JP5726263B2 - Driving support device and driving support method - Google Patents

Description

  The present invention relates to a driving support apparatus and a driving support method for assisting a driver so that the driver driving an automobile can avoid a potential danger.

  Conventionally, a number of techniques for avoiding automobile traffic accidents have been proposed by supplementing the functions of driver recognition, judgment or operation with a sensor system.

  Specifically, as a conventional driving support device, a database of the situation around the host vehicle is created in advance, and the movement area of the object around the host vehicle is predicted based on the created database, and the collision between the host vehicle and the object is possible. A device that evaluates the driving difficulty level in consideration of the characteristics and guides the driver based on the driving difficulty level has been proposed (see, for example, Patent Document 1).

JP 2011-34128 A

However, the prior art has the following problems.
In the prior art as described in Patent Document 1, in order to create a database of the surrounding situation of the own vehicle, it is necessary to run the automobile in any environment and acquire data on the surrounding situation of the own vehicle in advance.

  However, since the driving method of the own vehicle depends on the driver, the situation around the own vehicle differs depending on the driver. For example, a veteran driver may turn right if a driver who is unfamiliar with driving, even if the vehicle is in a situation where the vehicle can turn right. In other words, if the driver currently holding the steering wheel does not acquire sufficient data on the situation around the host vehicle, appropriate driving support cannot be performed. However, there is a problem that it takes time and is very difficult to create a database of the situation around the own vehicle corresponding to the driver.

  The present invention has been made to solve the above-described problems, and can support a driver with a simpler configuration than the conventional one, and more reliably avoid potential danger. An object is to obtain a driving support device and a driving support method.

A driving support device according to the present invention is a driving support device that is mounted on a vehicle and supports a driver who drives the vehicle, and is object information that is information related to an object existing around the vehicle and exercise that is information related to the motion of the vehicle. A sensor unit for detecting information, a display unit for alerting the driver, a deceleration control unit for controlling deceleration of the vehicle, a target recognition unit for acquiring object information and motion information detected by the sensor unit, Based on the object information acquired by the target recognition unit, a sensor blind spot area that cannot be detected by the sensor unit is extracted as a blind spot area, and it is assumed that a virtual target exists in the extracted blind spot area. The first position when it is assumed that the vehicle has moved in a certain direction at a speed corresponding to a certain time and the driving state based on the motion information for a certain time is continued. When the situation evaluation unit determines whether or not the second position when the second position is assumed to overlap, and the situation evaluation unit determines that the first position and the second position overlap, the display unit is A driver determination monitor for detecting driver information, which is information related to the line of sight of the driver driving the vehicle , and a control determination unit that controls the vehicle deceleration via the deceleration control unit. Further, the target recognition unit acquires driver information detected by the driver monitor, and the situation evaluation unit extracts a driver blind spot area that the driver cannot see based on the object information and driver information acquired by the target recognition unit. A portion where the sensor blind spot area and the driver blind spot area overlap is extracted as a blind spot area .

The driving support method according to the present invention is a driving support method that is applied to a driving support device that is mounted on a vehicle and supports a driver that drives the vehicle, and that performs collision avoidance, and is information related to objects existing around the vehicle. An object recognition step for obtaining object information and motion information via a sensor portion for detecting motion information that is object information and vehicle motion information, and a sensor unit based on the object information obtained in the target recognition step If the sensor blind spot area that cannot be detected in (1) is extracted as a blind spot area, the virtual target is assumed to exist in the extracted blind spot area, and the virtual target moves at a speed corresponding to the type of the virtual target for a certain period of time. The first position when it is assumed overlaps with the second position when it is assumed that the vehicle has continued the driving state based on the motion information for a certain period of time. When the situation evaluation step for determining whether or not the first position and the second position are determined to overlap by the situation evaluation step, the driver is alerted or decelerated via the display unit. A control determination step for controlling the vehicle deceleration via the control unit, and further comprising a detection step for detecting driver information, which is information relating to the line of sight of the driver driving the vehicle. In the object recognition step, detection is performed at the detection step. In the situation evaluation step, a driver blind spot area that the driver cannot see is extracted based on the object information and the driver information acquired in the object recognition step, and a sensor blind spot area and a driver blind spot area are obtained. The part which overlaps is extracted as a blind spot area .

  According to the present invention, the current driving state is continued in consideration of the possibility of a collision between the host vehicle and an object that may potentially exist in the blind spot area viewed from the sensor unit mounted on the host vehicle. Thus, when there is a possibility that a collision with an object approaching from the blind spot area may occur, danger avoidance assistance such as alerting the driver or braking the host vehicle is performed. As a result, it is possible to obtain a driving support device and a driving support method that can support the driver with a simpler configuration than the prior art and can more reliably avoid potential danger.

It is a block diagram which shows the structure of the driving assistance apparatus in Embodiment 1 of this invention. It is a flowchart which shows a series of operation | movement of the driving assistance apparatus in Embodiment 1 of this invention. It is explanatory drawing which shows an example of the blind spot area | region which the condition evaluation part in the driving assistance device in Embodiment 1 of this invention extracts. It is explanatory drawing which shows another example of the blind spot area | region which the condition evaluation part in the driving assistance device in Embodiment 1 of this invention extracts. It is explanatory drawing which shows an example which sets a virtual target to the blind spot area | region extracted by the condition evaluation part in the driving assistance device in Embodiment 1 of this invention. It is explanatory drawing which shows another example which sets a virtual target to the blind spot area | region extracted by the condition evaluation part in the driving assistance device in Embodiment 1 of this invention.

  Hereinafter, a driving support device and a driving support method according to the present invention will be described with reference to the drawings according to a preferred embodiment. In the description of the drawings, the same reference numerals are assigned to the same elements, and duplicate descriptions are omitted.

Embodiment 1 FIG.
FIG. 1 is a block diagram showing a configuration of a driving support device 30 according to Embodiment 1 of the present invention. Further, the driving support device 30 in FIG. 1 includes a sensor unit 10 including various sensors, a driver monitor 20, a display device (display unit) 40 for calling attention to the driver 60, A deceleration control device (deceleration control unit) 50 for performing deceleration control of the speed of the host vehicle is connected. The sensor unit 10, the driver monitor 20, the driving support device 30, the display device 40, and the deceleration control device 50 are provided in a vehicle (own vehicle).

  The sensor unit 10 detects information related to an object near the host vehicle when the host vehicle travels. Here, the object in the vicinity of the host vehicle means another vehicle, a two-wheeled vehicle, a bicycle, a pedestrian, or other obstacles different from the host vehicle. Moreover, the information regarding the object in the vicinity of the host vehicle means, for example, the position, speed, or type of the object in the vicinity of the host vehicle.

  Then, for example, by configuring the sensor unit 10 to include a radar, a laser, an optical camera, an ultrasonic sensor, an infrared sensor, or the like, such information on an object in the vicinity of the host vehicle is detected by the sensor unit 10. . In the following, information related to objects near the host vehicle is abbreviated as host vehicle nearby object information (object information).

  Even if the sensor unit 10 is configured so that the object information in the vicinity of the host vehicle is detected using a road-to-vehicle communication system installed in a sign or a traffic light, or a vehicle-to-vehicle communication system installed in another vehicle. Good.

  The sensor unit 10 also detects information related to the movement of the host vehicle when the host vehicle travels. Here, the information related to the motion of the host vehicle means, for example, the speed, yaw rate, or steering angle of the host vehicle.

  For example, by configuring the sensor unit 10 so as to include a wheel speed sensor, a yaw rate sensor, a steering sensor, and the like, such information on the motion of the host vehicle is detected by the sensor unit 10. Hereinafter, information related to the motion of the host vehicle is abbreviated as host vehicle motion information (motion information).

  The driver monitor 20 detects information related to the driver 60 of the host vehicle when the host vehicle travels. Here, the information related to the driver 60 of the host vehicle means, for example, a line of sight or a heart rate while the driver 60 is driving. Hereinafter, information related to the driver 60 of the host vehicle is abbreviated as host vehicle driver information (driver information).

  The driving support device 30 includes an object recognition unit 31, a situation evaluation unit 32, and a control determination unit 33. The target recognition unit 31 in the driving support device 30 acquires the own vehicle vicinity object information and own vehicle motion information detected by the sensor unit 10 and the own vehicle driver information detected by the driver monitor 20.

  The situation evaluation unit 32 performs a risk evaluation on the possibility of a collision between the host vehicle and the object based on each information acquired by the target recognition unit 31. In addition, the control determination unit 33 provides risk avoidance support to the driver 60 via the display device 40 or the deceleration control device 50 based on the risk evaluation performed by the situation evaluation unit 32.

  Next, the operation of the driving support device 30 according to the first embodiment will be described with reference to the flowchart of FIG. FIG. 2 is a flowchart showing a series of operations of the driving support device 30 according to the first embodiment of the present invention.

  In step S <b> 101, the target recognition unit 31 in the driving support device 30 acquires the own vehicle vicinity object information and the own vehicle motion information from the sensor unit 10, and the own vehicle driver information from the driver monitor 20.

  In step S102, when the sensor unit 10 detects an object in the vicinity of the host vehicle, the situation evaluation unit 32 in the driving support apparatus 30 is a blind area as viewed from the sensor unit 10 mounted on the host vehicle (that is, The region that cannot be detected by the sensor unit 10 due to the presence of the object is extracted, and the process proceeds to step S103. Hereinafter, such an area extracted by the situation evaluation unit 32 is referred to as a blind spot area. Moreover, the situation evaluation part 32 does not extract a blind spot area when there is no blind spot area when viewed from the sensor unit 10 mounted on the host vehicle.

  Here, a specific example of the blind spot area extracted by the situation evaluation unit 32 will be described with reference to FIGS. 3 and 4. FIG. 3 is an explanatory diagram illustrating an example of a blind spot area extracted by the situation evaluation unit 32 in the driving support device 30 according to the first embodiment of the present invention. FIG. 4 is an explanatory diagram showing another example of the blind spot area extracted by the situation evaluation unit 32 in the driving support device 30 according to Embodiment 1 of the present invention.

  For example, as shown in FIG. 3, when the sensor unit 10 detects an oncoming vehicle positioned forward when the own vehicle is about to turn right, the oncoming vehicle is present. The area of the shaded part behind the oncoming vehicle is a blind spot area from the sensor unit 10. In such a case, the situation evaluation unit 32 extracts the shaded area as a blind spot area.

  For example, as shown in FIG. 4, when the sensor unit 10 detects a building (obstacle) located at an intersection angle when the host vehicle is about to pass through the intersection as an object near the host vehicle, Due to the presence of the building, the shaded portion on the back side of the building is a blind spot region from the sensor unit 10. In such a case, the situation evaluation unit 32 extracts the shaded area as a blind spot area.

  Subsequently, returning to the description of FIG. 2, in step S <b> 103, the situation evaluation unit 32 determines whether or not a virtual target can be set in the extracted blind spot area. If the situation evaluation unit 32 determines that a virtual target can be set in the extracted blind spot area, the situation evaluation unit 32 sets the virtual target in the blind spot area, and then proceeds to step S104 to set the virtual target. If it is determined that the process cannot be performed, the series of processing ends.

  In other words, the situation evaluation unit 32 determines that a virtual target can be set in the extracted blind spot area when the extracted blind spot area is equal to or wider than the preset reference area. On the other hand, when the blind spot area does not exist (that is, when the blind spot area is not extracted in step S102), or when the extracted blind spot area is narrower than the reference area set in advance, the situation evaluation unit 32 It is determined that a virtual target cannot be set in the extracted blind spot area. Note that the reference area may be set in advance in consideration of the size of the blind spot area where the virtual target cannot exist.

  Note that the virtual target means a moving object that may potentially exist in the blind spot area, and for example, any type of an automobile, a two-wheeled vehicle, a bicycle, and a pedestrian is set. Further, it is assumed that the set virtual target moves in a certain direction at a certain constant speed. Further, the speed may be set in advance according to the type, assuming that the speed differs depending on the type of the virtual target.

  Here, a specific example in the case where it is determined that the virtual target can be set in the blind spot area extracted by the situation evaluation unit 32 and a virtual target is set in the blind spot area will be described with reference to FIGS. 5 and 6. To do. FIG. 5 is an explanatory diagram illustrating an example in which a virtual target is set in the blind spot area extracted by the situation evaluation unit 32 in the driving support apparatus 30 according to Embodiment 1 of the present invention. FIG. 6 is an explanatory diagram illustrating another example in which a virtual target is set in the blind spot area extracted by the situation evaluation unit 32 in the driving support apparatus 30 according to Embodiment 1 of the present invention.

  For example, as illustrated in FIG. 5, when the area of the shaded portion in the drawing is extracted as a blind spot area, the situation evaluation unit 32 determines that a virtual target can be set in the extracted blind spot area. Set the car as a virtual target in the area. For example, as illustrated in FIG. 6, the situation evaluation unit 32 determines that a virtual target can be set in the extracted blind spot area when the shaded area in the drawing is extracted as a blind spot area. A pedestrian is set as a virtual target in this blind spot area.

  Further, in the situation as shown in FIG. 5, it can be assumed that the virtual target vehicle is moving toward the intersection so as to approach the host vehicle from the facing direction. In the situation as shown in FIG. 6, it can be assumed that the pedestrian of the virtual target is moving toward the intersection so as to approach the host vehicle from the left side.

  Subsequently, returning to the description of FIG. 2, in step S104, the situation evaluation unit 32 performs a risk evaluation on the current driving state, and if the driving state is continued as it is, the host vehicle and the virtual object collide with each other. If it is determined that there is a danger, the process proceeds to step S105. If it is determined that there is no danger of a collision even if the operation state as it is is continued, the process proceeds to step S106.

  Here, the risk evaluation by the situation evaluation unit 32 is performed based on whether or not the positions of the host vehicle and the virtual target after a predetermined time set in advance overlap.

  Specifically, the situation evaluation unit 32 assumes that the set virtual target moves in a certain direction while maintaining the speed corresponding to the type, and predicts the position of the virtual target after a certain time. Moreover, the situation evaluation part 32 estimates the position of the own vehicle after this fixed time based on the acquired own vehicle motion information. For example, the position of the host vehicle may be predicted on the assumption that the current driving state of the host vehicle such as a right turn that can be determined from the host vehicle motion information is continued for the predetermined time.

  Then, when the predicted virtual target and the respective positions of the host vehicle overlap, the situation evaluation unit 32 determines that there is a risk that the host vehicle and the virtual object will collide if the driving state is continued as it is. Will be. On the other hand, when the predicted virtual target and the respective positions of the host vehicle do not overlap, the situation evaluation unit 32 determines that there is no danger of a collision even if the driving state is continued as it is.

  When the process proceeds to step S105 because there is a risk of collision, the control determination unit 33 provides danger avoidance support to the driver 60 via the display device 40 or the deceleration control device 50, and the process proceeds to step S106. Specifically, when the display device 40 is configured by a speaker, a head-up display, or the like, the control determination unit 33 outputs a display prompting the driver 60 to “may drive” via the display device 40. .

  For example, when the host vehicle is about to turn right as shown in FIG. 3, the control determination unit 33 generates a warning sound through a speaker, and then “a vehicle pops out from behind the oncoming vehicle. "Please check your safety carefully."

  In addition, when the deceleration control device 50 is configured by an engine control device, a brake control device, or the like, the control determination unit 33 determines that the vehicle speed is below a target value that can avoid an expected collision. Apply braking to the vehicle. Here, the target value of the host vehicle speed is, for example, when the brake is stepped on at the time when the object set as the virtual target is actually detected by the sensor unit 10 (the time when the virtual target pops out from the blind spot area). What is necessary is just to set as speed used as the braking distance which does not collide with this object.

  The control determination unit 33 may perform the risk avoidance support for the driver 60 through one of the display device 40 and the deceleration control device 50, or both. May be.

  Subsequently, in step S106, the control determination unit 33 adjusts the detection area of the sensor unit 10 to concentrate the processing of the sensor unit 10 near the boundary of the extracted blind spot region. By performing such concentrated processing, it is possible to detect at an early stage a situation in which the virtual target actually jumps out from the blind spot area.

  For example, when the sensor unit 10 includes an optical camera, the object detection range is narrowed down to the vicinity of the boundary of the blind spot area. In addition, when the sensor unit 10 includes a radar, a beam that scans only the vicinity of the boundary of the blind spot area is formed separately from the beam that scans the entire covered area. When an object set as a virtual target actually exists, the object appears from the boundary of the blind spot area. Therefore, by performing the processing of step S106 and concentrating the sensor processing near the boundary of the blind spot area, the sensor unit 10 can detect the object earlier.

  As described above, according to the first embodiment, it is assumed that an object is present in an area that is a blind spot as viewed from the sensor, and the position of the object and the host vehicle after a predetermined time is predicted, thereby If there is a possibility of a collision by judging the possibility and continuing the current driving state, danger avoidance assistance such as alerting the driver or braking the host vehicle is performed. As a result, it is possible to provide assistance to the driver in consideration of the possibility of collision with a potentially existing object with a simpler structure than before, and to avoid potential dangers more reliably. Can do.

  In the first embodiment, an area that becomes a blind spot as viewed from the sensor unit 10 is determined based on the object information near the host vehicle, and the determined area is extracted as a blind spot area. However, the present invention is not limited to this. That is, based on the subject vehicle vicinity object information and the subject vehicle driver information, a region that is not visible to the driver 60 and is a blind spot as viewed from the driver 60 is further determined, and a region that is a blind spot as seen from the sensor unit 10; A portion (common portion of each region) that overlaps with a region that becomes a blind spot as viewed from the driver 60 may be extracted as a blind spot region. Thus, by considering the line of sight of the driver 60 as well, the blind spot area to be extracted can be narrowed down, and the processing amount (calculation amount) when setting the virtual target can be reduced.

  DESCRIPTION OF SYMBOLS 10 Sensor part, 20 Driver monitor, 30 Driving support apparatus, 31 Object recognition part, 32 Situation evaluation part, 33 Control judgment part, 40 Display apparatus (display part), 50 Deceleration control apparatus (deceleration control part), 60 Driver.

Claims (3)

A driving support device mounted on a vehicle and supporting a driver driving the vehicle,
A sensor unit that detects object information that is information related to an object existing around the vehicle and motion information that is information related to motion of the vehicle;
A display for calling attention to the driver;
A deceleration control unit for controlling the deceleration of the vehicle;
A target recognition unit that acquires the object information and the motion information detected by the sensor unit;
Based on the object information acquired by the target recognition unit, a sensor blind spot region that cannot be detected by the sensor unit is extracted as a blind spot region, and it is assumed that a virtual target exists in the extracted blind spot region. Assuming that the vehicle has moved in a certain direction at a speed corresponding to the virtual target type for a certain period of time, and that the vehicle has continued the driving state based on the motion information for the certain period of time. A situation evaluation unit for determining whether or not the second position at the same time overlaps;
When the situation evaluation unit determines that the first position and the second position overlap, alert the driver via the display unit, or via the deceleration control unit, A control determination unit that performs deceleration control of the vehicle;
Equipped with a,
A driver monitor that detects driver information that is information related to the line of sight of the driver driving the vehicle;
The target recognition unit acquires the driver information detected by the driver monitor,
The situation evaluation unit extracts a driver blind spot region that cannot be seen by the driver based on the object information and the driver information acquired by the target recognition unit, and the sensor blind spot region overlaps the driver blind spot region. A driving support device that extracts a matching portion as the blind spot area . The driving support device according to claim 1 ,
The control determination unit detects a state in which the virtual target actually appears from a boundary of the blind spot area when the situation evaluation unit determines that the first position and the second position overlap. Therefore, the object information detection processing by the sensor unit is concentrated on the boundary of the blind spot area extracted by the situation evaluation unit. A driving support method that is applied to a driving support device that is mounted on a vehicle and supports a driver driving the vehicle, and that performs collision avoidance,
A target recognition step of acquiring the object information and the motion information via a sensor unit that detects object information that is information about an object existing around the vehicle and motion information that is information about motion of the vehicle;
Based on the object information acquired in the target recognition step, a sensor blind spot area that cannot be detected by the sensor unit is extracted as a blind spot area, and it is assumed that a virtual target exists in the extracted blind spot area. Assuming that the vehicle has moved in a certain direction at a speed corresponding to the virtual target type for a certain period of time, and that the vehicle has continued the driving state based on the motion information for the certain period of time. A situation evaluation step for determining whether or not the second position overlaps when
When it is determined by the situation evaluation step that the first position and the second position overlap, the driver is alerted via the display unit, or the deceleration control unit, A control determination step for decelerating the vehicle;
Equipped with a,
A detection step of detecting driver information that is information related to the line of sight of the driver driving the vehicle;
In the object recognition step, the driver information detected in the detection step is acquired,
In the situation evaluation step, based on the object information and the driver information acquired in the target recognition step, a driver blind spot area that the driver cannot see is extracted, and the sensor blind spot area and the driver blind spot area are A driving support method for extracting overlapping portions as the blind spot area .

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