance between the host vehicle and the preceding vehicle increases, and the interruption becomes difficult as the distance between the vehicles decreases. Therefore, the driver's psychological state can be accurately determined by paying attention to at least the change in the inter-vehicle distance as the driver action. The action of changing the inter-vehicle distance includes maintaining the inter-vehicle distance.

  In the driver psychological determination device of the present invention, the driver behavior may be behavior that changes the vehicle speed.

  In this driver psychological judgment device, the vehicle speed is detected as the driver behavior by the driver behavior detecting means. Further, in the driver psychological judgment device, the vehicle speed at which the driver normally travels is stored in the storage means as at least the other vehicle has changed to the own lane as the standard driver behavior. In the driver psychological determination device, the driver psychological determination means compares at least the detected vehicle speed with the vehicle speed in the standard driver behavior, and determines the driver's psychological state from the difference. When another vehicle enters, the interruption can be performed smoothly as the vehicle speed of the host vehicle decreases, and the interruption becomes difficult as the vehicle speed increases. Therefore, the driver's psychological state can be determined by paying attention to at least the change in the vehicle speed as the driver action. The action of changing the vehicle speed includes maintaining the vehicle speed.

  In the driver psychological judgment device of the present invention, the standard driver behavior may be set based on the driver behavior when another vehicle has changed the lane to the own lane in the past by the driver of the own vehicle. .

  In this driver psychological determination device, the standard driver behavior set based on the behavior taken by the driver of the own vehicle when another vehicle has changed to the own lane in the past is stored in the storage means. The standard driver behavior stored in the storage means is based on the detected driver behavior when the driver behavior detection means detects the driver behavior when the lane change to the own lane is predicted. To set. Then, the driver psychological judgment device reads out standard driver behavior based on behavior taken in the past of the driver of the host vehicle from this storage means, and performs comparison and judgment. In this way, by using the actions taken by the driver of the vehicle in the past, it is compared with the driving characteristics of each driver rather than the general driving characteristics, so the driver's psychological state is further enhanced. The accuracy can be determined.

  In the driver psychological determination device of the present invention, the standard driver behavior may be set based on the driver behavior when the driver's psychological state is a normal state.

  In this driver psychological judgment device, the standard driver behavior set based on the behavior taken when the psychological state of the driver is in a normal state is stored in the storage means. And in a driver | operator psychology determination apparatus, the standard driver | operator action based on the action | operation which the driver | operator took in the normal state is read from this memory | storage means, and a comparison and determination are performed. Thus, by using the action taken when the driver is in a normal state as a criterion for determination, the psychological state of the driver can be determined with higher accuracy.

  The driver behavior is various behaviors performed by the driver during driving. For example, the behavior for changing the vehicle speed and acceleration, the behavior for changing the inter-vehicle distance with the preceding vehicle, and the vehicle speed and the inter-vehicle distance are changed. This is an action of confirming an accelerator operation, a brake operation, another vehicle or a vehicle ahead that is about to change lanes.

  The present invention can determine the driver's psychological state with high accuracy by paying attention to the behavior of the driver when the other vehicle has changed to the own lane.

  DESCRIPTION OF EMBODIMENTS Embodiments of a driver psychological determination device according to the present invention will be described below with reference to the drawings.

  In the present embodiment, the driver psychological determination device of the present invention is applied to a driver psychological determination device that determines a driver's rush state (impression state). The driver psychological determination device according to the present embodiment determines the rush state based on the action performed by the driver in response to a scene where another vehicle in the adjacent lane interrupts ahead of the host vehicle.

  With reference to FIG.1 and FIG.2, the driver | operator psychology determination apparatus 1 which concerns on this Embodiment is demonstrated. FIG. 1 is a configuration diagram of a driver psychological determination device according to the present embodiment. FIG. 2 is a schematic diagram showing when another vehicle traveling in the adjacent lane is about to interrupt the front of the host vehicle.

  The driver psychological determination device 1 determines a scene in which another vehicle is about to interrupt forward, and the action taken by the driver of the own vehicle in that scene and the action normally taken by the driver in that scene (standard driver) The driver's rush state is determined based on the comparison with the action). For this purpose, the driver psychological determination device 1 includes a driver information recognition unit 2, an environment information recognition unit 3, a vehicle information recognition unit 4, and a quick determination ECU [Electronic Control Unit] 5.

  The driver information recognition unit 2 includes a face orientation / line-of-sight recognition ECU 20 and the like. The face direction / line-of-sight recognition ECU 20 recognizes the driver's face direction and line of sight based on the captured image around the driver's face captured by the camera, and transmits the recognition information to the urgent determination ECU 5.

  The environment information recognition unit 3 includes a forward vehicle vehicle speed / distance recognition ECU 30, a side vehicle vehicle speed / distance recognition ECU 31, a white line recognition ECU 32, a traffic environment information acquisition communication device 33, a car navigation system 34, and the like. The forward vehicle vehicle speed / distance recognition ECU 30 determines whether there is a forward vehicle and the forward vehicle if there is a forward vehicle based on an image captured in front of the vehicle captured by a camera or radar information forward of the vehicle by a radar sensor. The vehicle speed and the distance to the preceding vehicle are recognized, and the recognition information is transmitted to the urgent determination ECU 5. The side vehicle vehicle speed / distance recognition ECU 31 captures a captured image on the right side of the host vehicle and a captured image on the left side of the host vehicle, or radar information on the right side of the host vehicle and a left side of the host vehicle by a plurality of radar sensors. If there is a right side vehicle, a left side vehicle, and a side vehicle based on radar information, the vehicle speed of the side vehicle and the distance and direction from the side vehicle are recognized and recognized. Information is transmitted to the urgent determination ECU 5. In particular, in the case of the side vehicle vehicle speed / distance recognition ECU 31 that performs recognition based on a captured image, whether or not the lane side blinker on which the host vehicle is traveling is turned on based on the captured image when a side vehicle is present. Recognize. The white line recognition ECU 32 recognizes the left and right white lines of the lane in which the host vehicle is traveling based on the captured image in front of the host vehicle captured by the camera, and determines the lane width and the positional relationship between the position of the host vehicle and the left and right lanes. It recognizes and transmits the recognized information to urgent judgment ECU5. The traffic environment information acquisition communication device 33 communicates with a communication device installed on the road side such as VICS [Vehicle Information Communication System], acquires various types of information such as traffic jam information, and determines the acquired information as soon as possible. Send to. The car navigation system 34 is a system that performs detection of the current position and traveling direction of the host vehicle, route guidance to the destination, and the like, and transmits these pieces of information to the urgent determination ECU 5. Further, the car navigation system 34 transmits information on the road on which the host vehicle is traveling (such as a merging section) to the urgent determination ECU 5.

  The vehicle information recognition unit 4 includes an accelerator operation recognition ECU 40, a brake operation recognition ECU 41, a vehicle speed recognition ECU 42, an acceleration recognition ECU 43, and the like. The accelerator operation recognition ECU 40 recognizes the presence / absence of the accelerator operation, the operation start time, the operation end time, the accelerator opening, and the like based on the accelerator pedal depression information by the accelerator sensor, and transmits the recognized accelerator operation information to the ECU 5 as soon as possible. To do. The brake operation recognition ECU 41 recognizes the presence / absence of the brake operation, the operation start time, the operation end time, the depression amount, and the like based on the brake pedal depression information from the brake sensor, and transmits the recognized brake operation information to the ECU 5 in a hurry. . The vehicle speed recognition ECU 42 recognizes the vehicle speed of the host vehicle based on wheel speed information from the wheel speed sensor and transmits the recognized vehicle speed to the urgent determination ECU 5. The acceleration recognition ECU 43 recognizes the acceleration in the longitudinal direction of the host vehicle based on the acceleration information from the acceleration sensor, and transmits the recognized longitudinal acceleration to the urgent determination ECU 5.

  The urgent determination ECU 5 includes a CPU [Central Processing Unit], a ROM [Read Only Memory], a RAM [Random Access Memory], and the like. The urgent determination ECU 5 takes in the recognition information from the information recognition units 2, 3 and 4. The urgent determination ECU 5 determines whether or not the other vehicle is about to interrupt the front of the host vehicle based on various types of recognition information. When it is determined that an interruption is about to occur, the urgent determination ECU 5 detects an action taken by the driver based on various types of recognition information. Further, the urgent determination ECU 5 compares the currently detected driver behavior with the stored standard driver behavior, and determines that the driver is in an urgent state (impression state) based on the difference between the driver behavior and the standard driver behavior. ) Or not.

  In the present embodiment, the processing in the driver information recognition unit 2, the environment information recognition unit 3, the vehicle information recognition unit 4 and the rush determination ECU 5 corresponds to the driver behavior detection means described in the claims. The RAM in the urgent determination ECU 5 corresponds to a storage unit described in the claims, and each process in the urgent determination ECU 5 corresponds to a lane change prediction unit and a driver psychological determination unit described in the claims.

  Standard driver actions are various actions taken when the driver is in a normal state in a situation where another vehicle in the adjacent lane is about to interrupt the front of the vehicle (and driving so that the interruption can be performed smoothly). Are stored in a predetermined area of the RAM. The stored standard driver behavior includes the distance from the preceding vehicle in the own lane, the vehicle speed, acceleration, accelerator opening, the time from when the interrupt is detected until the accelerator is operated, the amount of brake depression, after the interrupt is detected. This is a standard value such as the time from the start to the brake operation, the gaze distribution amount between the vehicle ahead and the other vehicle to be interrupted. The standard driver behavior may be memorized only once among the actions taken by the driver in the scene, may be memorized only a predetermined number of times, or memorized every time. Also good. In the case of storing a plurality of times, data averaged about the actions taken by the driver is stored.

  When comparing the detected driver behavior with the standard driver behavior, if the driver performs an action that is different from the action that the driver normally performs in the scene of interruption, the driver can determine that the psychological state is different from the normal state. . In particular, it can be assumed that the driver is in a hurry when he / she takes a driver's action that makes it difficult to interrupt than usual or when his / her attention to other vehicles to be interrupted is low. Actions that are estimated in this way include actions that reduce the inter-vehicle distance, actions that increase vehicle speed and acceleration, actions that perform an accelerator operation quickly after detecting an interruption, and actions that cause little attention to other vehicles to be interrupted. As a determination result of the psychological state, it may be determined whether it is a normal state or a rush state, and the rush degree (impression degree) may be determined in a plurality of stages from the degree of difference from the standard driver behavior. .

  The condition of the other vehicle to be subjected to the interruption determination is an other vehicle that satisfies the following two conditions. The first condition is whether there is a tip of another vehicle V1 traveling in the adjacent lane ahead of the tip of the host vehicle V0. The second condition is that there is a rear end of the other vehicle V1 traveling in the adjacent vehicle behind the rear end of the preceding vehicle V2 traveling in the own lane, or the distance between the other vehicle V1 traveling in the adjacent lane and the own vehicle V0. This is a condition that (distance along the traveling direction) is within a distance threshold. By narrowing down the other vehicles (ranges) for which the interruption determination is performed by this condition determination, the processing load is reduced and the determination accuracy of the other vehicle trying to interrupt is improved.

  The interrupt determination condition for determining the other vehicle that is about to interrupt is the other vehicle that satisfies one of the following two conditions among the other vehicles that satisfy the condition for performing the interrupt determination. It is a vehicle. The first condition is a condition as to whether or not the other vehicle V1 subject to interruption determination is lit in the lane direction in which the vehicle V0 travels. The second condition is a condition that the other vehicle V1 subject to interruption determination is close to the lane in which the host vehicle V0 is traveling and whether the relative speed with the host vehicle V0 is within a speed threshold. In addition, when the lighting information of the turn signal of other vehicles cannot be obtained in the environment information recognition unit 3, the determination is performed only under the second condition.

  First, the urgent determination ECU 5 acquires information on a road on which the host vehicle V0 is traveling based on information from the car navigation system 34 and information from the traffic environment information acquisition communication device 33. The information acquired here is information on whether or not there is a high possibility that another vehicle will interrupt from the adjacent lane as the road environment. For example, whether the surrounding area is a merging section or whether it is congested Information on whether or not. Then, the urgent determination ECU 5 determines whether or not the road has a high possibility of another vehicle entering from the adjacent lane based on the acquired information. When it is determined that the road has a high possibility of being interrupted, the urgent determination ECU 5 performs correction so as to relax the interrupt determination condition described above in order to lower the determination condition of the other vehicle that is about to interrupt. Specifically, in the interrupt determination condition, the speed threshold for determining the relative speed between the other vehicle V1 to be interrupted and the host vehicle V0 is increased to relax the interrupt determination condition. Moreover, since the conditions for determining other vehicles that are trying to interrupt are reduced by relaxing the conditions for other vehicles that are subject to interrupt determination, the other vehicles V1, V3, V4,. The distance threshold for determining each distance from the host vehicle V0 is lengthened, and the interrupt determination condition is relaxed.

  Next, in the urgent determination ECU 5, the front ends of the other vehicles V1, V3, V4,... Traveling in the adjacent lane are ahead of the front end of the host vehicle V0 based on information from the side vehicle vehicle speed / distance recognition ECU 31. And the distance along the traveling direction between the host vehicle V0 and the other vehicles V1, V3, V4. Further, in the rush determination ECU 5, the rear ends of the other vehicles V1, V3, V4,... Are based on the information from the side vehicle vehicle speed / distance recognition ECU 31 and the information from the front vehicle vehicle speed / distance recognition ECU 30. It is determined whether the vehicle is behind the preceding vehicle V2 traveling on the road. Then, the urgent determination ECU 5 determines whether or not there is another vehicle that satisfies the conditions of the other vehicle to be subjected to the above-described interruption determination among the other vehicles V1, V3, V4... Traveling in the adjacent lane. judge. Here, other vehicles that may interrupt in front of the host vehicle V0 are narrowed down.

  If it is determined that there is another vehicle V1 to be subjected to the interruption determination, the urgent determination ECU 5 determines that the other vehicle V1 to be subjected to the interruption determination is based on the information from the side vehicle vehicle speed / distance recognition ECU 31. It is determined whether the blinker on the lane side is turned on. In the urgent determination ECU 5, the other vehicle V1 to be subjected to the interruption determination is approaching the lane side of the own vehicle V0 based on the information from the side vehicle vehicle speed / distance recognition ECU 31 and the information from the white line recognition ECU 32. It is determined whether or not. Further, the urgent determination ECU 5 calculates the relative speed between the other vehicle V1 to be subjected to the interruption determination and the own vehicle V0 based on the information from the side vehicle vehicle speed / distance recognition ECU 31 and the information from the vehicle speed recognition ECU 42. . Then, the urgent determination ECU 5 determines whether or not the above-described interrupt determination condition is satisfied for the other vehicle V1 to be subjected to the interrupt determination. Here, it is predicted whether the other vehicle V1 is going to interrupt in front of the host vehicle V0. In addition, when there are a plurality of other vehicles to be subjected to the interruption determination, the determination is performed for each vehicle.

  When it is determined that the other vehicle V1 to be subjected to the interrupt determination satisfies the interrupt determination condition (that is, when there is another vehicle trying to interrupt in front of the host vehicle V0), the urgent determination ECU 5 determines that the other vehicle V1 Starts detecting the behavior of the driver of the host vehicle V0 when he is about to interrupt, and temporarily stores the driver's behavior. Specifically, the urgent determination ECU 5 calculates the gaze distribution between the driver's own vehicle front and the direction of the other vehicle V1 to be interrupted based on the information from the face direction / line-of-sight recognition ECU 20, Temporarily store gaze distribution. Further, if the preceding vehicle V2 exists based on the information from the forward vehicle vehicle speed / distance recognition ECU 30, the urgent determination ECU 5 acquires the inter-vehicle distance from the preceding vehicle V2, and temporarily stores the inter-vehicle distance. . Further, the urgent determination ECU 5 acquires the vehicle speed and acceleration of the host vehicle V0 based on the information from the vehicle speed recognition ECU 42 and the information from the acceleration recognition ECU 43, and temporarily stores the vehicle speed and acceleration. Further, the urgent determination ECU 5 determines whether or not the accelerator operation has been performed based on the information from the accelerator operation recognition ECU 40, and if the accelerator is operated, the accelerator is turned on (or when the accelerator opening degree or the interrupt determination condition is satisfied) ), And the accelerator information is temporarily stored. Further, the urgent determination ECU 5 determines whether or not the brake operation has been performed based on the information from the brake operation recognition ECU 41, and when the brake operation is performed, the brake ON ( Alternatively, the time until the additional step) is acquired, and these pieces of brake information are temporarily stored.

  After the temporary storage of the driver behavior is started, the urgent determination ECU 5 determines whether or not the other vehicle V1 that satisfies the interrupt determination condition no longer satisfies the interrupt determination condition or the condition of the other vehicle for which the interrupt determination is performed. To do. There are two cases where the interrupt determination condition or the condition of the other vehicle for which the interrupt determination is performed is not satisfied, when the other vehicle V1 finishes interrupting the front of the host vehicle V0 and when the other vehicle V1 stops interrupting. . For example, when the interruption is finished, the other vehicle V1 comes in front of the host vehicle V0, and therefore, the other vehicle traveling in the adjacent lane is no longer, so the condition is not satisfied. When interruption is stopped, the turn signal is turned off, the other vehicle V1 is separated from the lane of the own vehicle V0, the own vehicle V0 is in front of the other vehicle V1, or the distance between the own vehicle V0 and the other vehicle V1. Will not meet the conditions.

  When it is determined that the other vehicle V1 to be subjected to the interruption determination no longer satisfies the interruption determination condition or the conditions of the other vehicle to be subjected to the interruption determination, the urgent determination ECU 5 ends the detection of the driver action and temporarily The memory is also terminated. Then, the urgent determination ECU 5 reads the standard driver action stored in the RAM. Further, the urgent determination ECU 5 compares the standard driver behavior with the temporarily stored driver behavior. In this comparison, depending on the current driver behavior, the inter-vehicle distance between the host vehicle V0 and the preceding vehicle V2 is increased or decreased from the inter-vehicle distance of the standard driver behavior, or the vehicle speed of the host vehicle V0 is compared with the vehicle speed of the standard driver behavior. Whether the acceleration of the host vehicle V0 is lower or higher than the acceleration of the standard driver behavior, whether the driver has operated the accelerator, and if the accelerator is operated, the accelerator is opened. Whether the degree of acceleration is smaller or larger than the accelerator opening of the standard driver action, or the time from when the interrupt judgment condition is satisfied until the accelerator is turned on (or increased) is longer or shorter than the time of the standard driver action Whether the brake operation has been performed, or if the brake operation has been performed, the brake is turned ON (or Whether the time until the increase is) is shorter or longer than the standard driver action time, or whether the attention distribution between the front of the host vehicle and other vehicles is more allocated to the front side of the host vehicle than the attention distribution of the standard driver action. is there. Here, the action taken by the driver this time is compared with the action taken by the driver in the normal state, and the difference is detected.

  As a result of this comparison, the urgent determination ECU 5 determines that the driver is in a normal state when it is determined that the driver has taken an action that smoothly interrupts, and the action that makes it difficult for the driver to interrupt. When it is determined that an action with low attention to the other vehicle V1 to be interrupted is taken, the driver determines that the driver is in a rushing state. Actions that cause a smooth interruption by the driver are actions that increase the inter-vehicle distance, actions that decelerate (action that lowers the vehicle speed), actions that turn on the brake, and actions that take a short time to turn on the brake. Actions that are difficult to interrupt by the driver are actions that reduce the distance between vehicles, actions that accelerate (actions that increase the vehicle speed), actions that turn on the accelerator, and actions that take a short time to turn on the accelerator. The action with low attention to the other vehicle V1 to be interrupted is an action in which the direction of the other vehicle V1 is not seen at all or hardly seen. Here, the driver's psychological state is determined from the difference between the action taken by the driver this time and the action taken when the driver is in a normal state.

  When it is determined that the state is normal, the urgent determination ECU 5 resets the standard driver behavior based on the temporarily stored driver behavior and stores the reset standard driver behavior in a predetermined area of the RAM. . Here, the standard driver behavior already stored and the current driver behavior are averaged, and the standard driver behavior is reset.

  When it is determined that the state is in a rush state, the driver psychological determination device 1 uses the information for alerting and improving safety. For example, let the driver recognize that he is in a hurry, generate a message or display image that encourages safe driving, and output it to the speaker and display, or drive the vehicle to a driving assistance system (pre-crash safety system, adaptive cruise) When a control system, a lane keep system, etc.) are installed, an instruction signal for changing the control timing is transmitted.

  According to this driver psychological judgment device 1, by comparing the action taken by the driver in a scene where another vehicle interrupts forward with the standard driver action in that scene, the driver's rush state is increased. The accuracy can be determined. In particular, the driver psychological judgment device 1 sets the driving characteristics of each driver by setting the standard driving action based on the past action taken when the driver of the vehicle in the interruption scene is in a normal state. Accordingly, more accurate determination can be performed.

  Furthermore, safety can be improved by determining the urgent state in the driver psychological determination apparatus 1 and using the determination result with high accuracy.

  As mentioned above, although embodiment which concerns on this invention was described, this invention is implemented in various forms, without being limited to the said embodiment.

  For example, in the present embodiment, the configuration is such that the urgent state is determined as the driver's psychological state, but other psychological states may be determined.

  Further, in this embodiment, when there is a high possibility of interruption from road information, the correction is made so as to relax the interrupt determination condition. However, such a correction may not be made.

  Further, in the present embodiment, the configuration is such that the other vehicles that perform the interrupt determination are narrowed down by the condition determination of the other vehicle that is the target of the interrupt determination. However, such a configuration that does not perform such a condition determination may be used.

  In this embodiment, two conditions are shown as the interrupt determination conditions. However, the determination may be performed under conditions other than these two conditions. For example, there is a determination condition based on a lateral distance between the host vehicle and another vehicle in the adjacent lane.

  Further, in the present embodiment, some behaviors are shown as driver behaviors, but all of these behaviors may not be driver behaviors, or behaviors other than these several behaviors Or driver behavior. For example, whether or not a horn is sounded.

  Further, in the present embodiment, some comparisons and determination methods of driver behavior and standard driver behavior are shown, but some of these comparisons and determinations may not be performed, and at least one comparison and determination is performed. Determination may be performed, or comparison and determination other than these may be performed. For example, whether or not a horn is sounded is also added to the determination condition.

It is a block diagram of the driver | operator psychological determination apparatus which concerns on this Embodiment. It is a schematic diagram which shows when the other vehicle which is drive | working an adjacent lane is going to interrupt ahead of the own vehicle.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 ... Driver psychological determination apparatus, 2 ... Driver information recognition part, 3 ... Environmental information recognition part, 4 ... Vehicle information recognition part, 5 ... Early determination ECU, 20 ... Face direction and gaze recognition ECU, 30 ... Forward vehicle vehicle speed Distance recognition ECU 31 ... Side vehicle vehicle speed / distance recognition ECU 32 ... White line recognition ECU 33 ... Communication device for acquiring traffic environment information 34 ... Car navigation system 40 ... Accelerator operation recognition ECU 41 ... Brake operation recognition ECU, 42 ... Vehicle speed recognition ECU, 43 ... Acceleration recognition ECU

Claims (5)

A driver psychological determination device for determining a driver's psychological state,
Lane change prediction means for predicting a lane change to the own lane of another vehicle traveling in the adjacent lane;
When the lane change predicting means predicts a lane change to the own lane of another vehicle, a driver action detecting means for detecting a driver action performed by the driver of the own vehicle;
Storage means for storing standard driver behavior when another vehicle changes lanes to its own lane;
A driver psychological determination unit that determines a driver's psychological state based on a difference between the driver behavior detected by the driver behavior detection unit and a standard driver behavior stored in the storage unit. A driver psychological judgment device.   The driver psychological determination device according to claim 1, wherein the driver action is an action of changing an inter-vehicle distance.   The driver psychological determination device according to claim 1, wherein the driver behavior is behavior that changes a vehicle speed.   The standard driver behavior is set based on the driver behavior when another vehicle has changed the lane to the own lane in the past by the driver of the own vehicle. The driver psychological determination device according to item 1. 5. The driver psychological determination according to claim 1, wherein the standard driver behavior is set based on the driver behavior when the psychological state of the driver is a normal state. apparatus.

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