JP4696831B2 - Vehicle driving support device - Google Patents

Description

  The present invention relates to a vehicular driving support apparatus that alerts a driver to urge a driver to pause at a pause point.

Conventionally, a navigation system that outputs map information including a point to be temporarily stopped and the vehicle position, distance calculation means for calculating a distance between the temporary stop point and the vehicle position, and a driver's intention to stop A stop will determination means for determining the presence or absence of the vehicle, and a warning means for issuing a warning to the driver when it is determined that the calculated value of the distance is equal to or less than a predetermined value and the driver does not intend to stop. (See, for example, Patent Document 1).
JP 10-76922 A

  However, in the above-described conventional technology, when a predetermined condition is satisfied with a parameter such as a distance between the temporary stop point and the vehicle position, driving support control such as alarm output is performed. Since unnecessary conditions (passive conditions) are not taken into consideration, unnecessary driving support control may be performed.

  Therefore, an object of the present invention is to provide a vehicle driving support device that can appropriately prevent unnecessary driving support control.

In order to solve the above problems, according to one aspect of the present invention, the vehicle position detection means,
A pause point detecting means for detecting a pause point ahead in the traveling direction;
Traveling state detecting means for detecting the traveling state of the vehicle including the vehicle speed ;
Distance calculating means for calculating the distance between the detected vehicle position and the position of the temporary stop point;
Based on at least the detected running state and the calculated distance, a warning output means for prompting the driver to stop at the temporary stop point;
Based on the detected running state and the calculated distance, a suspension result determination means for determining whether or not a predetermined suspension state has been formed at least once for the suspension point ;
When it is determined that the predetermined temporary stop state has been formed at least once by the temporary stop record determination means, prohibiting attention by the attention output means at the temporary stop point ,
The predetermined pause state includes a state where the vehicle position is within a predetermined distance with respect to the temporary stop point, and the vehicle speed is equal to or lower than the predetermined vehicle speed,
The vehicle driving support device is provided in which the predetermined distance is increased when a forward vehicle traveling in the same direction as the host vehicle is present in front of the temporary stop point as compared with a case where the forward vehicle is not present. The

  ADVANTAGE OF THE INVENTION According to this invention, the driving assistance device for vehicles which can prevent appropriately unnecessary driving assistance control can be obtained.

  The best mode for carrying out the present invention will be described below with reference to the drawings.

  FIG. 1 is a system configuration diagram showing an embodiment (Example 1) of a vehicle driving support apparatus according to the present invention. The vehicle driving support apparatus according to the present embodiment is configured around an electronic control unit 100 (hereinafter referred to as “driving support ECU 100”). Similar to a normal ECU (electronic control unit), the driving support ECU 100 is configured as a microcomputer including a CPU, a ROM, a RAM, and the like connected to each other via a bus (not shown).

  In the driving assistance ECU 100, various electronic components in the vehicle (various sensors such as a vehicle speed sensor and various ECUs) are provided in addition to the alert output means 90 via an appropriate communication network such as CAN (controller area network). Connected. The alerting output means 90 may be any device that can alert the driver (driver), such as an indicator, a display, or audio. The output mode of the alert by the alert output unit 90 may be implemented in any manner including acoustic, visual, and tactile (eg, vibration generation).

  As shown in FIG. 1, the driving support ECU 100 includes a temporary stop point information acquisition unit 10, a host vehicle position information acquisition unit 12, a travel route estimation unit 14, a host vehicle state estimation unit 16, a driver stop intention estimation unit 18, and The remaining distance calculating means 20 is provided.

  The temporary stop point information acquisition means 10 acquires temporary stop point information from a map database composed of HDD, DVD, CD-ROM or the like. The temporary stop point information is the position / coordinates of the temporary stop point (for example, the temporary stop line), and may be recorded in advance as map data, for example, or the detection result of the temporary stop line of the front camera or the back camera ( Stop line recognition result) and may be stored in the map database afterwards. In this case, the map database is preferably composed of a writable recording medium such as a hard disk.

  The own vehicle position information acquisition means 12 includes various sensors such as a GPS (Global Positioning System) receiver, a beacon receiver, an FM multiplex receiver, a vehicle speed sensor, and a gyro sensor. The own vehicle position is measured and calculated based on a GPS signal output from a GPS satellite via a GPS antenna by a GPS receiver (for example, a calculation cycle of 0.1 second). The positioning method may be any method such as independent positioning or relative positioning (including interference positioning), but preferably relative positioning with high accuracy is used. At this time, the vehicle position may be corrected based on outputs from various sensors such as a vehicle speed sensor and a gyro sensor, and various information received via the beacon receiver and the FM multiplex receiver. Further, the vehicle position may be appropriately corrected using the map information in the map database by a known map matching technique.

  The travel route estimation means 14 estimates the travel route of the vehicle based on, for example, a recommended route (route guidance) set for the destination in the navigation system.

  When there is a temporary stop point on the travel route estimated by the travel route estimation unit 14, the remaining distance calculation unit 20 is a distance D between the temporary stop point and the vehicle position (remaining distance D to the temporary stop point). Is calculated (see FIG. 2). Here, the temporary stop point is typically a point on the temporary stop line before the intersection where there is no traffic light or the traffic light is not functioning. The distance D between the temporary stop point and the vehicle position is calculated based on the vehicle position information from the vehicle position information acquisition unit 12 and the position information of the temporary stop point from the temporary stop point information acquisition unit 10. When the position information of the temporary stop point (temporary stop line) cannot be acquired, the distance D may be estimated and calculated based on the position information of the intersection. Or the distance D of a temporary stop point and the own vehicle position may be calculated based on the image acquired with the vehicle-mounted camera (not shown).

  The own vehicle state estimating means 16 acquires vehicle state information of the own vehicle through communication with various electronic components in the vehicle. The vehicle state information is mainly vehicle speed data supplied from a wheel speed sensor. However, the vehicle state information may include output data such as an acceleration sensor, a yaw rate sensor, a shift position sensor that detects a shift operation position, and a steering sensor that detects an operation mode of a steering wheel.

  The driver stop intention estimating means 18 estimates whether or not the driver has an intention to pause based on the accelerator pedal operation amount (or throttle opening), the brake pedal operation amount, and the like.

  As shown in FIG. 1, the driving support ECU 100 includes a temporary stop record determination unit 30, a caution call necessity determination unit 32, and a caution call record storage unit 34.

  Based on the distance D from the remaining distance calculation means 20 and the vehicle state information from the own vehicle state estimation means 16, the temporary stop result determination means 30 performs the temporary stop for the temporary stop point that is about to pass this time. It is determined whether or not a predetermined pause state has been formed within a predetermined distance before the point.

  Here, the predetermined pause state may be a state where the distance D is equal to or less than the predetermined distance Xr [m] and the vehicle speed is equal to or less than the predetermined vehicle speed Vr [km / h]. Alternatively, the predetermined pause state is a state in which the distance D is equal to or less than the predetermined distance Xr [m] and the vehicle speed is equal to or less than the predetermined vehicle speed Vr [km / h] for a predetermined time Tr [sec] or longer. There may be. The state where the distance D is equal to or less than the predetermined distance Xr [m] is a state where the vehicle is sufficiently close to the temporary stop point, and the predetermined distance Xr may be set within a range of 10 to 20 [m], for example. Further, the state where the vehicle speed is equal to or lower than the predetermined vehicle speed Vr [km / h] is a state where the vehicle speed is sufficiently low to be able to stop at the temporary stop point, and is set within a range of, for example, 5 to 10 [km / h]. It's okay. The predetermined time Tr may be a time sufficient to perform the above determination with high accuracy not affected by noise or the like.

  When it is determined that the predetermined pause state has been formed at least once, the temporary stop record determination means 30 sets a flag indicating that there is a stop record (the value of the flag is changed from, for example, an initial value of zero to one). ). Hereinafter, this flag is referred to as a “pause record flag”. The temporary stop record flag is returned to an initial value (for example, zero) at a point where the vehicle has passed the temporary stop point, for example.

  The alerting necessity determination means 32 includes the distance D from the remaining distance calculation means 20, the vehicle state information from the own vehicle state estimation means 16, and the estimation result from the driver stop intention estimation means 18 (the driver's intention to pause temporarily). On the basis of the estimation result of whether or not there is a predetermined alerting execution condition is satisfied, and if the alerting execution condition is satisfied, the alert output means 90 A reminder execution instruction is output.

For example, the alerting necessity determination unit 32 determines the deceleration Gx [m / s required for stopping at the temporary stop line based on the distance D to the temporary stop point and the vehicle speed v, for example, by the following formula. ² ] (required deceleration Gx) is calculated.
Gx = v ² / (2 × D1)
Here, the vehicle speed v may be assumed to be easily maintained at the current vehicle speed V0, or a subsequent acceleration / deceleration mode that can be estimated based on the vehicle speed history up to now is taken into account. Good. Next, the alerting necessity determination unit 32 determines whether the required deceleration Gx exceeds a predetermined threshold. When the necessary deceleration Gx exceeds a predetermined threshold, the alerting necessity determination unit 32 determines that the alerting execution condition is satisfied, and outputs an alerting execution instruction to the alerting output unit 90. .

  The alerting result storage unit 34 stores the alerting result by the alerting output unit 90 at the time of passing this time for the temporary stop point about to pass this time. Based on the determination result from the alerting necessity determination unit 32, the alerting result storage unit 34 performs the alerting by the alerting output unit 90 in the section before the temporary stop point that is about to pass this time. Sets a flag indicating that there is an alerting result (the value of the flag is changed from an initial value of zero to 1, for example). Hereinafter, this flag is referred to as an “attention achievement flag”. The attention achievement flag is returned to an initial value (for example, zero) at a point where the vehicle has passed a temporary stop point, for example.

  The alert output unit 90 responds to the alert execution instruction from the alert necessity determination unit 32 while referring to the states of the two flags (that is, the temporary stop result flag and the alert result flag). Specifically, when neither the temporary stop record flag nor the alert result flag is set, the alert is executed in response to the alert execution instruction from the alert necessity determination unit 32, When either the stop record flag or the alert result flag is set, the alert is not executed regardless of the alert execution instruction from the alert necessity determination means 32. That is, the operation of the alerting output means 90 becomes impossible when either the temporary stop record flag or the alerting achievement flag is set.

  Therefore, according to the present embodiment, if there is a stop record at the time of passing this time or if there is a reminder record for the temporary stop point, alerting is prohibited, so unnecessary reminder is appropriate. Can be prevented. In other words, when there is a stop record at the time of passing this time, by disabling alerting, the operation of the alerting output means 90 can be prohibited from an early stage. Unnecessary alerting due to a determination error can be reliably prevented. In addition, if there is a record of alerting at the time of passing this time, prohibiting alerting prevents a plurality of unnecessary alerts and prevents the driver from being bothered.

  In the present embodiment, the alerting necessity determination unit 32 may determine whether to perform deceleration control (intervention) in addition to alerting. For example, the alerting necessity determination unit 32 determines whether or not two or more different driving assistances should be executed in the order of alerting and deceleration control (intervention) as the distance between the vehicle position and the temporary stop point decreases. You may judge. The deceleration control (intervention) is typically a forced operation of a brake actuator according to a required deceleration, but in the case of a hybrid vehicle, a regenerative brake by an electric motor may be added, and the engine , You may receive deceleration assistance by a transmission or the like. In this case, the final execution possibility of the deceleration control, or the execution mode in the case of the execution, the two flags as described above (that is, the temporary stop result flag and the attention call) are the same as the final execution possibility of the warning. It may be determined according to the state of the result flag).

  FIG. 3 is a system configuration diagram showing an embodiment (Example 2) of the vehicle driving support apparatus according to the present invention. Hereinafter, the same components as those in the first embodiment are denoted by the same reference numerals, and the description thereof is omitted.

  As shown in FIG. 3, the driving assistance ECU 100 includes a forward vehicle detection unit 22. The forward vehicle detection means 22 detects a forward vehicle that is located in front of the temporary stop point and travels in the same direction as the own vehicle, like the own vehicle. The front vehicle detection means 22 may be, for example, an in-vehicle front camera (and its image processing device). In this case, the front camera is mounted so as to capture a landscape in front of the vehicle, for example, a rear mirror in the vehicle interior. The vehicle in front is fixed on the back surface and the front vehicle is image-recognized using a captured image of the in-vehicle front camera. Alternatively, the forward vehicle detection means 22 may be an in-vehicle radar, and in this case, the in-vehicle radar may be disposed in a front bumper or a front grill, for example. Or the front vehicle detection means 22 may detect a front vehicle via vehicle-to-vehicle communication or road-to-vehicle communication. In the case of road-to-vehicle communication, the front vehicle may be detected by a vehicle detector such as a camera installed on the road side.

  The temporary stop record determination means 30 of the present embodiment changes the above-described temporary stop record determination method according to the detection result by the forward vehicle detection means 22. This is because when the presence of a forward vehicle is detected, the vehicle speed tends to decrease before the temporary stop point, compared to when the presence of a forward vehicle is not detected. This is because it can be determined that the temporary stop point is recognized.

  Specifically, as in the above-described first embodiment, the temporary stop result determination unit 30 performs the temporary stop based on the distance D from the remaining distance calculation unit 20 and the vehicle state information from the own vehicle state estimation unit 16. It is determined whether or not a predetermined pause state has been formed within a predetermined distance before the point. The predetermined pause state may be a state in which the distance D is equal to or less than the predetermined distance Xr [m] and the vehicle speed is equal to or less than the predetermined vehicle speed Vr [km / h]. Alternatively, the predetermined pause state is a state in which the distance D is equal to or less than the predetermined distance Xr [m] and the vehicle speed is equal to or less than the predetermined vehicle speed Vr [km / h] for a predetermined time Tr [sec] or longer. There may be.

  In the present embodiment, the predetermined distance Xr is varied within a range of 10 to 20 [m], for example. In this case, for example, when the presence of the preceding vehicle is not detected by the preceding vehicle detection means 22, the predetermined distance Xr is set to 10 [m], and the presence of the preceding vehicle is detected by the preceding vehicle detection means 22. The predetermined distance Xr may be set to 20 [m].

  Further, the predetermined distance X may be varied according to the number of vehicles ahead, the length, the position, and the like. For example, in a configuration that varies according to the number of vehicles ahead, the predetermined distance Xr is as shown in FIG. 4 where Δ is the front and rear margin [m] for one vehicle and n is the number of vehicles ahead. , Xr ′ = Xr + Δ × n [m]. In this case, when Δ is set to 5 [m] and the presence of the forward vehicle is not detected by the forward vehicle detection means 22, the predetermined distance Xr is set to 10 [m], and the forward vehicle detection means 22 is set. When the presence of one forward vehicle is detected by the above, the predetermined distance Xr is set to 15 [m], and when the presence of two or more forward vehicles is detected by the forward vehicle detection means 22, The predetermined distance Xr may be set to 20 [m].

  As described above, according to the present embodiment, when the presence of a forward vehicle to be stopped at the same temporary stop point is detected, the suspension result is determined in consideration of the presence of the forward vehicle. Awareness can be prevented appropriately. In other words, when there is a vehicle ahead, even if the point where the speed drop is detected is far from the pause point, it can be determined that the driver recognizes the pause point due to the speed drop. The operation of the alerting output means 90 can be prohibited from an early stage, and unnecessary alerting due to a determination error of the alerting necessity determination means 32 that can occur thereafter can be surely prevented.

  The preferred embodiments of the present invention have been described in detail above. However, the present invention is not limited to the above-described embodiments, and various modifications and substitutions can be made to the above-described embodiments without departing from the scope of the present invention. Can be added.

1 is a system configuration diagram showing Embodiment 1 of a vehicle driving support apparatus according to the present invention. It is a block diagram which shows the main functions of the driving assistance ECU100 by a present Example. It is a system block diagram which shows Example 2 of the driving assistance device for vehicles by this invention. It is explanatory drawing regarding the variable aspect of the determination method (predetermined distance Xr) of the temporary stop result according to the presence or absence of a front vehicle, FIG. 4 (A) is a case where there is no front vehicle (n = 0) and FIG. ) Indicates a case where there is only one forward vehicle (n = 1).

Explanation of symbols

100 Driver assistance ECU
DESCRIPTION OF SYMBOLS 10 Temporary stop point information acquisition means 12 Own vehicle position information acquisition means 14 Travel route estimation means 16 Own vehicle state estimation means 18 Driver stop intention estimation means 20 Remaining distance calculation means 22 Forward vehicle detection means 30 Temporary stop results determination means 32 Alert Necessity determination means 34 Attention call result storage means 90 Attention output means

Claims (1)

Own vehicle position detection means;
A pause point detecting means for detecting a pause point ahead in the traveling direction;
Traveling state detecting means for detecting the traveling state of the vehicle including the vehicle speed ;
Distance calculating means for calculating the distance between the detected vehicle position and the position of the temporary stop point;
Based on at least the detected running state and the calculated distance, a warning output means for prompting the driver to stop at the temporary stop point;
Based on the detected running state and the calculated distance, a suspension result determination means for determining whether or not a predetermined suspension state has been formed at least once for the suspension point ;
When it is determined that the predetermined temporary stop state has been formed at least once by the temporary stop record determination means, prohibiting attention by the attention output means at the temporary stop point ,
The predetermined pause state includes a state where the vehicle position is within a predetermined distance with respect to the temporary stop point, and the vehicle speed is equal to or lower than the predetermined vehicle speed,
The vehicle driving support device is configured such that the predetermined distance is increased when a front vehicle traveling in the same direction as the host vehicle is present in front of the temporary stop point as compared with a case where the front vehicle is not present .

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