JP5303393B2 - Vehicle driving support device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To appropriately encourage spontaneous safety driving by a driver. <P>SOLUTION: The driving support device for vehicles 10 includes: a vehicle information storage part 24 for, when a proper driving detection part 22 or a risk driving detection part 23 detects a proper or risk driving action, storing vehicle information detected by a vehicle condition sensor 13 over a predetermined time before and after the detection; a notification control part 26 for, only when the proper driving detection part 22 detects a proper driving action, providing notification to the proper driving action; a proper driving retrospection support part 25 for, when the proper driving detection part 22 detects a proper driving action, supporting retrospection of the proper driving action after end of driving of one's own vehicle based on the vehicle information stored in the vehicle information storage part 24; and a risk driving retrospection support part 27 for, when the risk driving detection part 23 detects a risk driving action, supporting retrospection of the risk driving action after end of driving of the own vehicle based on the vehicle information stored in the vehicle information storage part 24. <P>COPYRIGHT: (C)2011,JPO&amp;INPIT

Description

  The present invention relates to a vehicle driving support apparatus.

Conventionally, for example, a driving support device that compares driving result information of a driver of a vehicle with average driving result information and notifies the driver of an evaluation based on the comparison result is known (for example, see Patent Document 1). .
Also, conventionally, for example, a device that notifies a driver of driving advice based on a difference between a driving rule and a driving behavior of the driver and a driver's driving intention is known (for example, see Patent Document 2).

JP 2004-171060 A JP 2006-350567 A

By the way, according to each device according to the above-described prior art, notification is performed regardless of whether the driving operation of the driver is good or bad. For example, when a bad point of the driving operation is pointed out during driving, There is a possibility that the driver's driving operation cannot be improved only by disturbing the emotion. In addition, for example, even at the end of driving, simply pointing out a bad driving operation unilaterally may make it difficult for the driver to recognize, causing a problem that driving operation cannot be improved properly. .
The present invention has been made in view of the above circumstances, and an object of the present invention is to provide a vehicle driving support device capable of appropriately prompting the driver to perform voluntary safe driving.

In order to solve the above-described problems and achieve the object, the vehicle driving support apparatus according to the first aspect of the present invention includes a host vehicle state detection unit (for example, in the embodiment) that detects the vehicle state of the host vehicle. Vehicle state sensor 13) and appropriate driving detection means (for example, implementation) for detecting an appropriate driving operation performed by the driver while the host vehicle is traveling based on the vehicle state detected by the host vehicle state detecting means. An appropriate driving detection unit 22) in the form, and dangerous driving detection means for detecting dangerous driving operation of the own vehicle based on the vehicle state detected by the own vehicle state detecting means (for example, dangerous driving in the embodiment) When each driving operation is detected by the detection unit 23) and the appropriate driving detection unit or the dangerous driving detection unit, the vehicle state detection is performed for a predetermined time before and after the detection of each driving operation. Storage means for storing the state of the vehicle detected by the step (e.g., vehicle information storage unit 24 in the embodiment) and the proper operation operation performs a notification only when it is detected by the appropriate operation detecting means The vehicle stored in the storage means when the appropriate driving operation is detected by the appropriate driving notification means (for example, the notification control unit 26 and the notification device 15 in the embodiment) and the appropriate driving detection means. Based on the state , after the driving of the host vehicle is finished, appropriate driving retrospective support means (for example, the appropriate driving retrospective support unit 25 in the embodiment) for supporting the retrospective driving by the driver of the appropriate driving action, and the dangerous driving when the dangerous driving behavior is detected by the detecting means, based on the vehicle state stored in the storage means, after the completion of the operation of the vehicle, the dangerous driving operation Comprising dangerous driving retrospective support unit for supporting a retrospective by the driver (for example, dangerous driving retrospective support unit 27 in the embodiment) and a. Further, the dangerous driving retrospective support means inquires about the driver's feelings about the driving operation while traveling, and when the driver replied that the driver felt dangerous in response to the inquiry, the driver of the dangerous driving operation Support retrospective.

  Furthermore, the vehicle driving support apparatus according to the second aspect of the present invention provides the appropriate driving notification when the driving assistance of each driving operation is supported by the appropriate driving retrospect support means or the dangerous driving retrospect support means. Permission means for permitting the operation of the means (for example, the notification control unit 26 in the embodiment also serves) is provided.

Further, in the vehicle driving support device according to the third aspect of the present invention, the appropriate driving retrospect support means and the dangerous driving retrospect support means include a case where the duration of the speed of the host vehicle being zero is a predetermined time or more. When the parking brake of the host vehicle is activated, when the power transmission mechanism of the host vehicle is in the neutral state, and when the power transmission mechanism of the host vehicle is in the locked state, the driving is performed. It can operate when a person can provide information.

According to the vehicle driving support apparatus according to the first aspect of the present invention, when an appropriate driving operation is detected, a notification is given even during driving, so that the appropriate driving operation is further performed. Can be urged. In addition, when a dangerous driving operation is detected, notification during driving is not performed, so that it is possible to prevent the driver's feelings from being disturbed and the driving operation from being deteriorated.
In addition, after the driving is completed, the driver supports the spontaneous review by the driver of the appropriate driving operation and the dangerous driving operation, so that it is possible to appropriately promote the improvement of the driving operation accompanied by the calm recognition by the driver.
In addition, a driver who does not perform a retrospective review of driving behavior despite feeling dangerous to the driving behavior while traveling is not subject to unilateral indication. By inquiring about the impression of the driver, it is possible to guide the driver to review the driving operation voluntarily, and to appropriately promote the improvement of the driving operation accompanied by a calm recognition by the driver.

  Furthermore, according to the vehicle driving support apparatus according to the second aspect of the present invention, when a retrospective of each driving operation is supported according to the driver's voluntary intention, notification of an appropriate driving operation is permitted. Therefore, it is possible to appropriately improve the driver's desire to improve the driving operation, and to prevent the driver from feeling uncomfortable with the notification during driving.

Furthermore, according to the vehicle driving support apparatus according to the third aspect of the present invention, since the driving of the host vehicle is completed and the driver has a margin, the driving operation is supported. It is possible to promote a proper analysis and deepen the recognition of the improvement of driving behavior.

1 is a configuration diagram of a vehicle driving support apparatus according to an embodiment of the present invention. It is a figure which shows the example of the target value of the position at the time of the curve of the own vehicle which concerns on embodiment of this invention, and various vehicle information. It is a figure which shows the example of the friction circle data of the longitudinal acceleration and the lateral acceleration at the time of the curve of the own vehicle which concerns on embodiment of this invention. It is a figure which shows the example of the target value of the position at the time of the crossing of the own vehicle which concerns on embodiment of this invention, and various vehicle information. It is a figure which shows the example of the target value of the position at the time of the level crossing of the own vehicle which concerns on embodiment of this invention, and various vehicle information. It is a flowchart which shows operation | movement of the driving assistance device for vehicles which concerns on embodiment of this invention.

A vehicle driving support apparatus according to an embodiment of the present invention will be described below with reference to the accompanying drawings.
As shown in FIG. 1, for example, the vehicle driving support apparatus 10 according to the present embodiment includes an input device 11 such as a switch and a keyboard and a voice input device, a navigation device 12, a vehicle state sensor 13, and a processing device 14. The notification device 15 is provided.

  The navigation device 12 receives a positioning signal such as a GPS (Global Positioning System) signal for measuring the position of the vehicle using, for example, an artificial satellite, and the vehicle speed and yaw rate output from the vehicle state sensor 13. The detection signal is acquired. Then, the current position of the vehicle is calculated by the received positioning signal or by an autonomous navigation calculation process based on detection signals such as speed and yaw rate.

Further, the navigation device 12 uses map data to display map data for displaying a map on a monitor (not shown) of the notification device 15 and road coordinate data necessary for map matching processing based on the current position of the vehicle. As prepared. Further, the navigation device 12 is a line connecting each node with data required for processing such as route search and route guidance, for example, a node consisting of latitude and longitude at a predetermined position such as an intersection and a branch point. Road data consisting of links is provided as map data. Various types of information are added to the nodes and links.
The various additional information for the nodes and links includes, for example, past accident occurrence information at each point, traffic volume, danger information input by the operator, and the like.

Then, the navigation device 12 performs map matching on the road data based on information on the current position of the vehicle obtained from either or both of the positioning signal and the autonomous navigation calculation process, and detects the current position. Correct the result.
The navigation device 12 executes processing such as vehicle route search and route guidance, for example, and outputs, for example, route information to the destination and various additional information to the monitor of the notification device 15 together with road data. Is output from a speaker (not shown) of the notification device 15.

  The vehicle state sensor 13 includes, for example, a vehicle speed sensor that detects the speed (vehicle speed) of the host vehicle, an acceleration sensor that detects acceleration acting on the vehicle body, a gyro sensor that detects the posture and traveling direction of the vehicle body, and a yaw rate (vehicle The yaw rate sensor that detects the rotational angular velocity of the center of gravity about the vertical axis) and the driving operation by the driver (for example, the amount of depression of the accelerator pedal, the amount of depression of the brake pedal, the steering angle of the steering wheel, the direction indicator Each of which detects an operation start and an operation stop, a shift position, an operation start and an operation stop of the wiper switch, and the like, and outputs signals of detection results of various vehicle information of the host vehicle.

  The processing device 14 includes, for example, a travel position information acquisition unit 21, an appropriate driving detection unit 22, a dangerous driving detection unit 23, a vehicle information storage unit 24, an appropriate driving retrospective support unit 25, a notification control unit 26, A dangerous driving retrospective support unit 27 is provided.

  The travel position information acquisition unit 21 acquires information related to the travel position of the host vehicle based on the map data stored in the navigation device 12 and various information acquired or detected by the navigation device 12. Then, the traveling position information acquisition unit 21 sets “1” as the flag value of the environment flag when the acquired information is predetermined information.

  For example, the travel position information acquisition unit 21 has a predetermined travel position type (intersection, curve, lane-changeable travel road, railroad crossing, junction, regulation section, urban area, narrow street, residential road, bad weather, etc.) In some cases, the flag value of the environment flag is set to “1”. And as information related to the travel position, such as road shape (intersection size, curve curvature, number of lanes, width, etc.) and regulatory information, and radar devices and cameras that detect objects in the outside of the vehicle Information on detection results (for example, the presence or absence of other vehicles, pedestrians, and obstacles) by an external sensor (not shown) is acquired.

  The appropriate driving detection unit 22 is based on signals of various vehicle information detection results output from the vehicle state sensor 13 and information related to the traveling position of the own vehicle acquired by the traveling position information acquisition unit 21. An appropriate driving operation executed by the driver while the host vehicle is traveling is detected, and for example, a target driving operation calculating unit 22a and a safe driving degree calculating unit 22b are provided.

The target driving operation calculation unit 22a is, for example, based on information related to the traveling position of the host vehicle acquired by the traveling position information acquisition unit 21, and a target required for the host vehicle to maintain proper traveling at the traveling position. Calculate driving behavior.
The safe driving degree calculation unit 22b outputs, for example, information related to the traveling position of the host vehicle acquired by the traveling position information acquisition unit 21, the target driving operation calculated by the target driving operation calculation unit 22a, and the vehicle state sensor 13. The safe driving degree of the driving operation of the driver at the traveling position is calculated based on the detection result signals of the various vehicle information of the host vehicle.

For example, the safe driving degree is calculated based on the target driving operation calculated by the target driving operation calculating unit 22a for the driving environment according to the information related to the driving position of the host vehicle acquired by the driving position information acquiring unit 21, and the vehicle. It is calculated based on the deviation from the actual driving operation according to the detection result output from the state sensor 13.
For example, the safe driving degree Score shown in the following formula (1) is a task variable task that changes for each driving action (for example, driving action when passing a curve, driving action when passing an intersection, etc.) and the previous safe driving degree value ZScore. , Yaw rate gain Kyaw, target yaw rate dyaw, yaw rate detection value yaw, lateral acceleration gain Kyg, target lateral acceleration dyg, lateral acceleration detection value yg, velocity gain Kvel, target velocity dvel, velocity detection value vel, longitudinal acceleration gain Kg, target longitudinal acceleration dg, longitudinal acceleration detection value g, stop time deviation (for example, deviation between the target value and detection value of the stop time at a stop position such as a crossing) stop_t It is described by.

  For example, as shown in FIGS. 2A to 2C, when the vehicle P passes through the curve, the shape value of the curve acquired by the traveling position information acquisition unit 21 (for example, the curvature and length of the curve). According to the lateral acceleration, the accelerator pedal operation amount AP, the brake pedal operation amount BP, and the steering wheel operation amount SW (that is, each target value for passing the curve properly) Deviations from the actual values corresponding to the driving operations performed by the driver are calculated at a predetermined timing (for example, every time t1, t2, t3 when passing the curve, etc.). And when each deviation is below a predetermined value and it is small, it determines with the appropriate driving operation by a driver having been detected.

  Note that, at the time of passing through the curve of the host vehicle, for example, the comparison is not limited to the time series data of the target value and the actual value of each vehicle state quantity as shown in FIGS. In the friction circle data of the longitudinal acceleration and the lateral acceleration as shown in FIGS. 3A and 3B, data based on the actual values of the longitudinal acceleration and the lateral acceleration are stored in a predetermined region (for example, FIG. A change in data due to the actual values of longitudinal acceleration and lateral acceleration (for example, a change in dotted line data with respect to the solid line data shown in FIG. 3B). ) May be determined within a predetermined variation range.

  For example, as shown in FIGS. 4A to 4C, when the host vehicle P passes through the intersection, the shape value of the intersection acquired by the traveling position information acquisition unit 21 (for example, the size of the intersection). Etc.) and the operation start timing (for example, time t1) of the direction indicator according to the information of the detection results (for example, the presence or absence of other vehicles, pedestrians, obstacles, etc.) by the external sensor (not shown) and the speed Vel Changes in brake pedal operation amount BP and lateral acceleration target values (that is, target values for passing the intersection properly by smooth deceleration, temporary stop, acceleration, etc.) and actual driving during the temporary stop period Deviations from the actual values corresponding to the driving operations performed by the person are calculated at a predetermined timing (for example, every time t1, t2, t3, t4, etc. when passing the intersection). And when each deviation is below a predetermined value and it is small, it determines with the appropriate driving operation by a driver having been detected.

  Further, for example, as shown in FIGS. 5A and 5B, when the vehicle P passes through the level crossing, the shape value of the level crossing acquired by the traveling position information acquisition unit 21 (for example, the length of the level crossing). And the target value of the change in the brake pedal operation amount BP related to the temporary stop period according to the information of the detection result (for example, whether or not the circuit breaker is activated) by the external sensor (not shown) The deviation between each target value for properly passing the level crossing by smooth deceleration, temporary stop, re-start, etc., and the actual value corresponding to the driving operation actually executed by the driver is a predetermined timing (for example, Each time t1, t2, etc. at the time of passing the railroad crossing). And when each deviation is below a predetermined value and it is small, it determines with the appropriate driving operation by a driver having been detected.

  Further, for example, at the time of execution of lane change on a lane where the lane can be changed, the shape value (for example, the width, the number of lanes, etc.) of the travel path acquired by the travel position information acquisition unit 21 and an external sensor (not shown). The operation start timing of the direction indicator and the target values of the speed Vel and the operation amount SW of the steering wheel (that is, for appropriately executing the lane change) according to the information of the detection result (for example, the presence or absence of other vehicles) The deviation between each target value) and each actual value corresponding to the driving operation actually executed by the driver is calculated at a predetermined timing. And when each deviation is below a predetermined value and it is small, it determines with the appropriate driving operation by a driver having been detected.

  For example, at the time of passing through a merging point on the traveling road, the shape value (for example, the width, the number of lanes, etc.) of the traveling road acquired by the traveling position information acquisition unit 21 and the detection result (for example, not shown) The operation start timing of the direction indicator and the target values of the speed Vel and the operation amount SW of the steering wheel (that is, the merging of the own vehicle or the merging of the other vehicle) are appropriately executed according to the information on the presence or absence of other vehicles, etc. Therefore, a deviation between each target value) and each actual value corresponding to the driving operation actually performed by the driver is calculated at a predetermined timing. And when each deviation is below a predetermined value and it is small, it determines with the appropriate driving operation by a driver having been detected.

  For example, when passing through a restricted section, an urban area, a narrow street, a living road, a bad weather location, etc., information on the travel path acquired by the travel position information acquisition unit 21 and a detection result by an external sensor (not shown) (for example, Target values such as the speed Vel corresponding to information on the presence of other vehicles and pedestrians (that is, each target value for driving properly) and each actual value corresponding to the driving operation actually performed by the driver The deviation from the value is calculated at a predetermined timing. And when each deviation is below a predetermined value and it is small, it determines with the appropriate driving operation by a driver having been detected.

  Furthermore, this safe driving degree is corrected according to the driving skill of the driver and the progress of the skill. For example, as the driving skill of the driver increases, the driver should not be overpraised according to the safe driving degree so that the calculation result of the safe driving degree is difficult to be evaluated on the safe side. Corrected. Also, for example, when the driver's progress in driving skill is slow, the driver is likely to be given up according to the safe driving degree so that the calculation result of the safe driving degree is easily evaluated to the safe side. Corrected.

The dangerous driving detection unit 23 is based on signals of various vehicle information detection results output from the vehicle state sensor 13 or information on the traveling position of the host vehicle acquired by the traveling position information acquisition unit 21. A dangerous driving operation in which the driver feels dangerous while the vehicle is traveling is detected.
For example, the dangerous driving detection unit 23 may detect a sudden acceleration / deceleration, excessive lateral acceleration, or the like detected by the vehicle state sensor 13 or when a curve having a large curvature or passing through a narrow intersection is detected. Detects that dangerous driving action has been performed.

  The vehicle information storage unit 24 stores the vehicle state for a predetermined time before and after the detection of each driving operation when an appropriate driving operation or a dangerous driving operation is detected by the appropriate driving detection unit 22 or the dangerous driving detection unit 23. The detection result of the various vehicle information of the own vehicle output from the sensor 13 is memorize | stored.

The appropriate driving retrospective support unit 25 controls the execution of notification by the notification device 15 during traveling of the host vehicle when an appropriate driving operation is detected by the appropriate driving detection unit 22 during traveling of the host vehicle. An instructing command signal is output to the notification control unit 26.
Note that the notification control unit 26 is provided when the appropriate driving retrospective support unit 25 or the dangerous driving retrospective support unit 27 supports the retrospective driving by the driver, or from a predetermined time (for example, when the vehicle is shipped). When an appropriate driving operation is detected by the appropriate driving detection unit 22 for the first time during traveling of the host vehicle, or when a predetermined input operation is performed by the driver, the notification device 15 during traveling of the host vehicle is used. The execution of notification by is permitted. In the initial setting at the time of shipment of the vehicle or the like, execution of notification by the notification device 15 during traveling of the host vehicle is prohibited.

And the alert control part 26 is in the state where execution of the alerting | reporting by the alerting | reporting apparatus 15 during the driving | running | working of the own vehicle was permitted, and the suitable driving | operation detection part 22 detected the suitable driving | operation operation | movement during driving | running | working of the own vehicle. The control unit controls the execution of notification by the notification device 15 during traveling of the host vehicle.
In addition, the notification control unit 26 may prohibit the notification device 15 from executing notification while the host vehicle is traveling in a state where the vehicle body posture is not stable, for example, when the host vehicle is traveling. Good.
In addition, the notification control unit 26 may control the execution of notification including appropriate communication for relieving the driver's mood when the vehicle is started.

The notification by the notification device 15 during traveling of the host vehicle due to the detection of an appropriate driving operation by the appropriate driving detection unit 22 during traveling of the host vehicle is, for example, a case where the operation load of the driver's driving operation is a predetermined value. In a case where the volume is larger than the above, a predetermined sound output from a speaker (not shown) (for example, a music box or a chirping of a bird) or a voice is heard, and for example, the operation load of the driver's driving operation is predetermined. For example, a predetermined display displayed on a monitor (not shown) or a visual notification by lighting or blinking of a lamp (not shown) when the value is smaller than the value.
In addition, in order to maintain the desired interest, these notification forms may be changed as appropriate by an operator, for example, or may be changed as appropriate according to the number of notifications, for example.

In addition, the appropriate driving retrospective support unit 25 is stored in the vehicle information storage unit 24 after the driving of the host vehicle is ended when an appropriate driving operation is detected by the appropriate driving detection unit 22 while the host vehicle is traveling. Based on the vehicle information, support the retrospective by the driver of the appropriate driving action.
The execution of this support is permitted, for example, when the duration of the speed of the host vehicle detected by the vehicle state sensor 13 is zero or longer and when the vehicle is detected by the vehicle state sensor 13 The parking brake state of the vehicle is in the activated state, the state of the power transmission mechanism (such as the transmission) of the host vehicle detected by the vehicle state sensor 13 is in the neutral state, and the vehicle state sensor 13 detects. This is a case where at least one of the cases where the power transmission mechanism of the host vehicle is in a locked state and a case where the driver can provide information.

For example, when the appropriate driving detection unit 22 detects an appropriate driving operation while the host vehicle is traveling, the appropriate driving retrospective support unit 25 confirms that an appropriate driving operation has been detected after the driving of the host vehicle is completed. A predetermined notification (for example, lighting of a predetermined lamp) is performed. When the operator performs a predetermined input operation (for example, operation of a predetermined switch) in response to this notification, the appropriate driving retrospective support unit 25 sequentially performs appropriate communication with the operator and Control of the execution of notification comprising the description of the appropriate driving action detected by the appropriate driving detection unit 22 while the vehicle is running, the description of the effect of the appropriate driving action, the presentation of the related information link, and the like. To the notification control unit 26.
The related information link includes, for example, a wisdom bag made up of various information that encourages the execution and improvement of appropriate driving operations, accident statistics data, a risk prediction map made up of information such as the number of accidents, and traffic rules. Data and comparison data between actual running data and recommended running data.

  The dangerous driving retrospective support unit 27 prohibits the execution of notification by the notification device 15 during traveling of the host vehicle when a dangerous driving operation is detected by the dangerous driving detection unit 23 while the host vehicle is traveling. An instructing command signal is output to the notification control unit 26.

The dangerous driving retrospective support unit 27 stores the vehicle information stored in the vehicle information storage unit 24 after the driving of the host vehicle is ended when the dangerous driving operation is detected by the dangerous driving detection unit 23 while the host vehicle is traveling. Based on the above, assist the driver in retrospect of dangerous driving behavior.
The execution of this support is permitted, for example, when the duration of the speed of the host vehicle detected by the vehicle state sensor 13 is zero or longer and when the vehicle is detected by the vehicle state sensor 13 The parking brake state of the vehicle is in the activated state, the state of the power transmission mechanism (such as the transmission) of the host vehicle detected by the vehicle state sensor 13 is in the neutral state, and the vehicle state sensor 13 detects. This is a case where at least one of the cases where the power transmission mechanism of the host vehicle is in a locked state and a case where the driver can provide information. Furthermore, the dangerous driving retrospective support unit 27 feels danger as information that the driver can provide, for example, after inquiring about the driver's impression of the driving operation during driving after the driving of the host vehicle is completed. If the driver obtains an answer that he / she has met, he assists the driver in retrospecting dangerous driving movements.

  For example, the dangerous driving retrospective support unit 27 confirms that a dangerous driving operation is detected after the driving of the host vehicle is ended when the dangerous driving operation is detected by the dangerous driving detecting unit 23 while the host vehicle is traveling. A predetermined notification (for example, lighting of a predetermined lamp) is performed. When a predetermined input operation (for example, operation of a predetermined switch) is performed by the operator in response to the notification, the dangerous driving retrospective support unit 27 sequentially performs appropriate communication with the operator and travel, for example. Inquiry of the driver's impression about the driving operation in the vehicle, and when the driver replied that the driver felt dangerous in response to the inquiry, the dangerous driving operation detected by the dangerous driving detection unit 23 while the vehicle was traveling The notification control unit 26 is instructed to control the execution of notification, which includes a description of contents to be presented to the driver in a selectable manner, inquiry of the driver's psychological state, and presentation of various information related to the psychological state.

  The appropriate driving retrospective support unit 25 and the dangerous driving retrospective support unit 27 send various information such as each driving operation detected by the appropriate driving detection unit 22 and the dangerous driving detection unit 23 while the vehicle is traveling to an external server. Such information and new information generated based on these information may be acquired by an appropriate terminal device installed at the driver's home or the like, for example.

Note that the notification device 17 includes, for example, a visual transmission device and an audio transmission device.
The visual transmission device is, for example, a monitor of the navigation device 12 mounted on a vehicle, and displays predetermined character information or image information on the monitor, for example, according to a control signal output from the notification control unit 26. Turn on or blink the lamp.
The auditory transmission device is, for example, a speaker or the like, and outputs a predetermined alarm sound or voice according to a control signal output from the notification control unit 26.

  The vehicle driving support apparatus 10 according to the present embodiment has the above-described configuration. Next, the operation of the vehicle driving support apparatus 10 will be described.

First, for example, in step S01 shown in FIG. 6, it is determined whether or not the flag value of the environment flag is “1”.
If this determination is “NO”, the flow proceeds to the end.
On the other hand, if this determination is “YES”, the flow proceeds to step S 02.
In step S02, various vehicle information detected by the vehicle state sensor 13 is stored.
And in step S03, based on the information regarding the driving position of the own vehicle acquired by the driving position information acquisition part 21, the target driving operation | movement required in order for the own vehicle to maintain appropriate driving | running | working in a driving position is carried out. Is calculated.

In step S04, for example, the vehicle position sensor 13 outputs information related to the traveling position of the host vehicle acquired by the traveling position information acquisition unit 21, the target driving operation calculated by the target driving operation calculation unit 22a, and the vehicle state sensor 13. The safe driving degree of the driving operation of the driver at the traveling position is calculated based on the detection result signals of various vehicle information of the own vehicle.
In step S05, it is determined whether an appropriate driving operation by the driver is detected while the host vehicle is traveling.
If this determination is “NO”, the flow proceeds to step S 10 described later.
On the other hand, if this determination is “YES”, the flow proceeds to step S 06.

In step S06, various vehicle information detected by the vehicle state sensor 13 is stored.
Then, in step S07, it is determined whether or not the notification during the traveling of the host vehicle is permitted for an appropriate driving operation by the driver.
If this determination is “NO”, the flow proceeds to step S 13 described later.
On the other hand, if the determination is “YES”, the flow proceeds to step S08.
In step S08, it is determined whether or not the vehicle body posture of the host vehicle is stable.
When this determination result is “NO”, execution of the determination process in step S08 is repeated.
On the other hand, if this determination is “YES”, the flow proceeds to step S 09.
In step S09, a notification by the notification device 15 during traveling of the host vehicle is executed for an appropriate driving operation by the driver, and the process proceeds to step S13 described later.

Further, in step S10, it is determined whether or not a dangerous driving operation (near hat; “driving” or “fast” driving operation) by the driver is detected while the host vehicle is traveling.
If the determination result is “YES”, the process proceeds to step S11. In this step S11, various vehicle information detected by the vehicle state sensor 13 is stored, and the process proceeds to step S13 described later.
On the other hand, if this determination is “NO”, the flow proceeds to step S 12, and in this step S 12, various vehicle information stored at this time is erased and reset, and the flow proceeds to the end.

In step S13, it is determined whether or not the operation is finished.
If this determination is “NO”, the flow proceeds to the end.
On the other hand, if the determination is “YES”, the flow proceeds to step S14.
In step S14, it is determined whether or not there is a retrospective request for the driving operation by the driver.
If this determination is “NO”, the flow proceeds to the end.
On the other hand, if the determination is “YES”, the flow proceeds to step S15.
And in step S15, the alerting | reporting which assists the driver's retrospective driving | running | working operation is performed.
In step S16, it is determined whether or not notification is permitted for an appropriate driving operation by the driver.
If this determination is “NO”, the flow proceeds to step S 17, and in this step S 17, notification is permitted for an appropriate driving operation by the driver, and the flow proceeds to the end.
On the other hand, if this determination is “YES”, the flow proceeds to the end.

As described above, according to the vehicle driving support device 10 according to the present embodiment, when an appropriate driving operation is detected, a notification is given even during driving, so that an appropriate driving operation is executed. Can be further encouraged.
In addition, when a dangerous driving action (nearly hat; “driving” or “fast” driving action) is detected, the driver's feeling is disturbed because driving is not notified. It is possible to prevent the operation from deteriorating.
In addition, after the driving is completed, the driver supports the spontaneous review by the driver of the appropriate driving operation and the dangerous driving operation, so that it is possible to appropriately promote the improvement of the driving operation accompanied by the calm recognition by the driver.

Furthermore, when the retrospective of each driving action is supported according to the driver's voluntary intention, the notification of the appropriate driving action is permitted, so that the driver's willingness to improve the driving action is appropriately improved. It is possible to prevent the driver from feeling uncomfortable with the notification during driving.
In addition, a driver who does not perform a retrospective review of driving behavior despite feeling dangerous to the driving behavior while traveling is not subject to unilateral indication. By inquiring about the impression of the driver, it is possible to guide the driver to review the driving operation voluntarily, and to appropriately promote the improvement of the driving operation accompanied by a calm recognition by the driver.
Furthermore, since the driving of the host vehicle is completed and the driving operation is supported in a state in which the driver has a margin, the driver can take a calm analysis and deepen the recognition of the improvement of the driving operation. .

  In the above-described embodiment, the safe driving degree is corrected according to the skill of the driver's driving operation and the progress of the skill. However, the present invention is not limited to this. For example, the driving operation by the driver is appropriate. The threshold for determining whether or not it is a driving action or a dangerous driving action may be corrected according to the skill of the driver's driving action and the progress of the skill.

10 Vehicle Driving Support Device 12 Navigation Device (Map Data Storage Means)
13 Vehicle state sensor (own vehicle state detection means)
15 Notification device (appropriate driving notification means)
21 Traveling position information acquisition unit (traveling position information acquisition means)
22 Appropriate driving detector (Appropriate driving detector)
23 Dangerous driving detection unit (Dangerous driving detection means)
24 Vehicle information storage unit (storage means)
25 Appropriate driving retrospective support department (appropriate driving retrospective support means)
26 Notification control unit (appropriate driving notification means, permission means)
27 Dangerous Driving Retrospect Support Department (Dangerous Driving Retrospect Support Means)

Claims (3)

Own vehicle state detecting means for detecting the vehicle state of the own vehicle;
Appropriate driving detection means for detecting an appropriate driving operation executed by the driver during traveling of the host vehicle based on the vehicle state detected by the host vehicle state detecting means;
Dangerous driving detection means for detecting a dangerous driving operation of the own vehicle based on the vehicle state detected by the own vehicle state detection means;
If each the running operation is detected by the appropriate operation detecting means or the dangerous driving detection means, the vehicle state where the detected by the vehicle condition detecting means for a predetermined time upon detection before and after each of said driving operation Storage means for storing
Appropriate driving notification means for notifying only when the appropriate driving operation is detected by the appropriate driving detection means;
When the appropriate driving operation is detected by the appropriate driving detection unit, the appropriate driving operation is reviewed by the driver after the driving of the host vehicle based on the vehicle state stored in the storage unit. Appropriate driving retrospective support means to support,
When the dangerous driving operation is detected by the dangerous driving detection unit, the dangerous driving operation is reviewed by the driver after the driving of the host vehicle based on the vehicle state stored in the storage unit. With dangerous driving retrospective support means to support ,
The dangerous driving retrospective support means inquires about the driver's feelings regarding the driving operation while traveling, and when the driver replied that the driver felt dangerous, the retrospective by the driver of the dangerous driving operation was conducted. support to vehicular driving support apparatus according to claim Rukoto.   The system further comprises permission means for permitting the operation of the appropriate driving notification means when the driving assistance of the driving operation is supported by the appropriate driving retrospective support means or the dangerous driving retrospective support means. The vehicle driving support device according to claim 1. The appropriate driving retrospective support means and the dangerous driving retrospective support means include a case where the duration of the speed of the host vehicle being zero is a predetermined time or more, a time when the parking brake of the host vehicle is operated, and a power transmission mechanism of the host vehicle. The vehicle is operable when at least one of the case where the vehicle is in the neutral state and the case where the power transmission mechanism of the host vehicle is in the locked state and when the driver can provide information. The vehicle driving support device according to claim 1 or 2 .

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