JP5469473B2 - Confirmation action support device - Google Patents

Description

  The present invention relates to a confirmation behavior support apparatus that supports confirmation behavior of a driver who drives a moving body such as an automobile.

  In recent years, in vehicles such as automobiles, a device has been developed that detects the confirmation operation of the driver's surroundings when turning left or right or changing lanes, and supports assistance to prevent confirmation mistakes due to driving aside or carelessness. Has been.

  For example, in Patent Document 1 and Patent Document 2, a driver's line of sight and face direction are determined by a camera to detect a driver's confirmation behavior, and an external driving environment by a navigation system is detected to confirm safety. A technique for giving a warning when a driver fails to confirm is disclosed.

JP 2000-142282 A JP 2009-123182 A

  However, the conventional techniques disclosed in Patent Document 1 and Patent Document 2 require external environment information such as position information and map information by the navigation system, which complicates the system configuration and increases costs. I will.

  The present invention has been made in view of the above circumstances, and an object thereof is to provide a confirmation action support device that can support a driver's confirmation action with a simple system configuration without requiring external environment information.

In order to achieve the above object, a confirmation action support device according to the present invention is a confirmation action support device that supports a safety confirmation action of a driver who drives a moving body according to a change in the traveling direction of a vehicle, after the blinker is activated. Based on the confirmation action detection unit for detecting the safety confirmation action of the driver and the driving information of the moving body, it is determined whether or not it is a timing to output an alarm for the safety confirmation action of the driver, and the determination result of the alarm output timing And a support determination unit that determines whether or not support information including a warning for the driver is necessary based on the detection result of the driver's safety confirmation behavior, and the support determination unit performs a first predetermined determination from the alarm output timing . If the safety check behavior of the driver is not detected during back alarm output determination in a section, the output of the support information of the alarm when it is determined the alarm output timing As well as the cross-sectional, if the safety confirmation action of the driver has been detected in encouraging output determination in a section going back long second predetermined time period than the first predetermined time period from the alarm output timing, safety check behavior of the driver is detected It is characterized in that the output of encouragement support information is determined at an output mode different from the alarm output timing .

  ADVANTAGE OF THE INVENTION According to this invention, a driver | operator's confirmation action can be supported, aiming at cost reduction as a simple system structure, without requiring external environment information.

Configuration diagram of confirmation action support device Explanatory diagram showing confirmation action support when turning left Explanation of audio output list Explanatory drawing which shows the judgment section of support output

Embodiments of the present invention will be described below with reference to the drawings.
The confirmation action support device according to the present invention uses only autonomous information when driving a moving body such as an automobile, without using external environment recognition information by a camera or radar, position information or map information by a GPS or a navigation device, or the like. It supports the driving behavior of the driver. As confirmation action support for the driver, a warning is given to the driver who does not confirm the surrounding situation and the driver who has not confirmed the situation to be confirmed due to side effects or reduced attention. Encourage confirmation action. In addition, it is not a case where attention is neglected, but a driver who is not able to accurately grasp a scene to be confirmed due to low driving skill is supported so that an appropriate confirmation action can be performed.

  As shown in FIG. 1, in the present embodiment, a confirmation action support device 1 is mounted on a vehicle such as an automobile, and a camera 2 that captures a driver's face and surrounding parts, and an image captured by the camera 2. The controller 3 is configured based on the processing. The camera 2 is, for example, installed near the center of the dashboard in the cabin of an automobile toward the driver's seat, and is also used with a near-infrared LED light or the like using a near-infrared camera so that it can be used even at night. .

  The controller 3 includes a microcomputer, determines the timing of the confirmation action from the vehicle state and driving operation data, and confirms the driver's confirmation action from the driver image captured by the camera 2, for example, confirmation before and after turning right and left Detect rearward confirmation when changing lanes. Then, it is determined whether or not a warning or support is required for the driver from the determination result of the confirmation action timing and the detection result of the driver's confirmation action, and the warning or support information is output as necessary.

  Such a function of the controller 3 is formed by the image input unit 10, the vehicle information input unit 11, the confirmation behavior detection unit 12, the confirmation behavior timing determination unit 13, the support determination unit 14, and the output unit 15. Schematically, a captured image from the camera 2 is input to the image input unit 10, and the confirmation behavior detection unit 12 processes the captured image to detect the driver's confirmation behavior. In addition, vehicle driving information such as vehicle speed and steering angle is input to the vehicle information input unit 11, and the timing at which the driver's confirmation action is required is determined by the confirmation action timing determination unit 13 based on the vehicle driving information. Then, based on the determination result of the confirmation action timing and the detection result of the confirmation action of the driver, the support determination unit 14 determines whether or not the support information including an alarm for the driver is necessary, Support information is output via the output unit 15.

Hereinafter, the function of each part of the confirmation action support device 1 will be described in detail.
The image input unit 10 samples the driver image captured by the camera 2 at a predetermined cycle and sends the sampled image to the confirmation behavior detection unit 12. The confirmation behavior detection unit 12 detects, for example, the direction of the line of sight, the movement of feature points such as eyes and nose, the movement of the set image area around the face, and the like from the driver image using a known image recognition technique. Detect driver confirmation behavior.

  At the same time, the vehicle information input unit 11 inputs vehicle information such as a vehicle speed, a steering angle, and a blinker operating state from another in-vehicle control device via an in-vehicle network or the like, and sends the vehicle information to the confirmation action timing determination unit 13. The confirmation action timing determination 13 determines whether or not a driver confirmation action is necessary based on the vehicle information. The timing at which safety confirmation is required is performed by determining the vehicle situation. Basically, if there is no safety confirmation action in the section set based on the determined location, the driver is warned by voice or the like.

<Determination of vehicle status>
In the present embodiment, in particular, it is intended for assistance in scenes involving changes in the vehicle traveling direction such as when turning left or right or changing lanes, which easily leads to an accident, but these processes are based on similar logic. . For this reason, below, it demonstrates as an example the assistance to the safety confirmation action at the time of the left turn in the intersection as shown in FIG.

(A1) Before Left Turn The situation where the own vehicle 100 is at position A before the intersection in FIG. 2 and is before the left turn (hereinafter referred to as “vehicle situation A”) is the rear-end collision of the following vehicle 101 as the own vehicle 100 decelerates. In order to avoid this, it is necessary to confirm the rear. Accordingly, a winker signal for a left turn is detected, and thereafter, when any of the following conditions is satisfied, it is determined that the host vehicle is in the vehicle situation A before the left turn. The following conditions take into consideration that many drivers check at the same time or slightly behind the blinker operation in many cases during actual driving.
-Decrease the vehicle speed by more than a set ratio (for example, 20% or more) from the vehicle speed at the start of the winker-Travel distance from the start of the winker is a predetermined distance Da or more (for example, 10 m or more)
-The elapsed time from the start of the blinker is set time Ta or more (for example, 2 seconds or more) except when stopped

(B1) At the time of starting the left turn The situation in which the own vehicle 100 starts making a left turn at the intersection at position B in FIG. 2 (hereinafter referred to as “vehicle situation B”) is in addition to the confirmation for preventing the collision with the oncoming vehicle 102 on the right turn. In particular, in order to avoid a collision with the bicycle 103 or motorcycle 104 from the left rear, it is necessary to confirm the entrainment. Therefore, when the winker signal is detected and then any of the following conditions is satisfied, it is determined that the host vehicle is in the vehicle situation B at the start of the left turn.
・ The rudder angle is less than the set angle θb (for example, -20 deg or less).
・ The rudder angular speed is equal to or higher than the set speed (for example, -60 deg / sec or higher) and the rudder angle is equal to or smaller than the set angle (for example, -10 deg or lower).

(C1) Turning left When the vehicle 100 is making a left turn at the position C in FIG. 2 (hereinafter referred to as “vehicle situation C”), the right crossing 105, the left crossing 106, etc. In order to avoid contact with the camera, it is necessary to check the left and right. Therefore, when the blinker signal is detected and the following condition is satisfied, it is determined that the vehicle is in a vehicle situation C in which the vehicle is making a left turn.
-The yaw angle of the vehicle after the start of the left turn signal is more than the set angle (for example, -30deg or more)

  In this case, the yaw angle can be calculated from the vehicle model, the vehicle speed, and the steering angle. However, in the present embodiment, in consideration of the calculation cost, the product of the vehicle speed and the steering angle is approximated by a left turn signal. The yaw angle is calculated cumulatively after the start (start of winker). Normally, when the yaw angle is calculated by accumulating from the model, the accumulated error becomes a problem. However, by making the accumulation from the start of the blinker, the influence of the accumulated error for a long time can be reduced.

  Next, the support determination unit 14 examines the confirmation behavior of the driver before the determination timing of each of the above-described vehicle conditions A, B, and C, and determines the necessity of support including an alarm. When the driver's confirmation action is not detected at each vehicle situation determination timing, an alarm is output to the driver via the output unit 15. In the present embodiment, the alert is selected as an alert word from a list as shown in FIG. 3 as a voice alert.

<Alarm output>
FIG. 3 shows the confirmation contents at each position and the corresponding voice output for alerting, with the determination timing of each vehicle situation of A, B, and C as the voice output position. In FIG. 3, audio output positions B1 and B2 indicate the confirmation of the entanglement with respect to the left rear two-wheeled vehicle, the confirmation of the front right turn oncoming vehicle, and the like in the vehicle situation B at the start of the left turn.

  The determination of each alert is performed in parallel, but the priority is set higher in the order of vehicle status A → B → C. Also, when a high priority alert / alarm determination is made during voice output for a certain utterance, the voice being uttered is interrupted and a high priority alarm utterance is output. Specifically, for each vehicle situation of A, B, C, the presence or absence of the driver's confirmation action is determined under the following conditions, and the confirmation action is not detected in the alarm output determination section as shown in FIG. In this case, the corresponding utterance word for alerting in FIG.

(A2) Before left turn Judgment period: Until T1 second (for example, T = 3) before vehicle situation A determination Confirmation action detection condition (rear confirmation): T2 seconds (for example, T2 = 0.5) or more within the alarm determination period, room Check mirror, left / right mirror, left back

(B2) Left turn start determination period: T1 second (for example, T = 3) before the vehicle situation B determination or the shorter period of the time at the position before the set distance D1 (for example, 5 m) Action detection condition Enrollment confirmation: T2 seconds (for example, T2 = 0.5) or more within the period, confirm either left, left rear, or left mirror Forward confirmation: T2 seconds (for example, T2 = 0.5) or more within the period Turn your face to the front or right.

(C2) During left turn Judgment period: T1 second (for example, T = 3) before vehicle status C determination or the shorter period of time before the set distance D1 (for example, 5 m) before that point Confirmation action detection condition (Confirm left and right): Confirm 0.5 seconds or more within the period, left or rear left and front or right

<Variation of alarm timing>
There are several parameters in determining the vehicle status and determining the warning. Depending on the settings of these parameters, one driver may feel that the alarm is too early, while another driver may want the alarm (warning) earlier. Therefore, as shown in the following (1) and (2), these parameters are adjusted from the past driving history of each driver.

(1) Storage based on confirmation action The following information is stored for each confirmation action within the blinker ON period.
・ Vehicle speed, yaw angle, rudder angle, rudder angular speed ・ Time difference after starting winker ・ Distance ・ Vehicle speed difference with winker time ・ Time difference with vehicle status judgment timing of A, B, C ・ Distance (calculated by accumulation of vehicle speed) )

(2) Adjustment of alarm The alarm timing is varied by adjusting the vehicle condition determination parameter and the alarm determination section. When sufficient data is collected (for example, about 100), the data stored for each of the confirmation actions of the alarm target at positions A, B, and C is totaled to confirm whether or not it is within the alarm determination range. As a result, if there is a certain number of data (for example, 30) or more that are not within the range, each parameter is moved to search for a parameter that contains the most data (however, the variable range of each parameter is limited). is there).

  Note that the above description is a setting in which the alarm is relatively delayed, and the setting is made to reduce the case where the driver has been trying to check but the alarm has been issued first. Actually, when adjusting a parameter, a numerical value that is stricter than the numerical value shown above (a numerical value at which an alarm is advanced or is easy to go out) is set as an initial value.

<Support output as encouragement>
There may be a case where a beginner driver or the like is not sure at what timing safety confirmation should be performed. Therefore, contrary to the alarm, when the safety confirmation action is confirmed at the scene to be taken, support information output as encouragement (for example, sound effect output when a score is obtained in a TV game or the like) is performed.

  As described above, when outputting an alarm, the alarm timing based on the vehicle situation is determined, and whether or not the driver's confirmation behavior is detected in a certain past range (for example, up to 3 seconds before). Check. On the other hand, in the support output as encouragement, the output is performed when the driver performs the confirmation action. Therefore, in the support output as encouragement, it is necessary to always determine whether or not the confirmation action is in the range to be confirmed.

  However, before the left turn, it is difficult to accurately estimate the driver's intention to turn left before the winker operation. Therefore, in this embodiment, when a driver's confirmation action is detected in the following sections at the start of a left turn and during a left turn, a support output is provided as an encouragement.

  However, if the warning safety confirmation determination section starts after the driver performs the confirmation action and performs the encouragement output, the “alarm” output condition may be satisfied after “encouragement”. Therefore, after encouraging in the vehicle status of B among the vehicle statuses, for example, in B of the same section, the alarm output is canceled even if the alarm output condition is met.

(Support output as encouragement at the start of a left turn)
As shown in FIG. 4, when a driver's confirmation action is detected from the time when the following two conditions are satisfied to the time when the vehicle situation B is determined at the start of a left turn, a support output is provided as an encouragement.
・ After vehicle situation A judgment (before left turn) ・ The rudder angle is less than the set angle θ1 (for example, 0 deg or less) or the rudder angle speed is the set speed or more (for example, 20 deg / sec or more) and the rudder angle is less than the set angle (for example, −10 deg or less)

(Support output as encouragement during a left turn)
When a driver's confirmation action is detected from the time when the following two conditions are satisfied until the vehicle situation C determination during a left turn, a support output is provided as an encouragement.
・ After vehicle situation A judgment (before left turn) ・ Yaw angle of vehicle after start of blinker signal is greater than set angle (for example, -5deg)

  As described above, in the present embodiment, the situation to be confirmed by the driver is determined only from the driving information without using external environment information such as position information and map information by the GPS or the navigation device. While reducing, it is possible to alert the driver and prompt the driver's confirmation action when the driver neglects the confirmation action or when the situation to be confirmed cannot be grasped.

  In addition, for drivers who do not know at what timing safety confirmation should be done, the driver confirms because support information is output as encouragement when confirming safety confirmation actions in a situation contrary to warning. It is possible to effectively learn the timing to be performed.

DESCRIPTION OF SYMBOLS 1 Confirmation action support apparatus 2 Camera 3 Controller 10 Image input part 11 Vehicle information input part 12 Confirmation action detection part 13 Confirmation action timing determination part 14 Support judgment part 15 Output part

Claims (3)

A confirmation action support device for supporting a safety confirmation action of a driver who drives a moving body according to a change in a traveling direction of a vehicle ,
A confirmation action detection unit for detecting the safety confirmation action of the driver after the blinker is activated ;
Based on the driving information of the moving body, it is determined whether or not it is the timing to perform an alarm output for the driver's safety confirmation action, and based on the determination result of the alarm output timing and the detection result of the driver's safety confirmation action, A support determination unit for determining the necessity of support information including warnings for drivers,
If the driver's safety confirmation behavior is not detected within the warning output determination section that is traced back from the warning output timing for the first predetermined period , the support determination unit determines the warning support information when the warning output timing is determined. with determining the output, if the safety confirmation action of the driver has been detected in encouraging output determination in a section from the alarm output timing going back long second predetermined time period than the first predetermined time period, safety check behavior of the driver A confirmation action support device that judges the output of encouragement support information in an output mode different from the alarm output timing at the point of time when is detected . 2. The confirmation action support apparatus according to claim 1, wherein a driving state at the time of detecting the safety confirmation action is stored, and the alarm output timing is controlled from a plurality of stored past cases.   After outputting the encouragement support information in a predetermined section, the output of the alarm support information is canceled even if the output condition of the alarm support information is satisfied in the same section Item 3. A confirmation action support device according to item 1 or 2.

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