JP5471906B2 - Vehicle width understanding judgment device - Google Patents

Description

  The present invention relates to a vehicle width understanding determination device that determines whether or not a vehicle driver understands a vehicle width.

A vehicle driver who does not understand the vehicle width of his / her vehicle often cannot perform proper width adjustment when passing through a narrow road and passing each other.
In order to solve such problems, the lane marking and the vehicle's position are displayed in symbols according to the distance from the center of the vehicle to the lane marking. The technique to do is known (for example, refer patent document 1). Further, there is a simple method of attaching a corner pole or a corner sensor to the vehicle in order to perform appropriate width adjustment.

Japanese Patent No. 4324179

  However, it is a driver who is aware that he / she does not understand the vehicle width of the own vehicle to use the technique, corner pole, corner sensor, or the like described in Patent Document 1. That is, a driver who is not aware of the vehicle width of the host vehicle does not intend to use the technique described in Patent Document 1, and therefore the technique described in Patent Document 1 is appropriate. Without receiving proper support, the vehicle will be driven without proper shifting.

  This invention is made | formed in view of such a problem, and it aims at providing the technique which can make a vehicle driver aware whether the vehicle width of the own vehicle is not understood.

In the vehicle width understanding determination device according to claim 1, which is made to achieve the above object, first, the determination specific object acquisition unit determines whether or not the driver driving the vehicle understands the vehicle width of the vehicle. A determination specific target, which is a target necessary for performing vehicle width understanding determination, which is determination, is acquired. Then, the specific situation determination means determines whether or not the vehicle is in the specific situation for determination, which is a preset situation in the presence of the specific target for determination, and then the driving characteristic detection means determines whether the vehicle is for determination. When it is determined by the specific situation determination means that the vehicle is in the specific situation, driving characteristic information that is preset according to the specific situation for determination and indicates the driving characteristic of the driver is detected.

  The accumulating means accumulates the driving characteristic information detected by the driving characteristic detecting means, and the vehicle width incomprehension determining means further determines the vehicle width of the vehicle based on the driving characteristic information accumulated by the accumulating means. It is determined whether or not a vehicle width incomprehension determination condition set in advance to determine that the vehicle is not understood is satisfied.

  According to the vehicle width understanding determination device configured as described above, the driving characteristic information in the specific situation for determination that is set in advance for performing the vehicle width understanding determination is accumulated, and the vehicle width is determined based on the accumulated driving characteristic information. When the understanding determination condition is satisfied, it can be determined that the driver does not understand the vehicle width of the vehicle.

  Therefore, when the vehicle width understanding determination device determines that the driver does not understand the vehicle width of the vehicle, it is possible to notify the driver that the vehicle width of the own vehicle is not understood. The person himself / herself can realize that he / she does not understand the width of the vehicle. As a result, the driver may use his / her own vehicle without an appropriate width adjustment because he / she wants to use appropriate assistance (for example, corner poles, corner sensors, etc.) to understand the vehicle width of the own vehicle. Disappear.

  In addition, when the vehicle width understanding determination device determines that the driver does not understand the vehicle width of the vehicle, assistance for understanding the vehicle width (for example, a display indicating the interval between the roadside and the vehicle) The means for providing the information may be automatically executed.

  In the vehicle width understanding determination device according to claim 1, as described in claim 2, the determination specific situation is that the host vehicle is traveling on a one-lane road and the left side of the host vehicle. When there is no obstacle in the vehicle, the vehicle passes through the side of the right turn vehicle, and the driving characteristic information includes a first detection interval that is an interval between the left side surface of the right turn vehicle and the right side surface of the host vehicle, and the left side of the host vehicle. Curb line of road and sidewalk or other similar work or lane marking / road marking indicating the roadside zone on the left side of the vehicle lane, and / or lane marking / road marking indicating the roadway outside line (hereinafter referred to as lane marking) The vehicle width incomprehension determination condition has a large variation in the ratio between the first detection interval and the second detection interval, or the first detection interval and the second detection interval. The average of the ratio is the first detection interval Or may way is that is biased to one of the second detection interval side.

In addition, the above-mentioned one-lane road includes a road widened exclusively for a right turn.
In the above "situation where the host vehicle is driving on a single lane road and passes by the right turn vehicle", the width of the road space through which the host vehicle can pass is often narrow. This is a situation suitable for vehicle width understanding determination. If there is an obstacle on the left side of the host vehicle, the second detection interval will be increased in order for the host vehicle to avoid the obstacle. Therefore, such a situation is excluded from the determination specific situation. ing.

  When the accumulated first detection interval and second detection interval have a large variation in the ratio between the first detection interval and the second detection interval, the track when passing through the side of the right turn vehicle is not stable. Therefore, it can be determined that the driver does not understand the vehicle width of the vehicle. When the average of the ratio between the first detection interval and the second detection interval is biased toward the first detection interval (that is, when the first detection interval is greater than the second detection interval), This indicates that the driver is not aware of the vehicle width of the vehicle because the driver is not careful about the vehicle width. When the average ratio between the first detection interval and the second detection interval is biased toward the second detection interval (that is, when the second detection interval is larger than the first detection interval), The driver understands the width of the vehicle because the driver cannot recognize how far to the left and cannot pass to the left. It can be determined that it is not.

  For example, when the variance of the ratio between the first detection interval and the second detection interval is equal to or larger than a predetermined ratio variance determination value set in advance, the variation in the ratio between the first detection interval and the second detection interval is large. You may make it judge. Further, for example, when the value on the first detection interval side (second detection interval side) in the ratio between the first detection interval and the second detection interval is equal to or greater than a predetermined ratio average determination value set in advance, the first You may make it judge that it is biased to the detection interval side (2nd detection interval side).

  In the vehicle width understanding determination device according to claim 1, as described in claim 3, the determination specific situation is that the host vehicle is running on a one-lane road and the left side of the host vehicle. When there is no obstacle in the vehicle, it is a situation that it passes through the side of the vehicle on the right turn, and the driving characteristic information is the curb line of the sidewalk on the left side of the vehicle or the other left side of the similar work or vehicle lane Is the third detection interval that is the interval between the lane marking of the vehicle and the left side surface of the right turn vehicle, and the first detection vehicle speed that is the vehicle speed of the host vehicle when passing through the side of the right turn vehicle. It is preferable that the positive correlation between the three detection intervals and the first detection vehicle speed is small.

  Drivers with high vehicle width recognition usually drive down when the width of the physically accessible road space is narrow when the vehicle passes, and increase the vehicle speed when the road is wide. In order to take action, if the positive correlation between the third detection interval and the first detected vehicle speed is small, it can be determined that the driver does not understand the vehicle width of the vehicle.

  For example, when the correlation coefficient between the third detection interval and the first detection vehicle speed is calculated and the value of the correlation coefficient is equal to or less than a predetermined correlation coefficient determination value set in advance, the third detection interval It may be determined that the positive correlation with the first detected vehicle speed is small.

  Further, in the vehicle width understanding determination device according to claim 1, as described in claim 4, the determination specific situation is that a one-lane road or center line without a center separation band separated by the center line is used. When the host vehicle is traveling on an unoccupied road and there are no obstacles on the left side of the host vehicle, it is a situation that passes the oncoming vehicle, and the driving characteristic information is the right side of the oncoming vehicle and the right side of the own vehicle. And a fifth detection interval which is an interval between the left side surface of the own vehicle and a curb line on the sidewalk or other similar work or a lane marking on the left side of the own vehicle traveling lane. In the vehicle width incomprehension determination condition, the variation in the ratio between the fourth detection interval and the fifth detection interval is large, or the average ratio between the fourth detection interval and the fifth detection interval is the fourth detection interval side or On the fifth detection interval side It may in that way be biased towards or Re.

  In the above "Situation where the host vehicle is traveling on a one-lane road with no center divider separated by the center line or a road without the center line and passing the oncoming vehicle", the physical Since the width of the road space that can pass through the vehicle is often narrowed, the situation is suitable for the vehicle width understanding determination. If there is an obstacle on the left side of the host vehicle, the fifth detection interval will be increased in order for the host vehicle to avoid the obstacle. Therefore, such a situation is excluded from the determination specific situation. ing.

  When the accumulated fourth detection interval and fifth detection interval have a large variation in the ratio between the fourth detection interval and the fifth detection interval, the track when passing the oncoming vehicle is not stable. Therefore, it can be determined that the driver does not understand the vehicle width of the vehicle. In addition, when the average ratio between the fourth detection interval and the fifth detection interval is biased toward the fourth detection interval (that is, when the fourth detection interval is larger than the fifth detection interval), This indicates that the driver is not aware of the vehicle width of the vehicle because the driver is not careful about the vehicle width. When the average ratio between the fourth detection interval and the fifth detection interval is biased toward the fifth detection interval (that is, when the fifth detection interval is greater than the fourth detection interval), The driver does not understand the width of the vehicle because the driver cannot recognize how far to the left and cannot pass to the left, indicating that it is passing the oncoming vehicle. Can be determined.

  For example, when the variance of the ratio between the fourth detection interval and the fifth detection interval is equal to or larger than a predetermined ratio variance determination value set in advance, the variation in the ratio between the fourth detection interval and the fifth detection interval is large. You may make it judge. Further, for example, if the value on the fourth detection interval side (the fifth detection interval side) in the ratio between the fourth detection interval and the fifth detection interval is equal to or greater than a preset predetermined ratio average determination value, You may make it judge that it is biased to the detection interval side (5th detection interval side).

  Further, in the vehicle width understanding determination device according to claim 1, as described in claim 5, the determination specific situation is that a one-lane road or center line without a center separation band separated by the center line is used. When the host vehicle is traveling on an unoccupied road and there are no obstacles on the left side of the host vehicle, it is a situation that passes the oncoming vehicle, and the driving characteristic information is the right side of the oncoming vehicle and the right side of the own vehicle. And the second detection vehicle speed that is the vehicle speed of the host vehicle when passing the oncoming vehicle. The vehicle width incomprehension determination condition is based on the fourth detection interval and the second detection vehicle speed. In such a two-dimensional scatter diagram, it is preferable that the inflection point does not exist.

  It is known that a driver with high vehicle width recognition normally takes a driving action of clearly reducing the vehicle speed when the distance between the host vehicle and the oncoming vehicle is predicted to be narrow. If there is no inflection point in the two-dimensional scatter diagram with the detection interval and the second detection vehicle speed as axes, it can be determined that the driver does not understand the vehicle width of the vehicle.

  Further, in the vehicle width understanding determination device according to claim 1, as described in claim 6, the determination specific situation is that a one-lane road or center line without a central separation zone separated by the center line is used. When the host vehicle is traveling on a non-road and there are no obstacles on the left side of the host vehicle, it is a situation that passes the oncoming vehicle, and the driving characteristic information is a predetermined value that is set immediately before passing the oncoming vehicle. The steering behavior of the host vehicle and the steering behavior of the oncoming vehicle within the information detection time, and the vehicle width incomprehension judgment condition is the average of the shifting distance by the host vehicle in the direction in which the interval between the own vehicle and the oncoming vehicle becomes wider. May be less than or equal to a predetermined average margin determination value set in advance.

  When the host vehicle and the oncoming vehicle pass each other, a driver with low vehicle width recognition does not shift the vehicle toward the road side.Therefore, the oncoming vehicle has a characteristic that the vehicle moves toward the road side by steering. Knowledge has been obtained that it tends to be repeated. For this reason, when the average of the shifting distance by the own vehicle in the direction in which the distance between the own vehicle and the oncoming vehicle is wide is equal to or smaller than a predetermined average squeeze determination value, the driver Can be determined as not understanding.

In the vehicle width understanding determination device according to claim 7, first, the determination specific object acquisition means is a determination as to whether or not the driver driving the vehicle understands the vehicle width. A determination specific target that is a target necessary for performing the determination is acquired. Then, the specific situation determination means determines whether or not the vehicle is in the specific situation for determination, which is a preset situation in the presence of the specific target for determination, and then the driving characteristic detection means determines whether the vehicle is for determination. When it is determined by the specific situation determination means that the vehicle is in the specific situation, driving characteristic information that is preset according to the specific situation for determination and indicates the driving characteristic of the driver is detected.

  The accumulating means accumulates the driving characteristic information detected by the driving characteristic detecting means, and the vehicle width understanding determination means further understands the vehicle width of the vehicle based on the driving characteristic information accumulated by the accumulating means. It is determined whether or not a vehicle width understanding determination condition set in advance to determine that the vehicle is running is satisfied.

  According to the vehicle width understanding determination device configured as described above, the driving characteristic information in the specific situation for determination set in advance for performing the vehicle width understanding determination is accumulated, and the vehicle width understanding is based on the accumulated driving characteristic information. When the determination condition is satisfied, it can be determined that the driver understands the vehicle width of the vehicle.

  Therefore, when the vehicle width understanding determination device determines that the driver understands the vehicle width of the vehicle, it is possible to notify the driver himself that the vehicle width of the own vehicle is understood. It is possible to realize that the vehicle width of the own vehicle is understood.

  In other words, when there is no notification, the driver can be made aware that he / she does not understand the width of the vehicle. As a result, the driver may use his / her own vehicle without an appropriate width adjustment because he / she wants to use appropriate assistance (for example, corner poles, corner sensors, etc.) to understand the vehicle width of the own vehicle. Disappear.

  In the vehicle width understanding determination device according to claim 7, as in claim 8, the determination specific situation is that the host vehicle is traveling and there is no obstacle on the left side of the host vehicle. The driving characteristic information is the sixth detection interval that is the interval between the left side of the host vehicle and the curb line on the sidewalk or other similar work or the left lane marking of the host vehicle lane, The width understanding determination condition may be such that the average of the sixth detection intervals is equal to or less than a predetermined average determination value set in advance, and the variance of the sixth detection intervals is equal to or less than a preset predetermined distribution determination value. . Thus, when the vehicle width determination device determines that the driver understands the vehicle width of the vehicle, the average ratio in claim 2 is biased toward the first detection interval, and the ratio in claim 4 Is biased toward the fourth detection interval, it is possible to prevent the driver from mis-notifying that the vehicle width is not understood even though the vehicle width is understood.

  This is because it has been found as knowledge that some drivers with high vehicle width recognition have a tendency to travel stably on the left end of the lane in which the host vehicle travels.

It is a block diagram which shows the structure of the vehicle width understanding determination apparatus 1, and schematic structure of in-vehicle LAN2 to which the vehicle width understanding determination apparatus 1 was connected. It is a flowchart which shows the vehicle width understanding determination process of 1st-5th embodiment. It is a figure explaining space | interval D1-D5, vehicle speed V1-V2, and the inflection point FP. It is a flowchart which shows the vehicle width understanding determination process of 6th Embodiment.

(First embodiment)
A first embodiment of the present invention will be described below with reference to the drawings.
FIG. 1 is a block diagram illustrating a configuration of a vehicle width understanding determination device 1 according to the present embodiment and a schematic configuration of an in-vehicle LAN 2 to which the vehicle width understanding determination device 1 is connected.

  As shown in FIG. 1, the vehicle width understanding determination device 1 is mounted on a vehicle and connected to various ECUs and in-vehicle devices including an engine ECU 3, a brake ECU 4, a steering ECU 5, and a navigation device 6 via an in-vehicle LAN 2. ing.

  The engine ECU 3 is configured to control the rotation of the engine based on at least a detection signal from an accelerator opening sensor (not shown) that detects an accelerator opening corresponding to the depression amount of the accelerator pedal of the driver. Yes.

  The brake ECU 4 also includes at least a master cylinder pressure sensor (not shown) that detects a brake operation amount from a hydraulic pressure of a master cylinder that pumps brake oil according to a driver's brake pedal operation, and a vehicle speed sensor 11 that detects a vehicle speed. Based on the detected signal, ABS control, traction control, and the like are executed.

  Further, the steering ECU 5 executes power steering control for generating an assist force when changing the steering angle of the steered wheel based on at least a detection signal from the steering angle sensor 12 that detects the steering angle of the front wheel at the time of the steering operation of the driver. Is configured to do.

  The navigation device 6 acquires road map data from a map storage medium 13 in which road map data and various types of information are recorded, and based on GPS signals received via a GPS (Global Positioning System) antenna (not shown). The current position of the vehicle is detected and route guidance from the current position to the destination is executed. The above road map data is composed of various data such as road position, road type (highway, toll road, general road, etc.), road shape, road width, road name, number of lanes, legal speed limit, road gradient, etc. Has been.

  Various vehicle information (vehicle speed, steering angle, etc.) detected by the engine ECU 3, the brake ECU 4, the steering ECU 5, and the navigation device 6 can be arbitrarily transmitted and received through the in-vehicle LAN 2.

  Next, the vehicle width understanding determination device 1 includes a camera 21 that continuously photographs the front of the vehicle, a display unit 22 that is provided on an instrument panel (not shown) of the vehicle and displays various information, and an in-vehicle LAN 2. Via the in-vehicle LAN communication unit 23 for exchanging various vehicle information and the like with other devices, and executing various processes in accordance with the input from the in-vehicle LAN communication unit 23 to control the display unit 22 and the in-vehicle LAN communication unit 23 And a control unit 24.

  The control unit 24 is configured around a well-known microcomputer including a CPU, ROM, RAM, I / O and a bus line connecting these components, and is based on a program stored in the ROM and RAM. Perform various processes.

In the vehicle width understanding determination device 1 configured as described above, the control unit 24 executes a vehicle width understanding determination process for determining whether or not the vehicle driver understands the vehicle width.
Here, the procedure of the vehicle width understanding determination process which the control part 24 of the vehicle width understanding determination apparatus 1 performs is demonstrated using FIG. FIG. 2 is a flowchart showing the vehicle width understanding determination process. This vehicle width understanding determination process is a process that is repeatedly executed while the control unit 24 is activated (powered on).

  When the vehicle width understanding determination process is executed, the control unit 24 first acquires image data from the camera 21 in S10. Thereafter, in S20, processing for extracting a target (hereinafter referred to as a determination specific target) necessary for vehicle width understanding determination from the image data acquired in S10 is performed. In the present embodiment, the determination target is a vehicle, a lane marking, a curb line on a sidewalk or other similar work, the presence or absence of an obstacle on the left side of the host vehicle, and the like.

  Then, in S30, a situation in which data for vehicle width understanding determination is acquired based on the determination specific object extracted in S20 and the road map data received from the navigation device 6 (hereinafter referred to as a determination specific situation). It is determined whether or not. In this embodiment, on a one-lane road, there is a right turn vehicle in the traveling lane of the own vehicle, and / or a right turn lane adjacent to the traveling lane of the own vehicle (the waiting width near the intersection is expanded exclusively for the right turn). A situation in which there is a right turn vehicle on the left side of the vehicle and no obstacle such as a two-wheeled vehicle or a parked vehicle exists on the left side of the host vehicle is set as the determination specific situation.

  Here, when it is not the specific situation for determination (S30: NO), a vehicle width understanding determination process is once complete | finished. On the other hand, if it is the determination specific situation (S30: YES), information indicating the driving characteristics necessary for the vehicle width understanding determination (hereinafter referred to as determination driving characteristic information) is detected in S40. In the present embodiment, based on the image data acquired in S10, the distance D1 between the left side surface of the right turn vehicle and the right side surface of the host vehicle, and the left side surface of the host vehicle and the lane marking or the curb line of the sidewalk, or others. The distance D2 between the similar workpieces is obtained, and the ratio between the distance D1 and the distance D2 is detected as the operation characteristic information for determination (see FIG. 3A). For example, when D1 is 60 cm and D2 is 30 cm, the driving characteristic information for determination is (0.67: 0.33).

  Thereafter, in S50, the determination operation characteristic information detected in S40 is accumulated. In S60, it is determined whether or not the number of times that the determination driving characteristic information is accumulated in S50 (hereinafter, characteristic information accumulation number) is equal to or greater than a preset predetermined start determination value (for example, 30 times in the present embodiment). to decide. Here, when the characteristic information accumulation count is less than the predetermined start determination value (S60: NO), the vehicle width understanding determination process is temporarily ended.

  On the other hand, if the characteristic information accumulation count is equal to or greater than the predetermined start determination value (S60: YES), the data for vehicle width understanding determination (hereinafter, referred to as “vehicle width understanding determination”) is used in S70 using the accumulated determination driving characteristic information. (Referred to as judgment data). In the present embodiment, the average and variance of the accumulated determination operation characteristic information are created as determination data.

  In S80, it is determined whether or not the vehicle width incomprehension determination condition for determining that the vehicle width is not understood is satisfied using the determination data created in S70. In this embodiment, when the “dispersion” of the value on the interval D1 side in the ratio is equal to or larger than a predetermined dispersion determination value set in advance, the “average” of the value on the interval D1 side in the ratio is set in advance. A case where either the predetermined average lower determination value (in the present embodiment, for example, 0.25) or less or the predetermined average upper determination value (in the present embodiment, for example, 0.75) or more is satisfied, It is assumed that the vehicle width incomprehension determination condition is satisfied.

  It should be noted that a large “dispersion” of the value on the interval D1 side in the ratio indicates that the slip-through trajectory is not stable. As a result of an experiment conducted by the applicant of the present application, it has been found that if the vehicle width of the host vehicle is high, a stable interval is taken between the two in light of the safety sense of each driver. For this reason, when the track at the time of slipping is not stable, it can be considered that the recognition of the vehicle width is low.

  In addition, the fact that the “average” of the values on the interval D1 side in the above ratio is biased indicates that the vehicle width of the host vehicle is low, so it is not possible to recognize how far the vehicle can be shifted to the left side. If you are a driver who has a tendency to slip right next to the vehicle without being able to get close to the vehicle, or a driver who tends to move to the left side too much, paying attention to the distance from the right-turn vehicle, It can be considered that the recognition of the width is low.

  If the vehicle width incomprehension determination condition is not satisfied (S80: NO), the process proceeds to S100. On the other hand, when the vehicle width incomprehension determination condition is satisfied (S80: YES), the display unit 22 is caused to execute a display indicating that the vehicle width is not understood in S90, and the process proceeds to S100. .

  When the process proceeds to S100, the determination driving characteristic information stored in S50 is deleted, and the vehicle width understanding determination process is temporarily ended. By deleting the accumulated data once in S100, for example, it is possible to detect a state in which driving is not stable due to poor physical condition, or a state in which driving ability has deteriorated with aging, and appropriate driving support is possible. Is possible.

  In the vehicle width understanding determination device 1 configured as described above, a determination unit that is set in advance for performing vehicle width understanding determination that is determination as to whether or not the driver driving the vehicle understands the vehicle width of the vehicle. It is determined whether or not there is a vehicle in the specific situation (S30), and when it is determined that the vehicle is in the specific situation for determination (S30: YES), the driver's condition is set in advance according to the specific situation for determination. Driving characteristic information indicating the driving characteristic is detected (S40).

  Then, the detected driving characteristic information is accumulated (S50), and the vehicle width set in advance to determine that the driver does not understand the vehicle width of the vehicle based on the accumulated driving characteristic information. It is determined whether or not the ununderstood determination condition is satisfied (S70, S80).

  According to the vehicle width understanding determination device 1 configured as described above, the driving characteristic information in the specific situation for determination set in advance for performing the vehicle width understanding determination is accumulated, and the vehicle width is based on the accumulated driving characteristic information. When the ununderstood determination condition is satisfied, it can be determined that the driver does not understand the vehicle width.

  For this reason, when the vehicle width understanding determination apparatus 1 determines that the driver does not understand the vehicle width of the vehicle, it is possible to notify the driver that the vehicle width of the own vehicle is not understood, The driver can be aware that he / she does not understand the width of the vehicle. As a result, the driver may use his / her own vehicle without an appropriate width adjustment because he / she wants to use appropriate assistance (for example, corner poles, corner sensors, etc.) to understand the vehicle width of the own vehicle. Disappear.

  In the embodiment described above, the process of S30 is the specific situation determination means in the present invention, the process of S40 is the driving characteristic detection means in the present invention, the process of S50 is the storage means in the present invention, and the processes of S70 and S80 are in the present invention. Vehicle width incomprehension determination means, the interval D1 is a first detection interval in the present invention, and the interval D2 is a second detection interval in the present invention.

(Second Embodiment)
The second embodiment of the present invention will be described below. In the second embodiment, only parts different from the first embodiment will be described.

The vehicle width understanding determination device 1 of the second embodiment is the same as that of the first embodiment except that the processes of S40, S70, and S80 in the vehicle width understanding determination process are changed.
That is, in S40, based on the image data acquired in S10, the distance D3 between the left side surface of the right turn vehicle and the lane marking, the curb line of the sidewalk or other similar work is obtained, and the vehicle speed received from the brake ECU 4 is obtained. Based on the data, the vehicle speed V1 when passing the side of the right turn vehicle is obtained, and the distance D3 and the vehicle speed V1 are detected as the driving characteristic information for determination (see FIG. 3A).

In S70, a correlation coefficient between the interval D3 and the vehicle speed V1 is calculated, and this correlation coefficient is used as determination data.
In S80, when the correlation coefficient between the distance D3 and the vehicle speed V1 is less than a predetermined correlation determination value (for example, 0.7 in the present embodiment), the vehicle width incomprehension determination condition is satisfied. To do. That is, when a positive correlation (a relationship in which the vehicle speed V1 also decreases as the distance D3 decreases) is not recognized between the distance D3 and the vehicle speed V1, it is considered that the recognition of the vehicle width is low.

This is because a driver with high vehicle width recognition usually takes a driving action of reducing the vehicle speed as the width of the road space through which the vehicle can physically pass becomes narrower.
In the embodiment described above, the interval D3 is the third detection interval in the present invention, and the vehicle speed V1 is the first detected vehicle speed in the present invention.

(Third embodiment)
The third embodiment of the present invention will be described below. In the third embodiment, only parts different from the first embodiment will be described.

The vehicle width understanding determination device 1 of the third embodiment is the same as that of the first embodiment except that the processes of S30, S40, and S80 in the vehicle width understanding determination process are changed.
That is, in S30, there is an oncoming vehicle on a one-lane road with no center separation zone separated by a center line or a road without a center line, and there are obstacles such as motorcycles and parked vehicles on the left side of the host vehicle. A situation in which no object exists is set as a specific situation for determination.

  In S40, based on the image data acquired in S10, the distance D4 between the right side surface of the oncoming vehicle and the right side surface of the own vehicle, and the left side surface of the own vehicle and the lane marking, the curb line of the sidewalk, or the like. A distance D5 from the workpiece is obtained, and a ratio between the distance D4 and the distance D5 is detected as determination operation characteristic information (see FIG. 3B). For example, when D4 is 100 cm and D5 is 40 cm, the driving characteristic information for determination is (0.71: 0.29).

  In S80, when the “dispersion” of the value on the interval D4 side in the ratio is equal to or larger than a predetermined predetermined dispersion determination value, and the “average” of the value on the interval D4 side in the ratio is set in advance. If either the predetermined average lower determination value (in the present embodiment, for example, 0.18) or less or the predetermined average upper determination value (in the present embodiment, for example, 0.82) or more is satisfied, Assume that the width incomprehension judgment condition is satisfied.

  Note that the “dispersion” of the value on the interval D4 side in the above ratio is equal to or greater than the predetermined dispersion determination value indicates that the track when passing the oncoming vehicle is not stable. As a result of an experiment conducted by the applicant of the present application, it has been found that if the vehicle width of the host vehicle is high, a stable interval is taken between the two in light of the safety sense of each driver. For this reason, when the track when passing the oncoming vehicle is not stable, it can be assumed that the recognition of the vehicle width is low.

  In addition, the fact that the “average” of the values on the interval D4 side in the above ratio is equal to or less than the predetermined average lower determination value recognizes how far the vehicle can be shifted to the left side because the vehicle width of the host vehicle is low. This indicates that the driver has a tendency to pass the oncoming vehicle without being able to shift to the left side, and it can be considered that the recognition of the vehicle width is low. In addition, the fact that the “average” of the values on the interval D4 side in the above ratio is equal to or greater than the predetermined average upper determination value means that the driver tends to move to the left side excessively because the distance from the oncoming vehicle is taken care of. It can be assumed that the recognition of the vehicle width is low.

In the embodiment described above, the interval D4 is the fourth detection interval in the present invention, and the interval D5 is the fifth detection interval in the present invention.
(Fourth embodiment)
The fourth embodiment of the present invention will be described below. In the fourth embodiment, only parts different from the first embodiment will be described.

The vehicle width understanding determination device 1 of the fourth embodiment is the same as that of the first embodiment except that the processes of S30, S40, S70, and S80 in the vehicle width understanding determination process are changed.
That is, in S30, there is an oncoming vehicle on a one-lane road with no central separation zone separated by a center line, or a road without a center line, and there are obstacles such as motorcycles and parked vehicles on the left side of the host vehicle. A situation in which no object exists is set as a specific situation for determination.

  In S40, the distance D4 between the right side surface of the oncoming vehicle and the right side surface of the host vehicle is obtained based on the image data acquired in S10, and when the vehicle passes the oncoming vehicle based on the vehicle speed data received from the brake ECU 4. The vehicle speed V2 is obtained, and the interval D4 and the vehicle speed V2 are detected as driving characteristic information for determination (see FIG. 3B).

In S70, a scatter diagram is created with the interval D4 as the X axis and the vehicle speed V2 as the Y axis, and this scatter diagram is used as determination data.
In S80, in the scatter diagram in which the distance D4 is the X-axis and the vehicle speed V2 is the Y-axis, the inflection as shown in FIG. It is assumed that the vehicle width incomprehension determination condition is satisfied when the point FP does not exist. This is because it is known as a knowledge that a driver with a high vehicle width recognition takes a driving action of reducing the vehicle speed when the distance between the host vehicle and the oncoming vehicle is predicted to be narrow.

In the embodiment described above, the interval D4 is the fourth detection interval in the present invention, and the vehicle speed V2 is the second detected vehicle speed in the present invention.
(Fifth embodiment)
The fifth embodiment of the present invention will be described below. In the fifth embodiment, only parts different from the first embodiment will be described.

The vehicle width understanding determination device 1 of the fifth embodiment is the same as that of the first embodiment except that the processes of S30, S40, S70, and S80 in the vehicle width understanding determination process are changed.
That is, in S30, there is an oncoming vehicle on a one-lane road with no central separation zone separated by a center line, or a road without a center line, and there are obstacles such as motorcycles and parked vehicles on the left side of the host vehicle. A situation in which no object exists is set as a specific situation for determination.

  In S40, based on the steering angle data received by the steering ECU 5, the steering behavior of the host vehicle during a predetermined information detection time (for example, 20 seconds in this embodiment) immediately before passing the oncoming vehicle is obtained, and the image acquired in S10. Based on the data, the steering behavior of the oncoming vehicle at the predetermined information detection time is obtained, and the steering behavior of the host vehicle and the steering behavior of the oncoming vehicle are detected as driving characteristic information for determination. However, regarding the steering behavior of the oncoming vehicle, it is determined whether the oncoming vehicle has steered on the image in consideration of the positional deviation on the image in light of the steering behavior of the host vehicle.

In S70, the average and variance of the leftward shifting distance by steering the host vehicle are created as determination data.
Further, in S80, it is assumed that the vehicle width incomprehension determination condition is satisfied when the vehicle does not perform the width adjustment to the road side and the oncoming vehicle tends to repeat the characteristic of the width adjustment to the road side by steering. When the host vehicle and the oncoming vehicle pass each other, a driver with low vehicle width recognition does not shift the vehicle toward the road side.Therefore, the oncoming vehicle has a characteristic that the vehicle moves toward the road side by steering. It is because it has been obtained as a knowledge that there is a tendency to be repeated.

  In this embodiment, the “average” calculated in S70 is equal to or less than a predetermined average margin determination value (in this embodiment, for example, 15 cm), and the “dispersion” calculated in S70 is the predetermined variance margin. It is assumed that the vehicle width incomprehension determination condition is established when the determination value is 10 cm or less (in this embodiment, for example, 10 cm).

(Sixth embodiment)
The sixth embodiment of the present invention will be described below. In the sixth embodiment, only parts different from the first embodiment will be described.

  The vehicle width understanding determination device 1 according to the sixth embodiment includes the points where the processes of S30, S40, and S70 in the vehicle width understanding determination process are changed, the points where the processes of S80 and S90 are omitted, and the processes of S82 and S92. Except for the point that is added, it is the same as the first embodiment.

FIG. 4 is a flowchart showing the vehicle width understanding determination process of the sixth embodiment.
That is, in S30, a situation in which the host vehicle is traveling and no obstacle exists on the left side of the host vehicle is set as the determination specific situation.

  In S40, based on the image data acquired in S10, a distance D2 between the left side surface of the host vehicle and a lane marking or a curb line of a sidewalk or other similar work is obtained, and this distance D2 is determined as a driving characteristic for determination. Information is detected (see FIG. 3A).

In S70, the average and variance of the interval D2 are created as determination data.
When the processing of S70 is completed, it is determined in S82 whether or not the vehicle width understanding determination condition for determining that the vehicle width is understood is satisfied using the determination data created in S70. . In the present embodiment, the average of the interval D2 is equal to or smaller than a predetermined average determination value (in this embodiment, for example, 30 cm), and the variance of the interval D2 is set in advance (in the present embodiment, the predetermined dispersion determination value). , For example, 15 cm) or less, it is assumed that the vehicle width understanding determination condition is satisfied. This is because it has been found as knowledge that some drivers with high vehicle width recognition have a tendency to travel stably on the left end of the lane in which the host vehicle travels.

  If the vehicle width understanding determination condition is not satisfied (S82: NO), the process proceeds to S100. On the other hand, if the vehicle width understanding determination condition is satisfied (S82: YES), the display unit 22 is caused to execute a display indicating that the vehicle width is understood in S92, and the process proceeds to S100.

  In the vehicle width understanding determination device 1 configured as described above, a determination unit that is set in advance for performing vehicle width understanding determination that is determination as to whether or not the driver driving the vehicle understands the vehicle width of the vehicle. It is determined whether or not there is a vehicle in the specific situation (S30), and when it is determined that the vehicle is in the specific situation for determination (S30: YES), the driver's condition is set in advance according to the specific situation for determination. Driving characteristic information indicating the driving characteristic is detected (S40).

  Then, the detected driving characteristic information is accumulated (S50), and the vehicle width set in advance to determine that the driver understands the vehicle width of the vehicle based on the accumulated driving characteristic information. It is determined whether or not an understanding determination condition is satisfied (S70, S82).

  According to the vehicle width understanding determination device 1 configured as described above, the driving characteristic information in the specific situation for determination set in advance for performing the vehicle width understanding determination is accumulated, and the vehicle width is based on the accumulated driving characteristic information. When the understanding determination condition is satisfied, it can be determined that the driver understands the vehicle width of the vehicle.

  Thus, when the vehicle width determination device 1 determines that the driver understands the vehicle width of the vehicle, the “average” of the values on the interval D1 side in the above ratio is the predetermined average upper determination value in the first embodiment. Even if the driver understands the vehicle width by the above-mentioned or the “average” of the values on the interval D4 side in the third embodiment being equal to or greater than the predetermined average upper determination value in the third embodiment, It is possible to prevent erroneous notification that the vehicle width is not understood.

  Further, when the vehicle width understanding determination device 1 determines that the driver understands the vehicle width of the vehicle, it is possible to notify the driver that the vehicle width of the own vehicle is not understood. The person himself / herself can realize that he / she understands the width of the own vehicle. In other words, when there is no notification, the driver can be made aware that he / she does not understand the width of the vehicle. As a result, the driver may use his / her own vehicle without an appropriate width adjustment because he / she wants to use appropriate assistance (for example, corner poles, corner sensors, etc.) to understand the vehicle width of the own vehicle. Disappear.

In the embodiment described above, the processes of S70 and S82 are vehicle width understanding determination means in the present invention, and the interval D2 is the sixth detection interval in the present invention.
As mentioned above, although one Example of this invention was described, this invention is not limited to the said Example, As long as it belongs to the technical scope of this invention, a various form can be taken.

  For example, in the second embodiment, the determination is made based on the distance D3 and the vehicle speed V1 whether or not the vehicle width incomprehension determination condition is satisfied. However, the present invention is not limited to this. The determination may be made based on D1 and the vehicle speed V1.

  Moreover, in the said 3rd and 4th embodiment, although it showed what was made into the specific situation for determination when it was a one-sided one lane road without the center separation zone separated by the centerline, the one-sided two lanes without the center separation zone If the road is a specific road, the specific situation for determination may be set. However, on a two-lane road, if your vehicle passes the right lane and passes the oncoming vehicle, if your vehicle is not in the left lane, your vehicle will largely avoid the left lane. For this reason, it is inevitable that the variation in data increases and the determination accuracy decreases.

  In the above-described embodiment, when the vehicle width incomprehension determination condition is satisfied, a message indicating that the vehicle width is not understood (S90) is shown. However, when the vehicle width incomprehension determination condition is satisfied, assistance for understanding the vehicle width (for example, a display indicating the interval between the roadside and the host vehicle) may be automatically executed.

  Moreover, in the said embodiment, what deleted the driving | operation characteristic information for determination stored by S100 was shown. However, the judgment driving characteristic information that has been accumulated so far is retained, and further judgment driving characteristic information is accumulated. When the characteristic information accumulation count exceeds the predetermined start judgment value, it is accumulated so far. It may be determined whether or not the vehicle width incomprehension determination condition is satisfied using all the determination driving characteristic information.

  DESCRIPTION OF SYMBOLS 1 ... Vehicle width understanding determination apparatus, 2 ... In-vehicle LAN, 3 ... Engine ECU, 4 ... Brake ECU, 5 ... Steering ECU, 6 ... Navigation apparatus, 11 ... Vehicle speed sensor, 12 ... Steering angle sensor, 13 ... Map storage medium, 21 ... Camera, 22 ... Display unit, 23 ... In-vehicle LAN communication unit, 24 ... Control unit

Claims (8)

A determination specific target acquisition means for acquiring a determination specific target that is a target necessary for performing a vehicle width understanding determination that is a determination as to whether or not a driver driving the vehicle understands the vehicle width of the vehicle ; ,
Specific situation determination means for determining whether or not the vehicle is in a specific situation for determination, which is a situation set in advance under the presence of the specific object for determination;
Driving that detects driving characteristic information that is preset according to the specific situation for determination and that indicates the driving characteristic of the driver when the specific situation determination unit determines that the vehicle is in the specific situation for determination. Characteristic detection means;
Storage means for storing the driving characteristic information detected by the driving characteristic detection means;
Whether or not a vehicle width incomprehension determination condition set in advance for determining that the driver does not understand the vehicle width of the vehicle based on the driving characteristic information stored by the storage means is satisfied. A vehicle width understanding determination device comprising: vehicle width incomprehension determination means for determining the vehicle width. The specific situation for determination is a situation in which the host vehicle is running on a one-lane road, and there is no obstacle on the left side of the host vehicle, the vehicle passes by the right turn vehicle,
The driving characteristic information includes a first detection interval that is an interval between the left side surface of the right-turn vehicle and the right side surface of the own vehicle, and a curb line or fence of the left side surface of the own vehicle and a sidewalk, or other similar work or A second detection interval that is an interval from the lane marking on the left side of the vehicle lane,
The vehicle width incomprehension determination condition has a large variation in the ratio between the first detection interval and the second detection interval, or the average of the ratio between the first detection interval and the second detection interval is 2. The vehicle width understanding determination device according to claim 1, wherein the vehicle width understanding determination device is biased toward either one detection interval side or the second detection interval side. The specific situation for determination is a situation in which the host vehicle is running on a one-lane road, and there is no obstacle on the left side of the host vehicle, the vehicle passes by the right turn vehicle,
The driving characteristic information is a distance between a lane marking on the left side of the own vehicle or a lane marking on the left side of the vehicle or other similar work or a lane marking on the left side of the own vehicle traveling lane and a left side of the right turn vehicle. A detection interval and a first detection vehicle speed that is a vehicle speed of the host vehicle when passing through the side of the right turn vehicle;
2. The vehicle width understanding determination device according to claim 1, wherein the vehicle width incomprehension determination condition is that a positive correlation between the third detection interval and the first detection vehicle speed is small. The determination specific situation is that the host vehicle is traveling on a one-lane road without a central separation zone separated by a center line or a road without a center line, and an obstacle exists on the left side of the host vehicle. If not, it is a situation that passes the oncoming vehicle,
The driving characteristic information includes a fourth detection interval, which is an interval between the right side surface of the oncoming vehicle and the right side surface of the host vehicle, and a curb line or fence of the left side surface of the host vehicle and a sidewalk, or other similar work or A fifth detection interval that is an interval from the lane marking on the left side of the vehicle lane,
The vehicle width incomprehension determination condition has a large variation in a ratio between the fourth detection interval and the fifth detection interval, or an average of a ratio between the fourth detection interval and the fifth detection interval is 2. The vehicle width understanding determination device according to claim 1, wherein the vehicle width understanding determination device is biased to either the fourth detection interval side or the fifth detection interval side. The determination specific situation is that the host vehicle is traveling on a one-lane road without a central separation zone separated by a center line or a road without a center line, and an obstacle exists on the left side of the host vehicle. If not, it is a situation that passes the oncoming vehicle,
The driving characteristic information includes a fourth detection interval that is an interval between the right side surface of the oncoming vehicle and the right side surface of the own vehicle, and a second detected vehicle speed that is a vehicle speed of the own vehicle when passing the oncoming vehicle. ,
The vehicle width incomprehension determination condition is that an inflection point does not exist in a two-dimensional scatter diagram with the fourth detection interval and the second detection vehicle speed as axes. Car width understanding judgment device. The determination specific situation is that the host vehicle is traveling on a one-lane road without a central separation zone separated by a center line or a road without a center line, and an obstacle exists on the left side of the host vehicle. If not, it is a situation that passes the oncoming vehicle,
The driving characteristic information is a steering behavior of the host vehicle and a steering behavior of the oncoming vehicle within a preset predetermined information detection time immediately before passing the oncoming vehicle,
The vehicle width incomprehension determination condition is that an average of the width shifting distances by the own vehicle in a direction in which the interval between the own vehicle and the oncoming vehicle is wide is equal to or less than a predetermined predetermined average margin determination value. The vehicle width understanding determination device according to claim 1, wherein: A determination specific target acquisition means for acquiring a determination specific target that is a target necessary for performing a vehicle width understanding determination that is a determination as to whether or not a driver driving the vehicle understands the vehicle width of the vehicle ; ,
Specific situation determination means for determining whether or not the vehicle is in a specific situation for determination, which is a situation set in advance under the presence of the specific object for determination;
Driving that detects driving characteristic information that is preset according to the specific situation for determination and that indicates the driving characteristic of the driver when the specific situation determination unit determines that the vehicle is in the specific situation for determination. Characteristic detection means;
Storage means for storing the driving characteristic information detected by the driving characteristic detection means;
Whether or not a vehicle width understanding determination condition set in advance for determining that the driver understands the vehicle width of the vehicle based on the driving characteristic information stored by the storage means is satisfied. A vehicle width understanding judging device comprising: a vehicle width understanding judging means for judging. The determination specific situation is a situation where the host vehicle is traveling and there is no obstacle on the left side of the host vehicle,
The driving characteristic information is a sixth detection interval that is an interval between the left side surface of the host vehicle and a curb line of a sidewalk or other similar work or a left side lane marking of the host vehicle traveling lane,
The vehicle width understanding determination condition is that an average of the sixth detection intervals is equal to or smaller than a predetermined average determination value set in advance, and a variance of the sixth detection intervals is equal to or less than a predetermined predetermined variance determination value. The vehicle width understanding determination device according to claim 7.

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