JP5685829B2 - Vehicle risk information providing device - Google Patents

Description

  The present invention relates to a vehicle risk information providing apparatus.

  2. Description of the Related Art Conventionally, techniques for providing information related to objects around a host vehicle have been developed.

  For example, Patent Literature 1 discloses an object such as an attention target to which a driver's line of sight detected by a driver's line of sight detection camera is directed, and information regarding the object provided with the driver's line of sight provided by an information display. With respect to an object directed to a position, a technique for restricting provision of information related to the object for a certain period of time is disclosed. Thereby, in patent document 1, the troublesomeness with respect to the information provision from the system regarding the attention object which has already been recognized is reduced. Further, Patent Document 1 discloses a technique for providing information even if the information provision is restricted for a certain period of time for an attention object that is determined to have an increased risk. .

JP 2009-146141 A

  However, when there are many targets to which the driver's line of sight is directed, the driver may forget the presence of the target even if he / she recognizes it once. For this reason, the conventional driving support device described in Patent Document 1 has a problem that even if the risk changes due to a change in the behavior of the target after the driver's recognition, appropriate information may not be presented. Was.

  Moreover, in the conventional driving assistance apparatus described in Patent Document 1, a fixed restriction time is set in consideration of only the time for restriction of information provision, and the number of objects to be restricted is not considered. It was. Therefore, in the conventional driving support device, even in a complicated scene where there are a plurality of restricted objects, even if the object is recognized once by the driver, There was a problem that the degree of attention might be forgotten.

  Moreover, in the conventional driving assistance device described in Patent Document 1, only the target whose risk increases is excluded from the restriction target. Therefore, the conventional driving support device has a problem in that re-provisioning cannot be performed at an appropriate timing when a subject subject to information provision regulation has caused a change in motion or is likely to generate a change in motion. . In addition, in the conventional driving support device, when the gaze is once recognized and the line of sight is removed from the target, the risk is estimated on the assumption that the motion at the recognized timing is continued as it is for the target. Had the problem of being.

  The present invention has been made in view of the above circumstances, and calculates the degree of danger with respect to obstacles around the host vehicle and implements support based on the degree of danger, so that the driver can It is an object of the present invention to provide a vehicular risk information providing apparatus capable of providing information on a target around a vehicle appropriately and without any trouble.

  The present invention is an apparatus for providing risk information for a vehicle, the driver's line-of-sight specifying means for specifying the line of sight of the driver of the own vehicle, the object specifying means for specifying objects around the own vehicle, and the object specifying A risk determining means for determining the risk of the object specified by the means to the own vehicle, and the driver specifying the driver by the object specifying means according to the risk determined by the risk determining means. Information presenting means for presenting information relating to the object, and the object to which the driver's line of sight identified by the driver line-of-sight identifying means is directed among the objects identified by the object identifying means An information presentation restricting means for restricting the presentation of the information related to the object for a predetermined time, and a case where the number of the objects whose information presentation is restricted by the information presentation restricting means exceeds a predetermined value. Re-presenting means for releasing the restriction on the provision of the information on the object and re-presenting the information on the object in order of the oldest object in which the driver's line of sight was directed It is characterized by.

  Further, the present invention is a vehicle risk information providing device, a driver gaze identifying unit that identifies a gaze of a driver of the host vehicle, an object identifying unit that identifies an object around the host vehicle, A risk determination unit that determines a risk level of the object specified by the object specification unit to the host vehicle, and the object determination unit that informs the driver according to the risk level determined by the risk level determination unit. Information presenting means for presenting information related to the object specified by the object, and the object to which the driver's line of sight specified by the driver line-of-sight specifying means is directed among the objects specified by the object specifying means Information presentation restricting means for restricting the presentation of the information related to the object for a predetermined time, and the object for which the presentation of the information is restricted by the information presentation restricting means after the restriction. When a change occurs, characterized by comprising a re-presentation means for re-presenting the information about the object to release the restriction of the provision of the information related to the object, the.

  In the vehicular risk information providing apparatus, it is preferable that the predetermined time is shorter as the object existing outside the driver's line of sight.

  According to the present invention, for the attention object determined that the driver's line of sight is directed and recognized, the provision of information to the attention object is stopped, and the driver determines that the driver recognizes the attention object and stops providing information. Considering the number of objects that can be recognized by the driver, or the time in which the object can be remembered, the information provision can be performed again. In addition, according to the present invention, when the number of objects for which information provision is restricted increases, even if the object is recognized once by the driver, the information that is likely to be forgotten is displayed again to display appropriate information. There is an effect that it can be performed. In addition, according to the present invention, when the risk of an obstacle around the host vehicle with respect to the driver changes, it is possible to provide appropriate information according to the risk. In addition, according to the present invention, it is possible to provide information in consideration of the line-of-sight direction during normal driving of the driver.

FIG. 1 is a flowchart showing the basic principle of the present embodiment. FIG. 2 is a diagram illustrating an example of a change in motion of an object in the present embodiment. FIG. 3 is a block diagram showing an example of the configuration of the ECU of the present embodiment. FIG. 4 is a flowchart illustrating an example of processing of the vehicle risk information providing apparatus according to the present embodiment. FIG. 5 is a diagram showing an example of information provision in the present embodiment. FIG. 6 is a diagram illustrating an example of a deviation angle from the gaze direction of the driver in the present embodiment. FIG. 7 is a graph showing an example of the relationship between the deviation angle from the gaze direction of the driver and the weighting coefficient in the present embodiment.

  Embodiments of a vehicle risk information providing apparatus according to the present invention will be described below in detail with reference to the drawings. In addition, this invention is not limited by this embodiment.

[1. Overview]
Hereinafter, the outline of the embodiment of the present invention will be described with reference to FIG. 1, and then the configuration, operation, and the like of the present embodiment will be described in detail. FIG. 1 is a flowchart showing the basic principle of the present embodiment.

  The present invention generally has the following basic features. That is, the ECU of the present invention (an electronic control unit including the vehicle risk information providing apparatus according to the present invention) includes an obstacle detection device, a white line detection device, a road shape detection device, a driver gaze detection device, and a vehicle traveling state detection. It is configured to be connected at least to the device and the surrounding environment database.

  First, as shown in FIG. 1, the ECU specifies the line of sight of the driver of the host vehicle (step SA-1).

  The ECU then identifies objects around the host vehicle (step SA-2).

  Then, the ECU determines the degree of danger of the object specified in step SA-2 to the host vehicle (step SA-3).

  Then, the ECU causes the driver to present information related to the object specified in step SA-2 according to the degree of risk determined in step SA-3 (step SA-4).

  Then, the ECU restricts the presentation of information related to the object for a predetermined time with respect to the object to which the driver's line of sight identified in Step SA-1 is directed among the objects identified in Step SA-2. (Step SA-5). Here, among the objects identified in step SA-2, the ECU presents a predetermined number of information related to the object for which the driver's line of sight identified in step SA-1 is directed ( The maximum number set in advance may be regulated. Here, the predetermined time may be shorter as the object existing outside the direction of the driver's line of sight. Further, the predetermined time may be a time changed according to the driver's characteristics. For example, the predetermined time may be shortened as the driver's age increases. Further, the predetermined time may be longer as the driving skill of the driver increases. Here, the driving skill level is the average of the timing (minimum time) from the time when the risk of an object (obstacle) around the host vehicle exceeds a certain value to the time when the driver watches the obstacle. It may be calculated based on the value.

  Then, when the number of objects whose presentation of information is restricted in step SA-5 exceeds a predetermined value, the ECU performs information on the objects in the order of the old objects in the order in which the driver's line of sight was directed. The restriction on the provision of the object is canceled and information on the object is re-presented (step SA-6). Here, the ECU determines that the number of objects whose presentation of information is restricted in step SA-5 exceeds a predetermined value based on the number of forgetting of the driver (for example, magic number 7). Alternatively, in the order in which the line of sight is directed, the provision of information on the object may be canceled (the maximum number of objects that can be regulated is set), and the information on the object may be re-presented. Here, the magic number 7 generally means that the number of things that a human can memorize in the short term is 5 to 9 (7 ± 2).

  In addition, when a predetermined movement change occurs after the regulation (for example, after the driver recognizes the object) of the object whose information presentation is regulated in step SA-5, the ECU The restriction on the provision of information related to the object may be canceled and the information related to the object may be presented again. Specifically, when the speed of the object (the vehicle traveling direction or the horizontal direction) at the time of determining that the driver has recognized the object (target) has changed by a certain value or more, the ECU relates to the object. May be released and information on the object may be re-presented.

  Here, with reference to FIG. 2, an example of the motion change of the object in this embodiment is demonstrated. FIG. 2 is a diagram illustrating an example of a change in motion of an object in the present embodiment.

  As shown in FIG. 2, the other vehicle A is traveling in a direction in which the degree of danger is low with respect to the host vehicle. However, the driver estimates the degree of risk on the assumption that the movement at the time of recognition will continue even after recognizing the object such as the other vehicle A and the other vehicle B once and looking away. Therefore, in order for the own vehicle to avoid danger to the other vehicle B, information should be provided for the movement change of the other vehicle A. Therefore, as shown in FIG. 2, even if the movement change is not in the direction of increasing the degree of danger, the ECU indicates that a predetermined movement change has occurred after the restriction on the other vehicle A where the presentation of information is restricted. Judgment is made and the provision of the information on the other vehicle A is released, and the information on the other vehicle A is re-presented.

  That is, conventionally, the driver's driving skill and cognitive ability have not been considered. In other words, conventionally, it has not been considered that not all the objects around the host vehicle once recognized by the driver can be remembered. Conventionally, even if the driver recognizes once, it has not been considered to forget the existence of a previously recognized object by recognizing a plurality of other objects. Conventionally, it has not been considered that an erroneous determination is made with respect to the movement of the subject that is expected once it is recognized. Therefore, in the present embodiment, depending on the driving skill of the driver, troublesomeness may not be reduced and drivability may be deteriorated, or the driver cannot properly recognize the behavior of the target, and the target is erroneously detected. It solves the conventional problem that it may make a judgment.

  In FIG. 1, when a predetermined motion change is predicted after the restriction on the object whose information is restricted in step SA-5, the ECU cancels the restriction on the provision of information on the object. Information regarding the object may be re-presented.

  With reference to FIG. 2 again, an example in which a predetermined motion change in the present embodiment is predicted will be described. As shown in FIG. 2, the ECU determines that a predetermined motion change is predicted when lighting of the blinker and the brake lamp is detected in the other vehicle A or the other vehicle B in which the presentation of information is restricted, The restriction on the provision of information regarding the other vehicle A or the other vehicle B is canceled, and the information regarding the other vehicle A or the other vehicle B is re-presented.

  Further, in FIG. 1, the ECU determines the driver's recognition strength with respect to the object whose information presentation is restricted in step SA-5, and when there is an object for which the recognition is determined to be weak, Information on the object may be re-presented after the restriction on the provision of information on the object is released. In addition, the ECU may cancel the provision of the information related to the object and re-present the information related to the object when the presentation of the information exceeds a predetermined predetermined time. Further, the ECU may re-present information reflecting forgetting after the driver recognizes the object.

  This is the end of the summary of the present invention.

[2. Constitution]
The configuration of the ECU (electronic control unit) of the present embodiment will be described with reference to FIG. FIG. 3 is a block diagram showing an example of the configuration of the ECU of the present embodiment.

  In FIG. 3, reference numeral 1 denotes an ECU (including a vehicle risk level information providing device according to the present invention) composed of a risk level estimation device and a driving support method determination device (driving support ECU) mounted on the vehicle. Reference numeral 2 is an obstacle detection device (millimeter wave radar, laser radar, etc.) having a distance measurement function for measuring the distance to the obstacle and a speed measurement function for measuring the speed relative to the obstacle. Reference numeral 3 is on the road. A white line detection device (white line recognition camera or the like) for detecting a white line of the vehicle, 4 is a road shape detection device (laser radar or the like) for detecting a road shape, and 5 is a driver gaze detection device for detecting a human eye Reference numeral 6 denotes a vehicle traveling state detection device (wheel speed sensor, yaw rate sensor, etc.) for detecting a traveling state such as a change in the vehicle speed or a rotation angle in the turning direction. Is a peripheral environment database (navigation device, etc.) storing peripheral environment data such as map data, and a reference numeral 8 is a display device for outputting display data (meter, head-up display (HUD), superimposed display on windshield, liquid crystal Reference numeral 9 is an audio device (speaker, etc.) for outputting audio data, and reference numeral 10 is an assist device (brake actuator, EPS actuator, etc.) for controlling the brake and electric power steering (EPS), etc. . In FIG. 3, reference numeral 1a is a driver gaze identification unit, reference numeral 1b is an object identification unit, reference numeral 1c is a risk determination unit, reference numeral 1d is an information presentation unit, and reference numeral 1e is a support unit. , 1f is an information presentation restricting unit, and 1g is a re-presenting unit.

  The driver's line-of-sight specifying unit 1a specifies the line of sight of the driver of the host vehicle. Here, the driver's line-of-sight specifying unit 1a may specify the line of sight of the driver of the host vehicle based on the human line of sight detected by the driver's line-of-sight detection device 5.

  The object specifying unit 1b specifies objects around the host vehicle. Here, the object specifying unit 1b includes the obstacle detected by the obstacle detection device 2, the white line on the road detected by the white line detection device 3, the shape of the road detected by the road shape detection device 4, Further, based on part or all of the surrounding environment data stored in the surrounding environment database 7, an object around the host vehicle may be specified.

  The risk determination unit 1c determines the risk of the object specified by the object specifying unit 1b to the host vehicle.

  The information presenting unit 1d causes the driver to present information related to the object identified by the object identifying unit 1b according to the risk determined by the risk determining unit 1c. Here, the information presenting unit 1d controls the display device 8 to present display data regarding the object identified by the object identifying unit 1b to the driver according to the risk determined by the risk determining unit 1c. You may let them. Further, the information presenting unit 1d controls the audio device 9 so that the driver provides audio data such as an alarm related to the object specified by the object specifying unit 1b according to the risk determined by the risk determining unit 1c. May be presented.

  The support unit 1e performs driving support for the driver. Here, the support unit 1e controls the support device 10 to appropriately travel (for example, avoidance operation) with respect to the object specified by the object specifying unit 1b according to the risk determined by the risk determination unit 1c. Etc.), the driving assistance for the driver may be performed by controlling the vehicle speed and the traveling direction. Further, the support unit 1e may further provide driving assistance to the driver based on the traveling state detected by the vehicle traveling state detection device 6 such as a change in the rotation speed in the vehicle speed and the turning direction. .

  The information presentation regulation unit 1f presents information related to the object for a predetermined time with respect to an object to which the driver's line of sight specified by the driver's line of sight specifying unit 1a is directed, among the objects specified by the object specifying unit 1b. Let it be regulated. Here, the information presentation restricting unit 1f controls the display device 8 so that the driver's line of sight specified by the driver's line of sight specifying unit 1a is directed among the objects specified by the object specifying unit 1b. For an object, display of information related to the object on the display device 8 may be regulated for a predetermined time. In addition, the information presentation regulation unit 1f controls the audio device 9 so that the object to which the driver's line of sight specified by the driver's line-of-sight specifying unit 1a is directed among the objects specified by the object specifying unit 1b. , The audio output of the information related to the object in the audio device 9 may be regulated for a predetermined time. Further, the predetermined time may be a shorter time for an object existing outside the direction of the driver's line of sight. Further, the predetermined time may be a time changed according to the driver's characteristics.

  When the number of objects whose information presentation is restricted by the information presentation restriction unit 1f exceeds a predetermined value, the re-presentation unit 1g relates to the object in the order in which the driver's line of sight is directed to the old object. The restriction on the provision of information is released, and information about the object is re-presented. Here, the re-presentation unit 1g cancels the provision of the information regarding the object when the predetermined motion change occurs after the regulation on the object whose information presentation is regulated by the information presentation regulation unit 1f. Information regarding the object may be re-presented. In addition, the re-presenting unit 1g cancels the provision of information on the object and cancels the provision of the information related to the object when the predetermined movement change is predicted after the regulation on the object whose information presentation is regulated by the information presentation regulating unit 1f. Information regarding the object may be re-presented. In addition, the re-presentation unit 1g determines whether the driver recognizes the object whose information presentation is restricted by the information presentation restriction unit 1f, and if there is an object for which the recognition is determined to be weak, The restriction on the provision of information related to the object may be canceled and the information related to the object may be presented again. In addition, the re-presentation unit 1g cancels the provision of the information regarding the object and re-presents the information regarding the object when the information presentation restriction unit 1f exceeds the predetermined time when the information presentation is restricted. Also good. The re-presenting unit 1g may control the display device 8 to cancel the provision of information regarding the object and redisplay the display data regarding the object. Further, the re-presentation unit 1g may control the audio device 9 to cancel the provision of information regarding the object and re-output the audio data regarding the object.

[3. Operation]
Next, an example of processing performed by the vehicle risk information providing apparatus performed by the ECU 1 having the above-described configuration will be described with reference to FIGS. FIG. 4 is a flowchart illustrating an example of processing of the vehicle risk information providing apparatus according to the present embodiment.

  As shown in FIG. 4, the object specifying unit 1 b detects the obstacle detected by the obstacle detection device 2, the white line on the road detected by the white line detection device 3, and the road shape detection device 4. Based on the shape of the road and part or all of the surrounding environment data stored in the surrounding environment database 7, obstacles around the host vehicle are specified (step SB-1).

  Then, the risk determination unit 1c determines the risk to the host vehicle of the obstacle specified by the object specifying unit 1b (step SB-2).

  The driver's line-of-sight specifying unit 1a specifies the line of sight of the driver of the host vehicle based on the human line of sight detected by the driver's line-of-sight detection device 5, and is specified by the object specifying unit 1b in step SB-1. It is determined whether or not the driver has newly recognized the obstacle (step SB-3).

  When the information presentation unit 1d determines that the driver has not newly recognized an obstacle at step SB-3 (step SB-3: No), the display device 8 In accordance with the risk determined by the risk determination unit 1c, the driver is caused to present display data regarding the obstacle specified by the object specifying unit 1b, and the process proceeds to step SB-1. (Step SB-4). Here, the information presenting unit 1d controls the audio device 9 so that, for the risk determined by the risk determining unit 1c, the driver gives an alarm about the obstacle specified by the object specifying unit 1b. Audio data may be presented.

  Here, an example of information provision in the present embodiment will be described with reference to FIG. FIG. 5 is a diagram showing an example of information provision in the present embodiment.

  As shown in FIG. 5, the information presenting unit 1 d controls the display device 8 so that the driver displays display data related to the obstacle on the windshield according to the risk determined by the risk determination unit 1 c. It is presented by using superimposed display, lighting and blinking of LEDs arranged on the dashboard, or display on a meter or a navigation screen.

  Returning to FIG. 4, on the other hand, the information presentation regulation unit 1 f determines that the driver has newly recognized an obstacle by the driver gaze identification unit 1 a in Step SB-3 (Step SB-3: Yes). The number of obstacles X recognized by the driver around the host vehicle is increased by 1 and stored, and the obstacle determined that the driver has newly recognized by the driver line-of-sight identifying unit 1a in step SB-3. The provision of information related to the obstacle is regulated for a predetermined time, and the number of obstacles during information provision regulation, which is the number of regulated obstacles, is increased by 1 and stored (step SB-5).

  Then, the ECU 1 determines whether or not the obstacle number X that is the number of obstacles recognized by the driver around the host vehicle is not zero (step SB-6). For example, the ECU 1 may determine whether or not an obstacle no longer exists in a region that can be regarded as a surrounding of the host vehicle due to the movement of the host vehicle and the obstacle.

  If the ECU 1 determines in step SB-6 that the number of obstacles X, which is the number of obstacles recognized by the driver around the host vehicle, is 0 (step SB-6: No), the process is stepped. Shift to SB-1.

  The re-presenting unit 1g determines that the number of obstacles X, which is the number of obstacles recognized by the driver around the host vehicle, is not 0 by the ECU 1 in step SB-6 (step SB-6: Yes), it is determined whether or not the time during which information provision to the obstacle i (i = 1 to X) is restricted (information provision restriction time) is longer than the predetermined time (T_MAX) (step SB-7).

  If the re-presentation unit 1g determines in step SB-7 that the information provision restriction time for the obstacle i is shorter than T_MAX (step SB-7: No), the process proceeds to step SB-10.

  On the other hand, if the re-presentation unit 1g determines in step SB-7 that the information provision restriction time for the obstacle i is longer than T_MAX (step SB-7: Yes), the re-presentation unit 1g The restriction on the provision of information related to the object i is canceled and the information on the obstacle i is displayed again, and the count of the information provision restriction time for the obstacle i is cleared (0 [s]) (step SB-8).

  Then, the ECU 1 stores the number of obstacles during information provision regulation, which is the number of obstacles whose information presentation is regulated by the information presentation regulation unit 1f, by one (step SB-9).

  Then, the driver's line-of-sight specifying unit 1a specifies the line of sight of the driver of the host vehicle based on the human line of sight detected by the driver's line-of-sight detection device 5, and whether or not the driver is gazing at the obstacle i. Is determined (step SB-10).

Then, if the driver's line-of-sight identification unit 1a determines in step SB-10 that the driver is gazing at the obstacle i (step SB-10: Yes), the process ends at the end of the for sentence (step SB- 13 and after step SB-16). That is, in the past, only the moment of recognition was considered. Therefore, in the present embodiment, the conventional problem that information display is redisplayed after a certain period of time even if the object is continuously watched after being recognized once is solved.

  On the other hand, if the re-presentation unit 1g determines that the driver is not gazing at the obstacle i by the driver's line-of-sight identifying unit 1a in step SB-10 (step SB-10: No), the provision of information is being regulated. It is determined whether the number of obstacles is equal to or less than a predetermined value (D_MAX) (step SB-11).

  When the re-presentation unit 1g determines in step SB-11 that the number of obstacles during information provision regulation has exceeded D_MAX (step SB-11: No), the re-presentation unit 1g controls the display device 8 and the audio device 9. In the order of the obstruction in which the driver's line of sight was directed (the obstruction with the longest information provision regulation time), the provision of information on the obstruction was lifted, and information on the obstruction was provided. Re-execute (step SB-12).

  Then, the ECU 1 stores the number of obstacles during the information provision regulation by reducing the number by 1, and shifts the process to the end of the for sentence (after step SB-16). (Step SB-13).

  On the other hand, if the re-presenting unit 1g determines in step SB-11 that the number of obstacles during information provision regulation is D_MAX or less (step SB-11: Yes), the driver gaze identifying unit in step SB-10. Based on the determination that the driver is not gazing at the obstacle i in 1a, it is determined that the driver's recognition of the obstacle i is weak, and the restriction on the provision of information regarding the obstacle i is canceled. Information about the object i is provided (step SB-14).

  Then, the information presentation restricting unit 1f controls the display device 8 and the audio device 9 to provide information for a predetermined time with respect to the obstacle i whose information is provided by the re-presenting unit 1g in step SB-14. The regulation is started and the count of the information provision regulation time for the obstacle i is started (step SB-15). Here, the predetermined time may be a time changed according to the characteristics of the driver. Further, the predetermined time may be a shorter time for an object existing outside the direction of the driver's line of sight. Further, the information presentation restricting unit 1f sets a predetermined time for restricting the provision of information to be shorter for an object existing on the outer side with respect to the driver's line-of-sight direction based on the driver's viewing angle. In addition, the information presentation regulation unit 1f prevents information from being re-provided when the angle between the driver's line-of-sight direction and the obstacle is equal to or smaller than a certain value.

  Here, with reference to FIG. 6 and FIG. 7, an example of the regulation of the information provision in this embodiment is demonstrated. FIG. 6 is a diagram illustrating an example of a deviation angle from the gaze direction of the driver in the present embodiment. FIG. 7 is a graph showing an example of the relationship between the deviation angle from the gaze direction of the driver and the weighting coefficient in the present embodiment.

The information presentation restricting unit 1f sets the angle counted from immediately after the start of counting the information provision restricting time and the deviation angle θ (FIG. 6) from the obstacle from the gaze direction of the driver specified by the driver gaze specifying unit 1a. When the integrated value of the value obtained by multiplying the weighting factor w (FIG. 7) defined based on the value becomes equal to or greater than a certain value, the regulation of information provision is cancelled. That is, in the prior art, an effective human viewing angle that can observe a motion to a certain extent without completely gazing at the direction of the object has not been considered. Therefore, in the present embodiment, when the object (part 1) is not watched, but the surrounding object (part 2) is viewed, the movement of the object (part 1) is also visible to some extent. This solves the conventional problem that information is re-provided after a certain period of time for an object that is not watched (part 1).

  Returning again to FIG. 4, the ECU 1 increases the number of obstacles during information provision regulation by 1 and stores it (step SB-16). The processing from step SB-7 to step SB-16 is repeatedly executed until the obstacle i starts from i = 1 and becomes i = X, and the processing of step SB-16 or SB-13 at i = X. Upon completion, the for sentence is exited and the entire process is terminated.

[4. Summary of this embodiment]
As described above, in the present embodiment, the line of sight of the driver of the own vehicle is specified, the objects around the own vehicle are specified, and the degree of danger of the specified object to the own vehicle is determined and determined. Depending on the degree of risk, the driver is presented with information related to the identified object, and among the identified objects, the presentation of information related to the object is regulated for a predetermined time with respect to the object to which the driver's line of sight is directed, When the number of objects for which information presentation has been restricted exceeds a predetermined value, the order in which the driver's line of sight was directed is in the order of the oldest object, and the provision of information related to the object is released, and Re-present information. In other words, in the present embodiment, when the number of objects such as other vehicles around the host vehicle exceeds a predetermined value, the number of objects that the driver can remember is limited. Re-provide information. As a result, the driver can re-recognize the object that has been forgotten after the recognition of the object, and can perform appropriate danger avoidance for the object.

  Further, in the present embodiment, the line of sight of the driver of the host vehicle is specified, the objects around the host vehicle are specified, the risk of the specified object to the host vehicle is determined, and the risk determined according to the determined risk The information related to the specified object is presented to the driver, and for the object to which the driver's line of sight is directed among the specified objects, the presentation of the information related to the object is regulated for a predetermined time. When a predetermined motion change occurs after the restriction on the restricted object, the restriction on the provision of information on the object is canceled and the information on the object is re-presented. This allows the driver to re-recognize the object even if the object causes an unexpected behavior change or risk change after the driver recognizes the object. Risk avoidance can be performed.

  In the present embodiment, the predetermined time is a shorter time for an object existing outside the direction of the driver's line of sight. Accordingly, in consideration of the viewing angle of the driver, when the angle between the line-of-sight direction of the driver and the object is equal to or smaller than a certain value, it is possible to prevent information from being provided again. In addition, when the driver keeps his eyes on the target once regulated after a predetermined time has passed, the re-provision of information can be regulated. In addition, effective information provision regulations and effective information provision regulations can be established by differentiating the weights that stipulate the regulations for subjects that are not in the gaze direction but are somewhat visible and those that are significantly outside the gaze direction and are not in the field of view. Information can be re-provided (re-displayed).

  Then, in this embodiment, the line of sight of the driver of the host vehicle is specified, objects around the host vehicle are specified, the risk of the specified object to the host vehicle is determined, and the risk is determined according to the determined risk The information related to the specified object is presented to the driver, and for the object to which the driver's line of sight is directed among the specified objects, the presentation of the information related to the object is regulated for a predetermined time. Determining the driver's perception of a restricted object, and if there is an object for which the perception is weak, cancel the provision of information on the object and re-present the information on the object Let Thereby, it is possible to call attention to an object whose driver's attention is reduced.

  Then, in this embodiment, the line of sight of the driver of the host vehicle is specified, objects around the host vehicle are specified, the risk of the specified object to the host vehicle is determined, and the risk is determined according to the determined risk The information related to the specified object is presented to the driver, and for the object to which the driver's line of sight is directed among the specified objects, the presentation of the information related to the object is regulated for a predetermined time. When a predetermined change in motion is predicted after the restriction on the restricted object, the restriction on the provision of information on the object is canceled and the information on the object is re-presented. This allows the driver to re-recognize the object even if the object may cause an unexpected behavior change or risk change after the driver recognizes the object. It is possible to carry out appropriate risk avoidance etc.

  And in this embodiment, predetermined time is time changed according to a driver | operator's characteristic. This makes it possible to set an appropriate restriction time according to the driver's potential such as age and visual acuity.

  As described above, the vehicle risk information providing apparatus according to the present invention is useful for the automobile manufacturing industry, and is particularly suitable for executing vehicle risk avoidance control based on object recognition technology and the like existing around the vehicle. ing.

1 ECU
DESCRIPTION OF SYMBOLS 1a Driver eyes | visual_axis specific | specification part 1b Object specific | specification part 1c Risk determination part 1d Information presentation part 1e Support part 1f Information presentation control part 1g Re-presentation part 2 Obstacle detection apparatus 3 White line detection apparatus 4 Road shape detection apparatus 5 Driver gaze detection apparatus 6 Vehicle Running Status Detection Device 7 Ambient Environment Database 8 Display Device 9 Audio Device 10 Support Device

Claims (2)

Driver gaze identification means for identifying the gaze of the driver of the host vehicle;
An object specifying means for specifying an object around the host vehicle;
A risk determination means for determining the risk of the object specified by the object specifying means to the host vehicle;
Information presenting means for causing the driver to present information related to the object identified by the object identifying means according to the risk determined by the risk determining means;
Information that regulates the presentation of the information related to the object for a predetermined time with respect to the object to which the driver's line of sight specified by the driver line of sight specifying unit is directed, among the objects specified by the object specifying unit. Presentation regulation means,
When the number of the objects whose presentation of the information is regulated by the information presentation regulation unit exceeds a predetermined value, the information regarding the object is in the order of the oldest object in which the driver's line of sight was directed. Re-presenting means for releasing the restriction of the provision of the information and re-presenting the information on the object;
A vehicular risk information providing apparatus, comprising: The predetermined time is
It is a shorter time for an object that exists outside the direction of the line of sight of the driver,
The vehicular risk information providing apparatus according to claim 1 .

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