JP5004887B2 - Vehicle driving support device - Google Patents

Description

  The present invention relates to a vehicle driving support apparatus that actively notifies the presence of a warning object around a host vehicle as an alarm, and in particular, by monitoring the operation state of a switch of an in-vehicle device, a substantial aside look state is achieved. The present invention relates to a vehicle driving support device that estimates whether or not there is an alarm and notifies an alarm target object according to the estimation result.

  As a technique for improving the safety of this type of vehicle, a side-by-side driving and dozing driving alarm device described in Patent Document 1 has been proposed.

In the technique described in Patent Document 1, the vehicle speed sensor detects the traveling speed V of the vehicle, the inter-vehicle distance sensor detects the presence or absence of a preceding vehicle and the inter-vehicle distance L, and a driver state detection device such as a CCD camera. For example, the driver's face is imaged, and the driver's face orientation is detected by image processing to determine that the driver is looking aside, and the driver's eyes open / closed state is detected to determine that the driver is dozing. Then, while measuring the duration of the side-by-side state or the dozing state, the allowable time T1 corresponding to the inter-vehicle time calculation value L / V is set. For example, an alarm is generated by an alarm generating device such as voice, vibration, and odor to alert the driver to the front and to wake up from a dozing state.
JP 2002-219968 A

  However, in the technique described in Patent Document 1, the cost is inevitably increased due to a system that requires imaging means such as a CCD camera, and the situation is not widespread in general vehicles. For this reason, there is a demand for a technique that predicts at least the driver's side-view state by a simple method other than the camera and alerts the driver to the front of the alarm target object with a warning.

  The present invention has been made based on such a background, and a vehicle capable of issuing an effective alarm by predicting at least a state equivalent to the driver's aside state by a simpler method. A driving support device is provided.

  The present invention relates to an alarm means capable of issuing an alarm such as a voice or a visual display according to a detection result of a warning object around the host vehicle, and an operation state of a switch of an in-vehicle device such as a navigation system or an audio device. If it can be considered that the driver is looking aside as a result of monitoring by the switch operation monitoring means on the assumption that it is equipped with a switch operation monitoring means for monitoring the driver, an alarm / notification to the driver is issued. The alarm means is actuated by judging that it is necessary.

  According to the present invention, since an alarm is issued based on the monitoring result of the switch operation monitoring means for monitoring the switch operation state of the in-vehicle device, an imaging means such as a CCD camera is unnecessary. Therefore, it is possible to reduce the cost of the system, and this can be expected to spread to general vehicles.

  In addition, unlike the case where a warning is immediately issued when a warning object around the host vehicle is detected, the warning is limited to the case where a warning is estimated to be a side-by-side condition. The driver can be released from the detection alarm.

  FIG. 1 shows a system configuration of a vehicle driving support apparatus according to the present invention, and FIGS. 2 and 3 are schematic plan views of a monitoring state of a vehicle to which the vehicle driving support apparatus is applied.

  As shown in FIG. 2 in addition to FIG. 1, in addition to the radar device 2, an image recognition device 4 having an in-vehicle camera system (front camera) 3 as an imaging unit as a main element is mounted in the front portion of the vehicle 1. . The radar device 2 is any one of a millimeter wave radar, a laser radar, and a microwave radar. On the other hand, the camera unit of the in-vehicle camera system 3 is, for example, a CCD camera or a CMOS camera, and the entire system is a monocular type or a compound eye type. It is configured as a thing (so-called stereo vision camera). Both the radar device 2 and the image recognition device 4 are warning objects in front of the vehicle, such as a warning object G (n) such as a four-wheeled vehicle, a two-wheeled vehicle, and a pedestrian (a warning object number n = 1, 2, 3... ) And its position and the distance from the vehicle 1 to the alert object G (n) can be detected. Note that an image captured by the in-vehicle camera system 3 of the image recognition device 4 is displayed on a display 11 as display means described later.

  In this way, the radar device 2 and the image recognition device 4 are used together, and the sensor fusion unit 13 to be described later supplements the detection results of the radar device 2 and the image recognition device 4 while taking into account data such as the vehicle speed of the host vehicle 1. By reciprocating, the recognition accuracy of the alert object G (n) can be improved, and as a result, the vehicle 1 has a fan-shaped detection range Q with a detection distance W and a detection angle θ in front of the vehicle 1. Become. That is, by using the radar device 2 and the image recognition device 4 together as described above, the presence and position of the warning object G (n) within the detection range Q and the distance to the warning object G (n). Can be detected respectively. Therefore, the image recognition device 4 and the radar device 2 including the on-vehicle camera system 3 function as a warning object detection unit.

  As shown in FIG. 1, in addition to the radar device 2 and the image recognition device 4 described above, a known navigation system 5 and audio device 6, and a driving support control controller 7 are mounted on the vehicle 1, respectively. These devices are connected via a vehicle CAN (Vehicle-Control Area Network) 8 which is a vehicle communication line, and apart from this, the navigation system 5 and the audio device 6 are connected to each other by a multimedia CAN ( A network is constructed via Multimedia-Control Area Network (9). Therefore, information regarding the position of each of the alert objects G (n) detected by the radar device 2 and the image recognition device 4 described above and the distance to the alert object G (n) is transmitted via the vehicle CAN8 to the driving support control controller. 7 is taken in.

  Here, the audio device 6 is provided with various operation switches 10 for switching the input source and adjusting the volume and sound quality as is well known, while the navigation system 5 is a GPS receiver as is well known. In addition, a gyroscope, a G sensor, and the like are incorporated, and as a display means (monitor) for performing various displays, for example, a liquid crystal type display 11 and various operation switches 12 for switching the display are attached. And in this Embodiment, the display screen of the display 11 in the said navigation system 5 serves also as the warning means for the driving assistance mentioned later.

  Since the audio device 6 and the navigation system 5 are connected to each other via the multimedia CAN 9 as described above, either the switch 10 or 12 of the audio device 6 or the navigation system 5 is operated. Each time the operation switch 10 or 12 is operated (the operation switches 10 and 12 each have specific type information) and information on the operation time (for example, ○ hour ○ minute ○ second) ) Is output to the switch operation monitoring unit 17 side of the driving support controller 7 described later via the vehicle CAN8 each time. The switch operation monitoring unit 17 monitors the operation history of the various operation switches 10 or 12 of the audio device 6 and the navigation system 5 as will be described later, so that the driver can actually look aside based on the operation history. It is estimated whether it is in a state.

  When the display 11 is of a touch panel type, various touch switches (touch sensors) on the screen are also included in the various operation switches. Further, the display 11 for assisting the driving may be provided with another display independent of the display of the navigation system 5, for example, a head-up display, and in the case where the entire instrument panel is a liquid crystal panel. Of course, a part of the liquid crystal panel can also be used as a display of the vehicle driving support device.

  The driving support control controller 7 includes any one of the sensor fusion unit 13 that controls the detection information of the warning object G (n) from the radar device 2 and the image recognition device 4 described above, and the warning object G (n). An alarm target specifying unit 14 that functions as an alarm target specifying means for extracting or specifying an alarm target as an alarm target requiring warning / notification to the driver, and receiving an alarm based on the result of the alarm target specifying unit 14 Alarm output unit 15 that outputs a command for the vehicle, and a specific range variable that switches and specifies a range to be extracted or specified as an alarm target that needs to be alarmed or notified to the driver among the above-described warning target G (n) In addition to the specific range variable function unit 16 that functions as a means, a switch operation monitoring unit 17 that functions as a switch operation monitoring unit and an armpit state determination unit 18 that functions as a armpit state determination unit are provided. To have.

  In the sensor fusion unit 13, information on the position of each of the warning objects G (n) detected by the radar device 2 and the image recognition device 4 described above and the distance to the warning object G (n) is transmitted via the vehicle CAN8. Then, by complementing both pieces of information, the recognition accuracy is improved, and a warning object G (n) within the detection range Q is extracted or specified. In the example of FIGS. 2 and 3, all warning objects G (n) such as four-wheeled vehicles, two-wheeled vehicles, and pedestrians within the detection range Q of the detection angle θ are extracted or specified.

  In this case, even if information on all detected warning objects G (n) is given to the driver as an alarm, the information is excessive, and in this embodiment, the warning objects G (n) within the detection range Q are used. Among them, the range L1 and L2 that should be extracted or specified as a warning target object that requires warning / notification to the driver in particular can be switched between two stages as shown in FIGS. . The specific range variable function unit 16 in FIG. 1 controls the function of switching a range to be extracted or specified as a warning target for a part of the warning target G (n) in two steps.

  The switch operation monitoring unit 17 monitors the operation history of the various operation switches 10 or 12 attached to the audio device 6 or the navigation system 5 described above, that is, the ON / OFF state and the time information at the time of the ON operation. Therefore, each time any switch 10 or 12 is operated, the switch operation monitoring unit 17 receives information about the type of the operated switch 10 or 12 and the operated time via the vehicle CAN8 each time. Captured and accumulated. Note that time information received by a GPS receiver built in the navigation system 5 is used for this time.

  1, the most recent operation among the history information of the past operation switch 10 or 12 accumulated in the switch operation monitoring unit 17 at the time when a predetermined request is made, as will be described later. While calling the time information when the switch 10 or 12 is operated, the time (elapsed time) from the time information to the time at that time is calculated as the no-operation time of the various operation switches 10 or 12. Then, the no-operation time is compared with a predetermined set time, and when the no-operation time is within the set time, it is estimated that the driver is in a state of looking aside and driving A predetermined warning command is output from the warning output unit 15 to issue a warning to the driver, and the warning is issued to the driver with, for example, an alarm sound or vibration, or a screen display such as drawing.

  In the present embodiment, as shown in FIG. 5, for example, when a preceding vehicle C1, an oncoming vehicle C2, or a pedestrian M in front of the course of the host vehicle 1 is recognized as a warning object G (n), an in-vehicle camera system 3 is displayed on the display 11, so that the vehicle C1, C2 or the pedestrian M is subjected to the processing of the frame F on the screen of the display 11 as will be described later. Will be alerted. Therefore, in the present embodiment, the display 11 as a display means also functions as an alarm means at the same time.

  Note that the set time compared to the no-operation time of the above switches may be set individually according to the type of each operation switch, in addition to the case where a single time common to each operation switch is set. Alternatively, each operation switch may be divided into a plurality of groups, and the set time may be individually set for each group.

  Next, a series of processing procedures of the vehicle driving support apparatus configured as described above will be described with reference to the flowchart of FIG.

  As shown in FIGS. 2 and 3 in addition to FIG. 1, the image recognition device 4 and the radar device 2 having the in-vehicle camera system 3 disposed at the front of the host vehicle 1 as the main elements always keep the front of the course of the host vehicle 1. More specifically, the detection range Q of the detection distance W and the detection angle θ is monitored. And the image | video which the vehicle-mounted camera system 3 caught is displayed on the display 11 of FIG. 1 as it is.

  On the other hand, as shown in FIG. 1, the operation state of the navigation system 5 and the audio device 6 is monitored by the switch operation monitoring unit 17 of the driving support controller 7, and the operation switch 10 of the navigation system 5 or the audio device 6 is monitored. Alternatively, when any one of 12 is turned ON, the type and operation time of the operation switch 10 or 12 are output to the driving support control controller 7 each time and are taken into the switch operation monitoring unit 17 of the driving support control controller 7. Accumulated.

  When the image recognition device 4 and the radar device 2 detect a warning object G (n) such as a four-wheeled vehicle, a two-wheeled vehicle, or a pedestrian in the detection range Q, the position of the warning object G (n) is determined. The distance from the host vehicle 1 is calculated, and the information is output to the driving support controller 7.

  Based on the information from the image recognition device 4 and the radar device 2, the sensor fusion unit 13 of the driving support control controller 7 uses the warning object G () at a constant period set by the 10 msec timer in step S1 of FIG. The detection information of n) is collected, and the presence / absence of detection of the warning object G (n) is determined (step S2).

  When it is determined that the warning object G (n) is detected, the aside look state determination unit 18 of the driving support control controller 7 operates the operation switch 10 based on the switch operation history accumulated in the switch operation monitoring unit 17. Alternatively, after calling the time information of the latest switch operation related to 12, the time T from the switch operation time to the current time is calculated (step S3). Then, the calculated time T is compared with a preset set time (step S4), and when the time T is within the set time, it is estimated that the user is in a state of looking aside, and the process proceeds to step S5. On the other hand, if the time T is not within the set time, it is presumed that the person is not looking aside and proceeds to step S11.

  Here, based on the time T from the most recent switch operation time to the current time, it is determined whether or not the user is in a state of looking aside from the operation history of the switch system 5 or the operation of the audio device 6. At this time, it is highly possible that the line of sight is moved, and the shorter the time T is, the closer the timing of the switch operation is, the more the driver is distracted by the operation of the navigation system 5 or the audio device 6, and the front view This is because it can be determined that there is a high possibility that attention to driving is slow.

  If it is estimated in step S5 in FIG. 4 that the side-by-side state is substantial, the side-by-side flag is set to ON (step S6), and the specific range variable function unit 16 in FIG. As described above, the range to be extracted or specified for the alarm object G (n) having a higher priority is switched to the wider L1 range (step S7).

  Note that, as described above, the navigation system 5 or the audio equipment may be switched to the wider L1 range as the alarm target object on the condition that it has been estimated to be an aside state as described above. It is highly likely that attention to the operation of No. 6 is distracted and attention to driving in front view is slow, and it is effective to announce a wider range of warning objects as warning objects Because it is.

  As a result of switching to the range L1 having a wider range to be extracted or specified as the alarm object as described above, the alarm object G (n) in FIG. 2 within the alarm object range L1 (in FIG. 2) ○ mark) only becomes an alarm target, and anything other than the alarm target range L (△ mark in FIG. 2) becomes a non-alarm target, so the alarm target specifying unit 14 is in the alarm target range L1. After extracting or specifying the object G (n) as an alarm object (circled in FIG. 2) (step S8), an alarm command is output from the alarm output unit 15 to the display 11 that also serves as an alarm means ( Step S9), alarm / notification is executed (step S10).

  This alarm command is output as a frame enclosing process command for the alarm object displayed on the screen of the display 11, and since the position of the alarm object is known, for example, the screen of the display 11 shown in FIG. Assuming that the preceding vehicle C1, the oncoming vehicle C2, or the pedestrian M is an alarm object extracted or specified above, the alarm object C1, C2, and M are displayed so as to be easily visible on the screen. As part of the emphasis process or exaggeration process for the objects C1, C2 and M, a frame F is applied to the identified alarm objects C1, C2 and M here to alert the driver. More specifically, a plurality of types of frames having predetermined colors and different sizes are pre-patterned and stored. For example, the sizes of the alarm objects C1, C2 and M identified as shown in FIG. Accordingly, the corresponding frame F is selected and superimposed on the corresponding alarm objects C1, C2 and M on the screen so as to be reflected in the original video.

  Note that the above frame enclosing process is merely an example, and other methods may be employed instead, as long as the alarm object can be emphasized or exaggerated.

  By doing so, the driver immediately grasps the alarm objects C1, C2 and M surrounded by the frame, and also confirms the positional relationship with the own vehicle 1 while checking the alarm objects C1, C2 and M. It is possible to pay sufficient attention to the movement.

  On the other hand, if it is estimated in step S11 of FIG. 4 that the non-look-aside state is assumed, the look-aside flag is set to OFF (step S12), and the specific range variable function unit 16 receives this as shown in FIG. The range that should be extracted or specified as a warning object among the warning objects G (n) is switched to the narrower L2 range (step S13).

  Here, the navigation system 5 or the audio device described above is used to switch the range to be extracted or specified as the alarm object to the narrower L2 range on the condition that it is estimated that the person is not looking aside as described above. Because it is unlikely that attention to driving in front view is sluggish based on the operation history of 6, it is considered sufficient to notify only warning objects with higher importance as warning objects. is there.

  As a result of switching to the L2 range having a narrower range to be extracted or specified as the alarm object as described above, the alarm object G (n) in FIG. 3 within the alarm object range L2 (in FIG. 3) Since only the alarm target object is a warning object, and those other than the warning target range L2 (△ mark in FIG. 3) are non-warning target objects, the warning target specifying unit 14 in FIG. 1 is within the warning target range L2. After extracting or specifying a certain warning object G (n) as a warning object (circle mark in FIG. 3) (step S14), a warning command is issued from the warning output unit 15 to the display 11 that also serves as a warning means. Output (step S15) and execute alarm / notification (step S16).

  This warning command is the same as the previous case. For example, if the vehicles C1, C2 and the pedestrian M on the screen of the display 11 shown in FIG. As a part of the emphasis processing or exaggeration processing of the alarm object C1, C2 or M, a frame F is applied to the alarm object C1, C2 and M so that the object C1, C2 or M can be easily seen on the screen. This will alert the driver.

  As described above, according to the present embodiment, it is estimated that the armpit is in the side view state based on the monitoring result of the switch operation monitoring unit 17 that monitors the operation state of the switches of the navigation system 5 and the audio device 6 that are in-vehicle devices. Since the alarm is issued by the frame enclosing process on the screen of No. 11, there is no need for an imaging means such as a CCD camera for detecting the looking-aside state, and the cost of the system can be reduced. Can be expected.

  In addition, when it is estimated that the armpit is in the side-by-side state, by switching the alarm target range to the wide range L1, for example, in the case of the meandering operation in the side-by-side state, it is possible to avoid the risk of collision with the alarm object in advance. There is.

  In addition, unlike the case where a warning is issued immediately when a warning object in front of the host vehicle 1 is detected, the warning is limited to the case where it is presumed to be a side-by-side state. The driver can be released from the alarm of object detection.

  FIG. 6 is a flowchart showing a second embodiment of the vehicle driving support apparatus according to the present invention. Only the processing contents in steps S27 and S32 are different from those in FIG. 4, and the other processes are those in FIG. It is the same.

  Here, without causing the specific range variable function unit 16 shown in FIG. 1 to function, the alarm target range shown in FIGS. 2 and 3 is fixed to a specific range of L1 or L2, for example (other than L1 or L2). If it is estimated in step S25 that it is in a sideward state, the sideward state flag is set to ON in the next step S26, and the alert target is in that specific range. All the objects are extracted or specified as alarm objects (step S27), and all alarms displayed on the screen of the display 11 as shown in FIG. 5 are issued to issue alarms for all the alarm objects. The objects C1, C2 and M are subjected to the process of frame F as an alarm process to alert the driver.

  On the other hand, if it is estimated that the person is not looking aside in step S30, the aside state flag is set to OFF in the next step S31, and then specified by the specific range variable function unit 16 in FIG. Regardless of the range, the alarm object specifying unit 14 in FIG. 1 extracts or specifies as an alarm object an object with a very high risk of collision among all the alarm objects detected in step S22 (step S22). S32), in order to issue an alarm only for the extracted or specified alarm object, the alarm object displayed on the screen of the display 11 is first extracted or specified as shown in FIG. Only the one that has been made (for example, any one of C1, C2, and M) is subjected to the processing of the frame F as an alarm processing to alert the driver (step S). 3, S34).

  Here, in order to extract or specify an alarm object having a very high risk of collision among all the alarm objects G (n) detected in step S22, each detected alarm object G ( n), since the position and the distance from the own vehicle 1 are known as described above, for example, the smallest distance from the own vehicle 1 among all the detected warning objects G (n) Shall be extracted or specified as an alarm object.

  Therefore, it goes without saying that the same effects as those of the first embodiment can be obtained also in the second embodiment.

1 is a block circuit diagram showing a system configuration as a first embodiment of a vehicle driving support apparatus according to the present invention. Plane explanatory drawing which shows the state which switches and monitors the warning object range to the wide range L1 in the vehicle carrying the system of FIG. Plane explanatory drawing which shows the state which switches and monitors the warning object range to the narrow range L2 in the vehicle carrying the system of FIG. The flowchart which shows the process sequence in the system of FIG. Explanatory drawing which shows the example of a display on the display in the system of FIG. The flowchart which shows 2nd Embodiment of the vehicle driving assistance device which concerns on this invention.

Explanation of symbols

1 ... Vehicle (own vehicle)
2 ... Radar device (warning object detection means)
3 ... In-vehicle camera system 4 ... Image recognition device (warning object detection means)
5. Navigation system (on-vehicle equipment)
6 ... Audio equipment (in-vehicle equipment)
7 ... Driving support controller 10 ... Operation switch 11 ... Display (alarm means)
12 ... Operation switch 14 ... Alarm object specifying part (Alarm object specifying means)
16: Specific range variable function section (specific range variable means)
17 ... Switch operation monitoring unit (switch operation monitoring means)
18 ... Aside look state determination unit (aside look state determination means)
G ... Alert object

Claims (4)

An alarm means capable of issuing an alarm according to the detection result of an alarm object around the host vehicle;
Switch operation monitoring means for monitoring the operation state of the switch of the in-vehicle device,
Looking aside state determining means for estimating whether or not the person is looking aside based on information from the switch operation monitoring means,
With
The aside look determination means determines the switch operation interval as a no-operation time, and determines that it is a look-aside state when the no-operation time is within a predetermined set time.
As a result of monitoring by the switch operation monitoring means, when it is determined that an alarm / notification to the driver is necessary, the above-mentioned alarm means is actuated. A warning object detection means for detecting a warning object in front of the host vehicle;
An alarm object specifying means for specifying an alert object requiring warning and notification to the driver of the warning object detected as main alarm object by the upper Symbol Warning object detecting means,
Warning means for executing warning / notification to the driver based on information from the warning object specifying means;
A specific range variable means for switching a range to be specified as an alarm target object by the alarm object specifying means according to the estimation result in the side look state determination means,
Vehicle driving support device according to claim 1, characterized in that with a.   3. The vehicle driving support device according to claim 2, wherein the specific range variable means switches a range to be specified as an alarm target object by the alarm target object specifying means in two steps.   When it is estimated that the side-by-side state determining unit is in the side-by-side state, the specific range variable unit instructs the range to be specified as the alarm target object by the alarm target object specifying unit as all the alarm target objects. The vehicle driving support device according to claim 3, wherein the vehicle driving support device is a device.

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