JP4946005B2 - Driver psychological state determination device and driver psychological state determination system - Google Patents

Description

  The present invention relates to a driver psychological state determination apparatus and a driver psychological state determination system that determine a driver's psychological state in a short time and with high accuracy.

In order to improve safety during driving, various devices for determining a driver's psychological state such as impatience have been proposed. As this determination device, for example, an actual inter-vehicle distance with a preceding vehicle is compared with a reference inter-vehicle distance corresponding to the vehicle speed at that time (psychological condition determination reference), and the difference between the actual inter-vehicle distance and the reference 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 changes from moment to moment depending on various traffic environments such as road conditions (for example, road width, curves) and traffic jams. Therefore, in order to determine the psychological state of the driver with high accuracy, it is necessary to collect the inter-vehicle distance for a relatively long time and determine the psychological state based on the inter-vehicle distance in various situations. In addition, the inter-vehicle distance is determined by the vehicle type of the vehicle ahead (for example, a light vehicle or a large vehicle), the driving characteristics (for example, the driver is driving safely or sports driving, the driver's side view or fatigue), the driver of the vehicle ahead Influenced by disturbances such as psychological state. Therefore, since the inter-vehicle distance does not always reflect only the psychological state of the driver of the host vehicle, the psychological state of the driver cannot be determined with high accuracy.

  Then, this invention makes it a subject to provide the driver | operator psychological state determination apparatus and driver | operator psychological state determination system which determine a driver | operator's psychological state for a short time and highly accurately.

A driver psychological state determination device according to the present invention is mounted on a vehicle and detects a collision risk with an obstacle in a driver psychological state determination device including a driver psychological state determination unit that determines a driver's psychological state. A collision risk detection means and a crossing behavior detection means for detecting a crossing action of the host vehicle are provided. The collision risk detection means determines the collision risk as a distance and relative speed between the host vehicle and the obstacle during the crossing action. Based on this, a collision time until the host vehicle and the obstacle collide is calculated, and the driver psychological state determining means determines the driver's degree of impatience based on the collision time during the crossing action.

  In this driver psychological state determination device, the crossing behavior of the host vehicle is detected by the crossing behavior detection means. When a driver crosses a roadway or a pedestrian crossing, the driver determines whether or not to cross the vehicle according to the relationship with other vehicles, pedestrians, or the like that obstruct the crossing. Therefore, in the driver psychological state determination device, the collision risk detection unit detects the collision risk with the obstacle during the crossing action, and the driver psychological state determination unit detects the driver based on the collision risk during the crossing action. Detect the psychological state of The psychological state of the driver when the driver decides to cross even if the collision risk is high in relation to the obstacle at the time of crossing action and when the driver decides to cross after the collision risk becomes low Is clearly different. Therefore, the driver's judgment as to whether or not to cross the vehicle in relation to the obstacle accurately represents the driver's psychological state without being affected by disturbance. In this way, the driver psychological state determination device can determine the driver's psychological state with high accuracy during a short period of time when performing the crossing action.

  Obstacles exist around the host vehicle when crossing, and are, for example, vehicles (automobiles, motorcycles), bicycles, and pedestrians. The collision risk is an index indicating the risk of collision with an obstacle. For example, the estimated time to reach the obstacle, the distance to the obstacle (particularly, the distance when approaching the obstacle most) It is. The crossing behavior of the host vehicle may be when crossing a roadway or when a pedestrian crossing the road crosses the road (for example, a pedestrian crossing). There is a case. The detection of the crossing action includes not only the case of directly detecting the crossing action from the predetermined information but also the case of estimating the crossing action from the predetermined information or the case of judging from the information regarding the crossing action acquired from another device. For example, the driver's line of sight may be detected and crossing behavior may be estimated from the line of sight direction.

In the driver psychological state determination device according to the present invention, the obstacle is an oncoming vehicle that goes straight, and the collision risk detection means determines the collision time until the own vehicle and the oncoming vehicle that goes straight on collide with each other during the crossing action. It is good also as a structure calculated based on the distance and relative speed of the own vehicle and the oncoming vehicle that goes straight.

  In this driver's psychological state determination device, an obstacle is an oncoming vehicle in which the obstacle goes straight, and the collision risk with the oncoming vehicle at the time of crossing action is calculated from the distance and relative speed with the oncoming vehicle by the collision risk detection means. Thus, by using the distance to the oncoming vehicle and the relative speed, it is possible to obtain the time until the vehicle reaches the oncoming vehicle, and it is possible to obtain a suitable value as an index indicating the risk of collision. In addition, an oncoming vehicle traveling straight ahead has a high speed and rapidly approaches the host vehicle, which makes it difficult for the driver to determine whether or not to cross. Therefore, in this case, the driver's psychological state appears more accurately, and the driver's psychological state can be determined with higher accuracy.

In the driver psychological state determination device of the present invention, the obstacle is a crossing pedestrian, and the collision risk detection means determines the collision time until the own vehicle and the crossing pedestrian collide with the own vehicle during the crossing action. It is good also as a structure calculated based on the distance and relative speed with a crossing pedestrian.

  In this driver psychological state determination device, the obstacle is a pedestrian crossing the road, and the collision risk with the pedestrian during the crossing action is calculated from the distance and relative speed with the pedestrian by the collision risk detection means. calculate. Similarly to the above, a suitable value can be acquired as an index indicating the risk of collision by using the distance and relative speed with the pedestrian. In addition, the driver's psychological state can be expressed more accurately because the driver's psychological state appears more accurately, even if the pedestrian who is a traffic weaker is paying sufficient attention, and the driver's psychological state can be more accurately determined.

In the driver psychological state determination device according to the present invention, the driver psychological state determination unit sets the driver's degree of impatience corresponding to the collision time, and the driving is performed when the degree of impatience of the driver is higher than a predetermined impatience reference. It may be configured that the person determines that the person is in impatience.

  In this driver psychological state determining device, the driver psychological state determining means determines that the driver is in an impatient state when the collision risk is higher than a predetermined impotence standard. In other words, when the driver decides to cross when the risk of collision with an obstacle is higher than a predetermined standard, the driver is trying to cross forcibly than when it can safely cross, so the driver's psychological state is It can be determined that there is an urge to rush ahead.

The driver psychological state determination device according to the present invention may include a notification unit that notifies the driver based on the determination result of the psychological state when the driver's degree of impatience is higher than a predetermined impatience reference. Good.

  In this driver psychological state determination device, the notification means notifies the driver that the vehicle is in a rush state when the collision risk is higher than a predetermined rush criterion. Thus, by notifying the driver that he is in an impatient state, the driver can be made to accurately recognize his / her psychological state, and the impatience can be suppressed.

  In the driver psychological state determination device of the present invention, the crossing action is a right turn action.

  In this driver psychological state determination device, the crossing action is an action of crossing the opposite lane by a right turn at the intersection, and the right turn action of the host vehicle is detected by the crossing action detecting means. When turning right, it is necessary to pay attention to oncoming vehicles and crossing pedestrians that go straight ahead, and the driver's psychological state can be expressed more accurately.

The driver psychological state determination device of the present invention includes obstacle recognition detection means for detecting the driver's recognition of an obstacle, and the driver psychological state determination means is recognized by the driver detected by the obstacle recognition detection means. It is good also as a structure which determines a driver | operator's impatience degree based on the collision time with respect to the obstruction currently performed.

  In this driver psychological state determination device, the obstacle recognition detecting means detects whether or not the driver recognizes the obstacle. In the driver psychological state determination device, the collision risk with the obstacle recognized by the driver is detected by the collision risk detection unit, and the obstacle recognized by the driver by the driver psychological state determination unit. The psychological state of the driver is detected based on the risk of collision with an object. If it is determined that the driver will cross the vehicle after fully recognizing other vehicles, pedestrians, etc. (especially if the driver determines that the vehicle will cross when there is a high risk of collision with these obstacles) The judgment shows the driver's psychological state more accurately. Therefore, the psychological state of the driver can be determined with higher accuracy.

A driver psychological state determination system according to the present invention is a driver psychological state determination system that includes a vehicle mounted device and a roadside device capable of road-to-vehicle communication, and includes a driver psychological state determination unit that determines a driver's psychological state. includes a collision risk detection means for detecting a collision risk with an obstacle, and a transverse action detecting means for detecting the transverse behavior of the vehicle, the collision risk detection means, self during cross act as a collision risk The collision time until the vehicle and the obstacle collide is calculated based on the distance and relative speed between the vehicle and the obstacle, and the driver's psychological state determination means determines the driver's psychological state based on the collision time during the crossing action . It is characterized by determining the degree of impatience .

In the driver psychological state determination system of the present invention, the obstacle is an oncoming vehicle that goes straight, and the collision risk detection means determines the collision time until the own vehicle and the oncoming vehicle that goes straight on collide with each other during the crossing action. It is good also as a structure calculated based on the distance and relative speed of the own vehicle and the oncoming vehicle that goes straight.

In the above driver psychological state determination system of the present invention, the obstacle is a crossing pedestrian, and the collision risk detection means determines the collision time until the own vehicle and the crossing pedestrian collide. It is good also as a structure calculated based on the distance and relative speed with a crossing pedestrian.

In the driver psychological state determination system according to the present invention, the driver psychological state determination unit sets the driver's degree of impatience corresponding to the collision time, and the driving is performed when the degree of impatience of the driver is higher than a predetermined impatience reference. It may be configured that the person determines that the person is in impatience.

In the driver psychological state determination system of the present invention, informing means for notifying the vehicle-mounted device based on the determination result of the psychological state to the driver when the driver's degree of impatience is higher than a predetermined impatience standard. It is good also as a structure provided with.

  In the driver psychological state determination system of the present invention, the crossing action is a right turn action.

The driver psychological state determination system of the present invention includes obstacle recognition detection means for detecting the driver's recognition of an obstacle, and the driver psychological state determination means is recognized by the driver detected by the obstacle recognition detection means. It is good also as a structure which determines a driver | operator's impatience degree based on the collision time with respect to the obstruction currently performed.

  In addition, each above-mentioned driver | operator psychological state determination system has an effect similar to each above-mentioned driver | operator psychological state determination apparatus. In the case of this system, at least the notification means is provided in the vehicle mounting device, but the driver psychological state determination means, the collision risk detection means, the crossing behavior detection means, and the obstacle recognition detection means are any of the vehicle mounting device and the roadside device. It may be provided in the apparatus. In this system, road-to-vehicle communication is performed between the vehicle-mounted device and the roadside device, and the vehicle-mounted device acquires information from each means provided in the roadside device from the roadside device.

  According to the present invention, the psychological state of the driver is determined in a short time and with high accuracy by determining the psychological state based on the relationship with the obstacle at the time of the crossing action in which the driver's psychological state accurately appears. Can do.

  DESCRIPTION OF EMBODIMENTS Hereinafter, embodiments of a driver psychological state determination device and a driver psychological state determination system according to the present invention will be described with reference to the drawings.

  In the present embodiment, the present invention is applied to a driver psychological state determination device that is mounted on a vehicle and includes all means in the vehicle mounting device. The driver psychological state determination device according to the present embodiment determines the driver's impatience state, and alerts the driver when the driver's impatience state is determined. In this embodiment, there are three embodiments, and the first embodiment is a mode in which the impatience state is determined based on the relationship with the oncoming vehicle at the time of the right turn action at the intersection. The form is a form in which the threshold for determining the impatience state is variable with respect to the first embodiment, and the third embodiment is impatient due to the relationship with the crossing pedestrian at the time of the right / left turn action at the intersection It is a form which determines a state.

  With reference to FIG.1 and FIG.2, the driver | operator psychological state determination apparatus 1 which concerns on 1st Embodiment is demonstrated. FIG. 1 is a configuration diagram of a driver psychological state determination apparatus according to the first and second embodiments. FIG. 2 is an example of an oncoming vehicle arrival time-impression degree map according to the first and second embodiments.

  In the driver psychological state determination device 1, in order to determine the driver's impatience state, a time (oncoming vehicle arrival time) until the vehicle reaches a straight oncoming vehicle when turning right is determined, and the oncoming vehicle arrival time is determined based on the time. To set the degree of impatience. The driver psychological state determination device 1 determines that the driver is in a state of impatience when the degree of impatience exceeds a threshold value (fixed value), and alerts the driver. Therefore, the driver psychological state determination device 1 includes a GPS [Global Positioning System] sensor 10, a vehicle speed sensor 11, a steering angle sensor 12, an accelerator pedal sensor 13, a brake pedal sensor 14, a blinker switch 15, a yaw rate sensor 16, a lateral acceleration. A sensor 17, a millimeter wave radar sensor 18, a front image sensor 19, a driver monitoring image sensor 20, a display 21, a speaker 22, and an ECU [Electronic Control Unit] 30 are provided.

  The GPS sensor 10 receives a GPS signal from a GPS satellite, demodulates the GPS signal, and transmits the demodulated GPS signal to the ECU 30. In order to calculate the current position, position data of three or more GPS satellites is required, and the GPS sensor 10 receives GPS signals from three or more different GPS satellites.

  The vehicle speed sensor 11 detects the vehicle speed of the host vehicle, and transmits the detected value to the ECU 30 as a vehicle speed signal. The steering angle sensor 12 detects the steering angle of the steering wheel steered by the driver, and transmits the detected value to the ECU 30 as a steering angle signal. The accelerator pedal sensor 13 detects whether or not the accelerator pedal is being operated (accelerator pedal on / off), and transmits the on / off as an accelerator signal to the ECU 30. The brake pedal sensor 14 detects whether or not the brake pedal is operated (on / off of the brake pedal), and transmits the on / off to the ECU 30 as a brake signal. The winker switch 15 receives a right / left turn instruction (right turn on / off, left turn on / off) from the driver, and transmits the input instruction to the ECU 30 as a winker signal. The yaw rate sensor 16 detects the yaw rate acting on the host vehicle, and transmits the detected value to the ECU 30 as a yaw rate signal. The lateral acceleration sensor 17 detects lateral acceleration acting on the host vehicle, and transmits the detected value to the ECU 30 as a lateral acceleration signal. The accelerator pedal sensor may be a sensor that detects the opening of the accelerator pedal, and the brake pedal sensor may be a sensor that detects the amount of depression of the brake pedal.

  The millimeter wave radar sensor 18 includes a millimeter wave radar attached to the front side of the host vehicle. The millimeter wave radar sensor 18 transmits the millimeter wave forward while scanning the millimeter wave in a horizontal plane, receives the reflected millimeter wave, and transmits the transmission / reception data of the millimeter wave to the ECU 30 as a radar signal. The front image sensor 19 is composed of a camera attached to the front side of the host vehicle. The front image sensor 19 images the front of the host vehicle with the camera, and transmits the captured image data to the ECU 30 as a front image signal.

  The driver monitoring image sensor 20 is composed of a camera attached to the driver in the cabin of the host vehicle. The driver monitoring image sensor 20 images the driver's face with the camera, and transmits the captured image data to the ECU 30 as a driver image signal.

  When the display 21 receives an image signal from the ECU 30, the display 21 displays a display image of the image signal. When the speaker 22 receives a sound signal from the ECU 30, the speaker 22 outputs the sound of the sound signal.

  The ECU 30 includes a CPU [Central Processing Unit], a ROM [Read Only Memory], a RAM [Random Access Memory], and the like, and comprehensively controls the driver psychological state determination apparatus 1. In the ECU 30, when the application program for determining the driver's psychological state is executed, the driver specifying function 31, the intersection determining function 32, the right turn action determining function 33, the oncoming vehicle arrival time calculating function 34, the impatience determining function 35, the impatience A suppression guidance function 36 is configured. The ECU 30 takes in signals from the sensors 10 to 20, performs processing in each function based on each signal, and transmits an image signal to the display 21 and an audio signal to the speaker 22 as necessary.

  In the first embodiment, the sensors 11 to 17 and the right turn action determination function 33 correspond to the crossing action detection means described in the claims, and the sensors 18 and 19 and the oncoming vehicle arrival time calculation function 34 are patents. It corresponds to the collision risk detection means described in the claims, the impatience determination function 35 corresponds to the driver psychological state determination means described in the claims, and the display 21, the speaker 22, and the impregnation suppression guidance function 36 include This corresponds to the notification means described in the claims.

  The driver specifying function 31 performs pattern matching with the captured image of the driver's face acquired from the driver monitoring image sensor 20 and each face image registered as the driver, and the person corresponding to the matched face image is currently selected. Identify as a driver. In the face image for pattern matching, the faces of all people who are likely to be drivers are captured in advance, and each captured image is held in the ECU 30.

  When the intersection determination function 32 acquires GPS signals for three or more GPS satellites from the GPS sensor 10, the current position and the traveling direction of the host vehicle are calculated based on the position data of the three or more GPS satellites. Then, the intersection determination function 32 extracts map information around the current position from the map database, and extracts an intersection area existing around the current position (particularly in the traveling direction) from the map information. Further, the intersection determination function 32 determines whether or not the current position of the vehicle is in the intersection area or in the vicinity of the intersection. When the vehicle is in the intersection area or in the vicinity of the intersection, the intersection determination function 32 determines that the driver's psychological state can be determined. On the other hand, when the own vehicle is not in the intersection area and in the vicinity of the intersection, the intersection determination function 32 determines that the driver's psychological state cannot be determined, and ends the current driver psychological state determination process. The map database is a database storing map data used for car navigation, and may be stored in the ECU 30 or may be acquired from the navigation device in the case of a vehicle equipped with a navigation device. May be. The size of the intersection area varies depending on the width of the roadway and the number of lanes that intersect at the intersection, so the intersection area is small (that is, a small intersection where the entire vehicle cannot enter the intersection area when turning right) It is necessary to determine whether it is near the intersection, but if the intersection area is large (that is, if it is a large intersection where the entire vehicle can enter the intersection area when turning right), determine whether it is near the intersection. You don't have to.

  In the right turn action determination function 33, whether or not the driver turns on the right turn instruction based on the on / off of the right / left turn instruction from the turn signal switch 15 when the vehicle is in the intersection area or in the vicinity of the intersection. Determine. When the right turn instruction is on, the right turn action determination function 33 determines whether the steering angle from the steering angle sensor 12 exceeds the neutral range. When the neutral range is exceeded (that is, when the steering wheel is operated), the right turn action determination function 33 uses the brake pedal on / off information from the brake pedal sensor 14 and the accelerator pedal from the accelerator pedal sensor 13. It is determined from the on / off information whether the brake pedal is off and the accelerator pedal is on. When the brake pedal is off and the accelerator pedal is on (that is, when a start operation is performed), the right turn action determination function 33 uses the vehicle speed from the vehicle speed sensor 11, the yaw rate from the yaw rate sensor 16, and the lateral acceleration sensor 17. Based on the lateral acceleration of the vehicle, it is determined whether or not the vehicle has started turning in the right direction (the vehicle speed has increased from 0 (startup acceleration), the speed in the right rotation direction is generated as the yaw rate, and the acceleration in the right direction is generated as the lateral acceleration). . When it is determined that turning in the right direction is to be started, the right turn behavior determination function 33 determines that the vehicle is performing a right turn behavior and determines that the driver's psychological state can be determined. On the other hand, when at least one of the four determinations is not satisfied, the right turn action determination function 33 determines that the vehicle is not making a right turn action, and the current driver psychological state determination process is terminated.

  The oncoming vehicle arrival time calculation function 34 recognizes an oncoming vehicle traveling in the oncoming lane based on the front image from the front image sensor 19 when the host vehicle is making a right turn. When the oncoming vehicle can be recognized, the oncoming vehicle arrival time calculation function 34 calculates the distance from the recognized oncoming vehicle based on the millimeter wave transmission / reception data from the millimeter wave radar sensor 18 at regular time intervals. Further, the oncoming vehicle arrival time calculation function 34 calculates the relative speed between the host vehicle and the oncoming vehicle from the distance change based on the distance from the oncoming vehicle at regular intervals. Then, the oncoming vehicle arrival time calculation function 34 divides the distance from the oncoming vehicle by the relative speed with the oncoming vehicle, and calculates the time until the host vehicle reaches the oncoming vehicle (oncoming vehicle arrival time). This oncoming vehicle arrival time is an index indicating the risk of collision between the host vehicle and the oncoming vehicle. The shorter the time, the higher the risk. Therefore, the longer the oncoming vehicle arrival time, the safer it is possible to turn right. When the oncoming vehicle cannot be recognized, the oncoming vehicle arrival time calculation function 34 sets infinity as the oncoming vehicle arrival time.

  When the oncoming vehicle arrival time is obtained, the impatience determination function 35 refers to the oncoming vehicle arrival time-impression degree map, and sets the impending degree corresponding to the oncoming vehicle arrival time. The oncoming vehicle arrival time-impression degree map is created in advance by experiments or the like and held in the ECU 30. As shown in FIG. 2, the oncoming vehicle arrival time-impression degree map associates the oncoming vehicle arrival time with the degree of impatience, and the shorter the oncoming vehicle arrival time, the larger the value of the impatience degree is set. Therefore, the degree of impatience indicates that the driver is impatient as the value increases. A plurality of oncoming vehicle arrival time-impression maps may be set for each driver, or only one general person may be set. When setting for each driver, for example, a safety-oriented person is associated with a larger value as the degree of impatience, and an impatient person is associated with a smaller value as the degree of impatience. When an oncoming vehicle arrival time-impression degree map is set for each driver, the impatience determination function 35 extracts an oncoming vehicle arrival time-impression degree map for the identified driver, and extracts the map from the extracted map. Set the degree of impatience.

  When the degree of impatience is set, the impatience determination function 35 extracts the impregnation threshold according to the identified driver. Then, the impatience determination function 35 determines whether or not the set impotence is greater than the impregnation threshold. When the degree of impatience is greater than the impregnation degree threshold, the impatience determination function 35 determines that the driver is in an impatient state. On the other hand, when the impatience level is equal to or less than the impregnation threshold value, the impatience determination function 35 determines that the driver is not in an impatient state. The impregnation threshold is set in advance by experiments or the like and is held in the ECU 30. The impatience threshold is a threshold for determining whether or not the driver is in impatience based on the impatience, and is set to a value that allows a right turn safely in relation to the oncoming vehicle arrival time. The threshold is such that it is determined that the driver is in an impatient state when the arrival time is less than 2 seconds (that is, if the oncoming vehicle arrival time is 2 seconds or longer, the vehicle can safely turn right). The impatience threshold is set for each driver, and is, for example, a smaller value for a safety-oriented person and a larger value for an impatient person.

  It should be noted that the driver's impatience state can be determined according to the personal characteristics of the driver by setting the impor- tivity threshold value according to the driver. Examples of the driver's personal characteristics include age, gender, personality, and driving skill. When the threshold for the degree of impending is set according to the driver, it is not necessary to set the oncoming vehicle arrival time-impression degree map for each driver, but also set the oncoming vehicle arrival time-intensity map for each driver. As a result, it is possible to make a more accurate determination according to the personal characteristics of the driver.

  When the driver determines that the driver is in an impatient state, the impatience guide function 36 generates a display image and sound that prompts the driver to recognize that the driver is in an impatient state and to drive safely, and from the display image data. And an audio signal composed of the audio data is transmitted to the speaker 22.

  With reference to FIG.1 and FIG.2, the operation | movement in the driver | operator's psychological state determination apparatus 1 is demonstrated. In particular, the processing in the ECU 30 will be described along the flowchart of FIG. FIG. 3 is a flowchart showing a flow of processing in the ECU of the driver psychological state determination device according to the first embodiment.

  The ECU 30 pattern-matches the captured image of the driver's face captured by the driver monitoring image sensor 20 and each held facial image at regular time intervals to identify the driver currently driving ( S10).

  The ECU 30 calculates the current position of the host vehicle from the position data of three or more GPS satellites received by the GPS sensor 10 (S11). Then, the ECU 30 extracts map information centered on the current position from the map database, and extracts an intersection area around the current position from the map information (S12). Further, the ECU 30 determines whether or not the current position of the own vehicle is within the intersection area (in the case of a small intersection, in the vicinity of the intersection) (S13). If it is determined in S13 that the own vehicle is not within the intersection area, the ECU 30 ends the current process.

  If it is determined in S13 that the vehicle is within the intersection area, the ECU 30 determines whether the right turn instruction is on based on the right / left turn instruction information of the turn signal switch 15 (S14). When it is determined in S14 that the right turn instruction is off, the ECU 30 ends the current process. On the other hand, when it is determined in S14 that the right turn instruction is on, the ECU 30 determines whether the steering angle detected by the steering angle sensor 12 exceeds the neutral range (S15). If it is determined in S15 that the neutral range is not exceeded, the ECU 30 ends the current process. On the other hand, if it is determined in S15 that the neutral range is exceeded, the ECU 30 turns off the brake pedal detected by the brake pedal sensor 14 and turns on / off the accelerator pedal detected by the accelerator pedal sensor 13. It is determined whether or not (S16). If it is determined in S16 that the brake pedal is on or the accelerator pedal is off, the ECU 30 ends the current process. On the other hand, when it is determined in S16 that the brake pedal is off and the accelerator pedal is on, the ECU 30 is based on the vehicle speed detected by the vehicle speed sensor 11, the yaw rate detected by the yaw rate sensor 16, and the lateral acceleration detected by the lateral acceleration sensor 17. It is determined whether or not the vehicle has started turning right (S17). When it is determined in S17 that the right turn is not started, the ECU 30 ends the current process.

  When it is determined in S17 that the right turn is started, the ECU 30 recognizes the oncoming vehicle from the front captured image captured by the front image sensor 19 (S18). Then, the ECU 30 calculates the distance and relative speed of the oncoming vehicle recognized based on the millimeter wave radar data from the millimeter wave radar sensor 18, and calculates the oncoming vehicle arrival time from the distance and relative speed (S19).

  The ECU 30 refers to the oncoming vehicle arrival time-impression degree map, and sets an impending degree according to the oncoming vehicle arrival time (S20). Then, the ECU 30 sets an impregnation threshold corresponding to the specified driver, and determines whether the impotence is larger than the impregnation threshold (S21). If it is determined in S21 that the degree of impregnation is equal to or less than the impregnation degree threshold, the ECU 30 ends the current process.

  When it is determined in S21 that the degree of impatience is greater than the impregnation degree threshold, the ECU 30 determines that the driver is in the impatience state, generates a display image and sound for performing guidance for suppressing the impatience state, and generates the image signal. While transmitting to the display 21, a sound signal is transmitted to the speaker 22 (S22). When this image signal is received, the display 21 displays a guide image for suppressing the impatience state according to the image signal. Further, when receiving this audio signal, the speaker 22 outputs a guidance message for suppressing the impatience state according to the audio signal. From these displays and messages, the driver recognizes that he is in impatience. As a result, the driver's impatience is suppressed, and the driver is aware of safe driving.

  According to the driver psychological state determination device 1, it is possible to determine the driver's impatience state based on information acquired in a short time when making a right turn at an intersection. Further, according to the driver psychological state determination device 1, since the driver's impatience state is determined using the relationship with the straight oncoming vehicle that accurately reflects the driver's psychological state, the driver's impatience state is determined. It can be determined with high accuracy. Incidentally, since the vehicle traveling in the opposite lane is traveling straight ahead, the speed is high and the vehicle approaches rapidly. Therefore, it is very difficult for the driver to measure the right turn timing in relation to the approaching oncoming vehicle, and the driver's psychological state strongly appears in determining whether to turn right.

  Further, in the driver psychological state determination device 1, the driver is specified, and the impregnation threshold value and the like are set according to the driver. Therefore, the driver's impatience state is determined according to the driver's personal characteristics. Can do. Therefore, even in the case of a person who makes an impulsive driving everyday (that is, a person who turns right even when the oncoming vehicle arrival time is short), the impatience guidance is not frequently performed. In addition, even in the case of a person who is driving safely on a daily basis (that is, a person who does not turn right unless the oncoming vehicle arrival time is long), the impatience guidance is provided only when necessary.

  In addition, since the driver psychological state determination device 1 uses the oncoming vehicle arrival time obtained from the distance to the oncoming vehicle and the relative speed, the driver's impatience state can be determined with high accuracy. That is, since both the distance and the relative speed are taken into consideration, the degree of approach between the host vehicle and the oncoming vehicle is accurately reflected.

  In addition, the driver psychological state determination device 1 determines the right turn action by comprehensively determining the winker information, the steering angle, the brake operation, the accelerator operation, the vehicle speed, the yaw rate, and the lateral acceleration of the driver. Can be determined with high accuracy.

  Also. The driver psychological state determination device 1 determines the driver's impatience state and informs the driver that the driver is in impatience, thereby suppressing the driver's impatience state. As a result, safety is improved and an accident can be prevented due to driver's impatience.

  With reference to FIG.1 and FIG.2, the driver | operator psychological state determination apparatus 41 which concerns on 2nd Embodiment is demonstrated. In the driver psychological state determination apparatus 41, the same code | symbol is attached | subjected about the structure similar to the driver psychological state determination apparatus 1 which concerns on 1st Embodiment, and the description is abbreviate | omitted.

  The driver psychological state determination device 41 is different from the driver psychological state determination device 1 only in that the threshold value for determining the impatience state is variable. Therefore, the driver psychological state determination device 41 is different from the driver psychological state determination device 1 only in processing in the ECU. Therefore, only the ECU 50 of the driver psychological state determination device 41 will be described.

  Similar to the ECU 30 according to the first embodiment, the ECU 50 includes a driver identification function 51, an intersection determination function 52, a right turn action determination function 53, an oncoming vehicle arrival time calculation function 54, an impatience determination function 55, and an impulsion suppression guide. A function 56 is configured, and only the process in the impatience determination function 55 is different, and other functions perform the same processes as the functions of the ECU 30. Therefore, only the impatience determination function 55 will be described.

  In the second embodiment, the sensors 11 to 17 and the right turn action determination function 53 correspond to the crossing action detection means described in the claims, and the sensors 18 and 19 and the oncoming vehicle arrival time calculation function 54 are patents. It corresponds to the collision risk detection means described in the claims, the impatience determination function 55 corresponds to the driver psychological state determination means described in the claims, and the display 21, the speaker 22, and the impregnation suppression guidance function 56 This corresponds to the notification means described in the claims.

  The impatience determination function 55 calculates the oncoming vehicle arrival time by the same processing as the impatience determination function 35 according to the first embodiment, and sets the impending degree according to the oncoming vehicle arrival time. When the degree of impatience is set, the impatience determination function 55 extracts an initial impervious degree value according to the specified driver. The initial value of the degree of impatience is the same value as the impregnation threshold value in the first embodiment. Then, the impatience determination function 35 determines whether or not the set impatience is greater than the initial impatience value. When the degree of impatience is larger than the initial value of the degree of impatience, the impatience determination function 55 calculates an average value of the impatience degree and the previously stored impregnation degree value, and uses the average value as the current impregnation degree storage value. Set. The impregnation degree stored value is a threshold value for determining whether or not the driver is in an impatience state based on the impatience degree. The impregnation degree stored value is a variable value in which the initial impure degree value is set as an initial value and the initial impure degree value is a lower limit value.

  Then, the impatience determination function 55 determines whether or not the set impotence is greater than the impregnation stored value. When the impatience degree is larger than the impregnation degree stored value, the impatience degree determination function 55 determines that the driver is in an impatience state. On the other hand, when the impending degree is equal to or less than the impregnated degree stored value, the impulsive degree determining function 55 determines that the driver is not in the impatient state.

  In addition, although it was set as the structure which sets the initial degree of impatience according to the specified driver, since the impregnation degree memory value which is a threshold for judging the impatience state is updated according to the personal characteristics of the driver, The initial value of the degree of impotence may be a fixed value for a general person. In this case, the process for specifying the driver is also eliminated.

  With reference to FIG.1 and FIG.2, the operation | movement in the driver | operator's psychological state determination apparatus 41 is demonstrated. In particular, the processing in the ECU 50 will be described along the flowchart of FIG. FIG. 4 is a flowchart showing a flow of processing in the ECU of the driver psychological state determination device according to the second embodiment.

  In the ECU 50, the initial value of the degree of impregnation is set as the impregnation degree stored value at the time of activation. And in ECU50, the process similar to S10-S20 in ECU30 which concerns on 1st Embodiment is performed by the process of S30-S40 for every fixed time.

  When the degree of impotence is set after determining the right turn behavior at the intersection, the ECU 50 sets the initial impervious degree according to the specified driver, and determines whether or not the set degree of impending degree is greater than the initial impervious degree ( S41). If it is determined in S41 that the degree of impregnation is greater than the initial impervious value, the ECU 50 calculates an average value of the degree of impotence and the previously set impure degree stored value, and uses the average value as the current impregnated degree stored value. (S42). When it is determined in S41 that the degree of impregnation is equal to or less than the initial value of the impatience, the ECU 50 proceeds to the process of S43. At this time, the previous impregnation degree stored value is held as the impregnation degree stored value.

  The ECU 50 determines whether or not the degree of impatience is greater than the impregnation degree stored value (S43). When it is determined in S43 that the degree of impatience is equal to or less than the impregnation degree stored value, the ECU 50 ends the current process. On the other hand, when it is determined in S43 that the degree of impatience is greater than the impregnation degree stored value, the ECU 50 performs the impregnation suppression guidance process in the same manner as the process of S22 in the ECU 30 (S44). Then, the display image displays a guidance image for suppressing the impatience state, and the speaker 22 outputs a guidance message for suppressing the impatience state.

  According to this driver psychological state determination device 41, in addition to the same effects as the driver psychological state determination device 1 according to the first embodiment, the following effects are obtained. In the driver psychological state determination device 41, the threshold value for determining the impatience state (the impregnation degree stored value) is updated according to the set impatience level. The impatience state can be determined with higher accuracy. In particular, since the driver's psychological state determination device 41 updates the impatience degree stored value when the impatience degree is greater than the initial impatience value, the threshold value for the driver turning right is gradually increased even when the oncoming vehicle arrival time is a small value. It gets bigger. For this reason, even when the driver is an impatient driver, the impatience guidance is not frequently output, and the impatience restraint guidance is output only when the driver really needs it. In addition, since the driver psychological state determination device 41 takes the average of the previous value when updating the stored degree of impatience, the threshold value does not change suddenly and the personal characteristics of the driver are well expressed.

  With reference to FIG.5 and FIG.6, the driver | operator psychological state determination apparatus 61 which concerns on 3rd Embodiment is demonstrated. FIG. 5 is a configuration diagram of a driver psychological state determination device according to the third embodiment. FIG. 6 is an example of the shortest approach distance-impression degree map according to the third embodiment. In addition, in the driver | operator psychological state determination apparatus 61, the code | symbol same about the structure similar to the driver | operator psychological state determination apparatus 1 which concerns on 1st Embodiment is attached | subjected, and the description is abbreviate | omitted.

  In order to determine the driver's impatience state, the driver psychological state determination device 61 obtains the shortest distance (shortest approach distance) at which the vehicle approaches a pedestrian crossing the intersection when turning right or left, and determines the shortest approach distance. Set the degree of impatience based on this. Then, the driver psychological state determination device 61 determines that the driver is in a state of impatience when the degree of impatience exceeds a threshold value, and alerts the driver. The driver psychological state determination device 61 is also different from the driver psychological state determination device 1 only in processing in the ECU. Therefore, only the ECU 70 of the driver psychological state determination device 61 will be described.

  In the case of the ECU 70, when an application program for determining a driver's psychological state is executed, a driver specifying function 71, an intersection determining function 72, a right / left turn action determining function 73, a gaze direction determining function 74, a pedestrian position / distance calculating function 75, an impatience determination function 76, and an impulsion suppression guidance function 77 are configured. In each of these functions, the driver identification function 71, the intersection determination function 72, and the impatience suppression guidance function 77 are the same as the driver identification function 31, the intersection determination function 32, and the impulsion suppression guidance function 36 according to the first embodiment. Process. Therefore, only the right / left turn action determination function 73, the gaze direction determination function 74, the pedestrian position / distance calculation function 75, and the impatience determination function 76 will be described.

  In the third embodiment, the sensors 11 to 17 and the right / left turn action determination function 73 correspond to the crossing action detection means described in the claims, and the sensors 18, 19, 20 and the gaze direction determination function 74, The pedestrian position / distance calculation function 75 corresponds to the obstacle recognition detection means described in the claims, and the sensors 18, 19 and the pedestrian position / distance calculation function 75 detect the collision risk as described in the claims. The degree of impatience determination function 76 corresponds to the driver psychological state determination means described in the claims, and the display 21, the speaker 22 and the impatience suppression guide function 77 correspond to the notification means described in the claims. Equivalent to.

  The right / left turn action determination function 73 determines whether or not the vehicle is making a right turn or a left turn, and therefore the right turn action determination function 33 according to the first embodiment differs from the determination by the turn signal information only in the turn start determination. . In the right / left turn action determination function 73, when the vehicle is in the intersection area or in the vicinity of the intersection, the driver turns on the right turn instruction or the left turn instruction based on the on / off of the right / left turn instruction from the blinker switch 15. It is determined whether or not. When the right turn instruction or the left turn instruction is on, the right / left turn action determination function 73 shifts to determination of the steering angle. Further, when the brake pedal is off and the accelerator pedal is on, the right / left turn action determination function 73 is based on the vehicle speed from the vehicle speed sensor 11, the yaw rate from the yaw rate sensor 16, and the lateral acceleration from the lateral acceleration sensor 17. Whether the vehicle started turning in the right or left direction (the vehicle speed increased from 0 (start acceleration), the yaw rate generated in the right or left rotation direction and the lateral acceleration generated in the right or left direction) Determine. When it is determined that turning is to be started in the right direction or the left direction, the right / left turn action determination function 73 determines that the vehicle is performing a right turn action or a left turn action and determines that the driver's psychological state can be determined. On the other hand, when at least one of the four determinations is not satisfied, the right / left turn action determination function 73 determines that the vehicle does not perform the right turn action and the left turn action, and ends the current driver psychological state determination process.

  The gaze direction determination function 74 recognizes the driver's gaze direction from the captured image of the driver's face acquired from the driver monitoring image sensor 20. The gaze direction determination function 74 acquires the position of the pedestrian recognized from the pedestrian position / distance calculation function 75 and determines whether the driver's gaze direction is a direction in which the pedestrian exists. Here, a predetermined range is set around the position of the pedestrian, and it is determined whether or not the line-of-sight direction is included in the range. When the driver's line of sight faces the direction of the pedestrian, the line-of-sight direction determination function 74 determines that the driver's psychological state can be determined. When the driver's line of sight does not face the direction of the pedestrian, the line-of-sight direction determination function 74 ends the current driver psychological state determination process.

  The pedestrian position / distance calculation function 75 recognizes a pedestrian crossing a road from the front image from the front image sensor 19 when the vehicle is making a right turn action or a left turn action, and the recognized pedestrian's Detect position (at least pedestrian direction). The pedestrian to be recognized is a pedestrian who is crossing a road on which the vehicle is about to turn right or left (that is, a pedestrian who may collide with the vehicle). When the pedestrian can be recognized, the pedestrian position / distance calculation function 75 calculates the distance to the recognized pedestrian based on the transmission / reception data of the millimeter wave from the millimeter wave radar sensor 18 at regular time intervals. Then, the pedestrian position / distance calculation function 75 stores the shortest approach distance from among the changing distances based on the distance from the pedestrian at regular intervals. This shortest approach distance is an index indicating the risk of collision between the vehicle and the pedestrian, and the risk becomes higher as the distance becomes shorter. Therefore, the longer the shortest approach distance, the safer it is possible to turn right. When the pedestrian cannot be recognized, the pedestrian position / distance calculation function 75 sets infinity as the shortest approach distance.

  When the shortest approach distance is set, the impatience determination function 76 refers to the shortest approach distance-impression degree map, and sets the impending degree corresponding to the shortest approach distance. The shortest approach distance-firing degree map is created in advance by experiments or the like and held in the ECU 70. As shown in FIG. 6, the shortest approach distance-impression degree map associates the degree of impotence with the shortest approach distance, and the shorter the shortest approach distance, the larger the value is set as the impregnation degree. A plurality of shortest approach distance-impression degree maps may be set for each driver, or only one may be set for a general person. When the shortest approach distance-impression degree map is set for each driver, the impatience determination function 76 extracts the shortest approach distance-impression degree map for the identified driver, and the impregnation degree is extracted from the extracted map. Set.

  When the degree of impatience is set, the impatience determination function 76 determines the driver's impatience state based on the impregnation degree and the impregnation degree threshold, as in the impatience degree determination function 35 according to the first embodiment. In the case of the third embodiment, the impregnation threshold value is, for example, a threshold value that determines that the object is in an impingement state when the shortest approach distance is less than 3 m.

  With reference to FIG.5 and FIG.6, the operation | movement in the driver | operator's psychological state determination apparatus 61 is demonstrated. In particular, the processing in the ECU 70 will be described with reference to the flowchart of FIG. FIG. 7 is a flowchart showing a process flow in the ECU of the driver psychological state determination apparatus according to the third embodiment.

  In ECU70, the process similar to S10-S13 in ECU30 which concerns on 1st Embodiment is performed by the process of S50-S53 for every fixed time.

  If it is determined in S53 that the vehicle is in the intersection area, the ECU 70 determines whether the right turn instruction or the left turn instruction is on based on the right / left turn instruction information of the turn signal switch 15 (S54). When it is determined in S54 that the right turn instruction and the left turn instruction are off, the ECU 70 ends the current process. On the other hand, when it is determined in S54 that the right turn instruction or the left turn instruction is on, the ECU 70 determines whether or not the steering angle detected by the steering angle sensor 12 exceeds the neutral range (S55). When it is determined in S55 that the neutral range is not exceeded, the ECU 70 ends the current process. On the other hand, if it is determined in S55 that the neutral range is exceeded, the ECU 70 turns on / off the brake pedal detected by the brake pedal sensor 14 and turns on / off the accelerator pedal detected by the accelerator pedal sensor 13. It is determined whether or not (S56). If it is determined in S56 that the brake pedal is on or the accelerator pedal is off, the ECU 70 ends the current process. On the other hand, when it is determined in S56 that the brake pedal is off and the accelerator pedal is on, the ECU 70 is based on the vehicle speed detected by the vehicle speed sensor 11, the yaw rate detected by the yaw rate sensor 16, and the lateral acceleration detected by the lateral acceleration sensor 17. It is determined whether the host vehicle has started a right turn or a left turn (S57). When it is determined in S57 that the right turn and the left turn are not started, the ECU 70 ends the current process.

  If it is determined in S57 that the right turn or the left turn has been started, the ECU 70 recognizes a pedestrian passing through the intersection from the front captured image captured by the front image sensor 19, and detects the position of the pedestrian ( S58). Further, the ECU 70 detects the driver's line-of-sight direction from the driver's face image captured by the driver monitoring image sensor 20 (S59). Then, the ECU 70 determines whether or not the driver's line of sight faces the direction of the pedestrian (S60). If it is determined in S60 that the pedestrian is not facing, the ECU 70 ends the current process.

  If it is determined in S60 that the pedestrian is facing, the ECU 70 calculates the distance to the pedestrian recognized based on the millimeter wave radar data from the millimeter wave radar sensor 18, and walks while passing through the intersection. The shortest approach distance with the person is extracted (S61).

  The ECU 70 refers to the shortest approach distance-impression degree map, and sets the impending degree according to the shortest approach distance (S62). Then, the ECU 70 sets a degree of impregnation according to the specified driver, and determines whether or not the degree of impotence is greater than the degree of impetus (S63). When it is determined in S63 that the degree of impregnation is equal to or less than the impregnation degree threshold, the ECU 70 ends the current process.

  If it is determined in S63 that the degree of impregnation is greater than the impregnation threshold, the ECU 70 performs an impulsion suppression guidance process in the same manner as the process of S22 in the ECU 30 (S64). Then, the display image displays a guidance image for suppressing the impatience state, and the speaker 22 outputs a guidance message for suppressing the impatience state.

  According to the driver psychological state determination device 61, the driver's impatience state can be determined based on information acquired in a short period of time when turning right or left at an intersection. Further, according to the driver psychological state determination device 61, the driver's mental state is determined using the degree of approach with the crossing pedestrian that accurately reflects the driver's psychological state. The impatience state can be determined with high accuracy. By the way, the driver's psychological state strongly appears to turn left and right while ensuring sufficient safety with pedestrians.

  Further, since the driver's psychological state determination device 61 determines the impatience state only when the driver's line of sight faces the direction of the pedestrian, the impatience state can be accurately determined. For example, the situation of forcibly turning right or left despite the recognition of a pedestrian strongly reflects the psychological state of the driver. On the other hand, the situation where the driver is forced to turn left or right when the pedestrian is not recognized does not reflect the driver's psychological state because the driver is not aware of the presence of the pedestrian.

  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 present invention is applied to a driver psychological state determination device that includes all of the driver psychological state determination means, collision risk detection means, crossing behavior detection means, obstacle recognition detection means, and notification means. It is composed of a mounting device and a roadside device, and at least a notification means is provided in the vehicle mounting device, and a driver psychological state determination means, a collision risk detection means, a crossing behavior detection means, and an obstacle recognition means are provided between the vehicle mounting device and the roadside device. Even if it is applied to a driver psychological state determination system that is provided in any of the devices, and the vehicle-mounted device acquires information by each means provided in the road-side device from the road-side device by road-to-vehicle communication between the vehicle-mounted device and the roadside device Good.

  In the present embodiment, when the driver determines the psychological state (impaired state), the driver is notified based on the determination result. However, only the psychological state is determined without performing the notification. Alternatively, it may be configured to provide a driver's psychological state to a driving support system (for example, a pre-crash safety system, an adaptive cruise control system, a lane keeping system), and perform driving support according to the psychological state. Also good. Moreover, although a display and a speaker are used as the notification means, other means such as an alarm buzzer may be used.

  In the present embodiment, the driver's psychological state is determined as the driver's mental state. However, the driver may be configured to determine other psychological states such as rush, irritation, and safety.

  In this embodiment, the obstacle is a vehicle that travels straight in the oncoming lane or a pedestrian crossing, but it can also be applied to other obstacles such as a motorcycle.

  Further, in this embodiment, when the driver's psychological state is determined in relation to the oncoming vehicle that goes straight when the own vehicle turns right, and the driver's psychology in relation to the pedestrian when the own vehicle turns right or left. Although applied when determining the state, it can also be applied in other situations, for example, when determining the psychological state of the driver in relation to the vehicle coming from the left and right when the vehicle turns right on a T-junction. You may apply.

  In the present embodiment, GPS data is acquired, and based on the data, it is determined whether or not the own vehicle is present in the intersection. However, in the case of a vehicle equipped with a navigation device, navigation is performed. It is good also as a structure which acquires the information of whether it exists in an intersection from an apparatus.

  In the present embodiment, the crossing action at the intersection is detected using the blinker information, the steering angle, the brake operation, the accelerator operation, the vehicle speed, the yaw rate, and the lateral acceleration. It may be estimated whether or not the vehicle is to be crossed, or in the case of a vehicle equipped with a navigation device, information on crossing may be obtained from the navigation device and estimated from the information. Further, a configuration may be adopted in which a crossing action is detected in consideration of only a part of information of winker information, steering angle, brake operation, accelerator operation, vehicle speed, yaw rate, lateral acceleration, or other information.

  Further, in the present embodiment, the driver is specified, and the degree of charring threshold is set according to the driver, but such a process may not be performed. In this case, since it is not necessary to specify the driver, the driver specifying function may be omitted.

  Further, in the present embodiment, the degree of impending is set according to the oncoming vehicle arrival time and the shortest approach distance, and the impatience state is determined by comparing the degree of impending with the degree of impingement threshold. It is good also as a structure which determines an impatience state by directly comparing the shortest approach distance with a predetermined threshold value.

  In the first and second embodiments, the oncoming vehicle arrival time is used as the collision risk, but other collision risks such as the distance to the oncoming vehicle (particularly, the shortest distance to the oncoming vehicle) are used. Also good.

  Further, in the first and second embodiments, it is not determined whether or not the driver's line of sight is facing the oncoming vehicle. However, as in the third embodiment, the impatience state is determined. Before, it may be determined whether or not the driver's line of sight is facing the direction of the oncoming vehicle recognized (whether or not the driver recognizes the oncoming vehicle). By adding such a determination, the psychological state of the driver can be determined with higher accuracy.

  Further, in the second embodiment, the configuration is such that the stored degree of urgency is updated when the degree of urgency is greater than the initial value of urgency. However, the stored value of urgency is updated when the degree of urgency is less than the initial value of urgency. A configuration may be adopted, or when the degree of impregnation is set regardless of the magnitude relationship with the initial value of the degree of impureness, the impure degree stored value may be updated. In either case, the threshold value depends on the personal characteristics of the driver, and the psychological state of the driver can be determined with higher accuracy.

  In the third embodiment, the threshold value for determining the degree of impotence is fixed. However, as in the second embodiment, the memorized degree stored value is set according to the degree of impendingness set as the threshold value. It is good also as a structure to update.

  In the third embodiment, the shortest approach distance is used as the collision risk, but other collision risk such as a pedestrian arrival time calculated from the distance to the pedestrian and the relative speed may be used.

It is a block diagram of the driver | operator psychological state determination apparatus which concerns on 1st and 2nd embodiment. It is an example of an oncoming vehicle arrival time-impression degree map according to the first and second embodiments. It is a flowchart which shows the flow of a process in ECU of the driver | operator's psychological state determination apparatus which concerns on 1st Embodiment. It is a flowchart which shows the flow of a process in ECU of the driver | operator's psychological state determination apparatus which concerns on 2nd Embodiment. It is a block diagram of the driver | operator psychological state determination apparatus which concerns on 3rd Embodiment. It is an example of the shortest approach distance-impression degree map which concerns on 3rd Embodiment. It is a flowchart which shows the flow of a process in ECU of the driver | operator's psychological state determination apparatus which concerns on 3rd Embodiment.

Explanation of symbols

  DESCRIPTION OF SYMBOLS 1,41,61 ... Driver psychological state determination apparatus, 10 ... GPS sensor, 11 ... Vehicle speed sensor, 12 ... Rudder angle sensor, 13 ... Accelerator pedal sensor, 14 ... Brake pedal sensor, 15 ... Winker switch, 16 ... Yaw rate sensor , 17 ... Lateral acceleration sensor, 18 ... Millimeter wave radar sensor, 19 ... Front image sensor, 20 ... Driver monitoring image sensor, 21 ... Display, 22 ... Speaker, 30, 50, 70 ... ECU, 31, 51, 71 ... Driver identification function, 32, 52, 72 ... intersection determination function, 33, 53 ... right turn action determination function, 34, 54 ... oncoming vehicle arrival time calculation function, 35, 55, 76 ... impatience determination function, 36, 56, 77 ... Impression control guidance function, 73 ... Right / left turn action determination function, 74 ... Gaze direction determination function, 75 ... Pedestrian position / distance calculation function

Claims (14)

In a driver psychological state determination device that is mounted on a vehicle and includes a driver psychological state determination unit that determines a driver's psychological state,
A collision risk detection means for detecting a collision risk with an obstacle,
Crossing action detecting means for detecting the crossing action of the own vehicle,
The collision risk detection means calculates the collision time until the host vehicle and the obstacle collide based on the distance and relative speed between the host vehicle and the obstacle at the time of crossing action as the collision risk.
The driver psychological state determining means determines a driver's degree of impatience based on a collision time during a crossing action. The obstacle is an oncoming vehicle that goes straight,
The collision risk detection means calculates the collision time until the host vehicle and the oncoming vehicle that is traveling straight collide based on the distance and relative speed between the host vehicle and the oncoming vehicle that travels straight during the crossing action. The driver psychological state determination device according to claim 1. The obstacle is a crossing pedestrian;
The collision risk detection means calculates a collision time until the own vehicle and the crossing pedestrian collide based on a distance and a relative speed between the own vehicle and the crossing pedestrian during the crossing action. The driver psychological state determination device according to Item 1. The driver psychological state determination means sets the driver's degree of impatience corresponding to the collision time, and determines that the driver is in impatience when the degree of impatience of the driver is higher than a predetermined impatience standard. The driver psychological state determination device according to any one of claims 1 to 3. 5. The driver psychology according to claim 4, further comprising notification means for notifying a driver based on a determination result of a psychological state when the driver's degree of impatience is higher than a predetermined impatience reference. State determination device.   The driver psychological state determination device according to claim 1, wherein the crossing action is a right turn action. Provided with obstacle recognition detection means for detecting the driver's recognition of obstacles,
The driver's psychological state determination means determines a driver's degree of impatience based on a collision time against an obstacle recognized by the driver detected by the obstacle recognition detection means. The driver psychological state determination device according to claim 6. In a driver psychological state determination system comprising a vehicle mounted device capable of road-to-vehicle communication and a roadside device, and provided with a driver psychological state determining means for determining a driver's psychological state,
A collision risk detection means for detecting a collision risk with an obstacle,
Crossing action detecting means for detecting the crossing action of the own vehicle,
The collision risk detection means calculates the collision time until the host vehicle and the obstacle collide based on the distance and relative speed between the host vehicle and the obstacle at the time of crossing action as the collision risk.
The driver psychological state determining means determines a driver's degree of impatience based on a collision time during a crossing action. The obstacle is an oncoming vehicle that goes straight,
The collision risk detection means calculates the collision time until the host vehicle and the oncoming vehicle that is traveling straight collide based on the distance and relative speed between the host vehicle and the oncoming vehicle that travels straight during the crossing action. The driver psychological state determination system according to claim 8. The obstacle is a crossing pedestrian;
The collision risk detection means calculates a collision time until the own vehicle and the crossing pedestrian collide based on a distance and a relative speed between the own vehicle and the crossing pedestrian during the crossing action. Item 9. The driver psychological state determination system according to Item 8. The driver psychological state determination means sets the driver's degree of impatience corresponding to the collision time, and determines that the driver is in impatience when the degree of impatience of the driver is higher than a predetermined impatience standard. The driver psychological state determination system according to any one of claims 8 to 10. 12. The vehicle mounting device includes a notification unit configured to notify a driver based on a determination result of a psychological state when the driver's degree of impatience is higher than a predetermined impatience reference. Driver psychological state determination system described in 1.   The driver psychological state determination system according to any one of claims 8 to 12, wherein the crossing action is a right turn action. Provided with obstacle recognition detection means for detecting the driver's recognition of obstacles,
The driver's psychological state determining means determines the driver's degree of impatience based on a collision time for an obstacle recognized by the driver detected by the obstacle recognition detecting means. The driver psychological state determination system according to claim 13.

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