JP5861680B2 - Driving characteristic determination device and driving characteristic determination method - Google Patents

Description

  The present invention relates to a driving characteristic determination device and a driving characteristic determination method.

  2. Description of the Related Art Conventionally, an apparatus that detects a driver's anxiety while driving a vehicle is known. For example, Patent Document 1 describes a device that estimates whether or not a driver of a vehicle has anxiety based on vehicle behavior from the start of a brake operation to the stop of the vehicle.

JP 2006-172012 A

JP 2006-335277 A

  The device described in Patent Document 1 only estimates the presence or absence of anxiety to the driver of the vehicle based on the vehicle behavior from the start of brake operation to the stop of the vehicle. If the vehicle is not stopped, the presence or absence of anxiety cannot be estimated. The determination of the driving characteristics of the driver during traveling before the vehicle stops is not taken into consideration. For this reason, with the apparatus described in Patent Document 1, it is impossible to determine the driving characteristics of the driver during traveling before the vehicle stops.

  Therefore, the present invention intends to provide a driving characteristic determination device and a driving characteristic determination method that can determine a driving characteristic of a driver without stopping the vehicle.

The driving characteristic determination apparatus according to the present invention detects an object detection unit that detects an object around the host vehicle, and a reaction operation on the detected object of the driver of the host vehicle that is running after the object detection unit detects the object. In this case, the maximum value or the maximum value of the index related to the running state of the host vehicle from the detection of the reaction operation to the detection of the cancellation of the reaction operation or the detection of the operation opposite to the reaction operation is calculated as the driving characteristic value. Characteristic value calculating means, storage means for storing and storing the driving characteristic values calculated by the characteristic value calculating means, and the driver's own vehicle based on the average value and standard deviation of the driving characteristic values stored in the storing means. Characteristic determination means for determining driving characteristics, and the index is a value obtained by dividing the jerk of the host vehicle by the deceleration. The reaction operation is, for example, an accelerator pedal OFF operation (depressing), a brake pedal ON operation (depressing), a steering start, and the like. An operation opposite to the cancellation of the reaction operation or the reaction operation is, for example, For example, the accelerator pedal is turned on (depressed), the brake pedal is turned off (depressed), and the steering is returned.

According to the present invention, when the reaction operation for the detected object of the driver of the traveling vehicle is detected after the object is detected, the driving characteristic value is calculated, and the average value and the standard deviation of the driving characteristic value are calculated. The driving characteristics of the driver of the own vehicle can be determined based on the above. Thus, even if the vehicle is not stopped, the average of the above-mentioned driving characteristic values obtained when a reaction operation to the detected object of the driver of the host vehicle is detected in a running scene (scene) before the vehicle is stopped. Since the statistical values of the value and the standard deviation are used, it is possible to accurately determine the driving characteristics such as the driving skill of the driver of the own vehicle even while traveling. In addition, the opportunity to obtain statistical values of the average value and the standard deviation of the driving characteristic values increases, and as a result, the evaluation quality of the driving characteristics can be improved.

  The driving characteristic determination device according to the present invention may further include passenger determination means for determining the degree of peace of mind of the passenger of the own vehicle based on the driving characteristics determined by the characteristic determination means.

  In this case, the degree of reassurance of the passenger of the host vehicle can be determined based on the driving characteristics determined by the characteristic determining means. For this reason, when there is a passenger in addition to the driver, even if he is convinced that he is not anxious about this passenger, the driver's driving characteristics determined by objective statistical values will determine this passenger. It is possible to objectively estimate the degree of relief that is likely to be actually felt.

Further, in the driving characteristic determination device according to the present invention, the characteristic determination means is an operation relating to how to change the traveling speed of the host vehicle according to the average value and the standard deviation of the driving characteristic values accumulated in the accumulation means. The characteristic may be determined.

In this case, the driving characteristics relating to how to change the traveling speed of the host vehicle can be determined according to the average value and the standard deviation of the driving characteristic values stored in the storage means.

The driving characteristic determination method according to the present invention includes an object detection step in which an object around the host vehicle detects an object around the host vehicle, and a response to the detected object of the driver of the host vehicle that is running after the object is detected by the object detection step. When an operation is detected, the maximum or maximum value of the indicator related to the running state of the vehicle between the detection of the reaction operation and the detection of the cancellation of the reaction operation or the detection of the operation opposite to the reaction operation is A characteristic value calculation step calculated by the driving characteristic determination device as a characteristic value, an accumulation step in which the driving characteristic determination device accumulates and stores the driving characteristic value calculated in the characteristic value calculation step, and the driving characteristic accumulated in the accumulation step wherein the average value and the driving characteristics of the driver of the subject vehicle is driving characteristics determining device determines characteristic determination step based on the standard deviation of the values, the, indicators, self Both of jerk is a value obtained by dividing the deceleration. The reaction operation is, for example, an accelerator pedal OFF operation (depressing), a brake pedal ON operation (depressing), a steering start, and the like. An operation opposite to the cancellation of the reaction operation or the reaction operation is, for example, For example, the accelerator pedal is turned on (depressed), the brake pedal is turned off (depressed), and the steering is returned.

According to the present invention, when the reaction operation for the detected object of the driver of the traveling vehicle is detected after the object is detected, the driving characteristic value is calculated, and the average value and the standard deviation of the driving characteristic value are calculated. The driving characteristics of the driver of the own vehicle can be determined based on the above. Thus, even if the vehicle is not stopped, the average of the above-mentioned driving characteristic values obtained when a reaction operation to the detected object of the driver of the host vehicle is detected in a running scene (scene) before the vehicle is stopped. Since the statistical values of the value and the standard deviation are used, it is possible to accurately determine the driving characteristics such as the driving skill of the driver of the own vehicle even while traveling. In addition, the opportunity to obtain statistical values of the average value and the standard deviation of the driving characteristic values increases, and as a result, the evaluation quality of the driving characteristics can be improved.

  ADVANTAGE OF THE INVENTION According to this invention, the driving characteristic determination apparatus and driving characteristic determination method which can determine the driving characteristic of a driver, without stopping a vehicle can be provided.

It is a block diagram which shows the function structure of the driving characteristic determination apparatus which concerns on one Embodiment of this invention. It is explanatory drawing for demonstrating the acquisition method of driving characteristic value (tau) performed by the driving characteristic determination apparatus of FIG. It is explanatory drawing for demonstrating the driving characteristic determined by the average value Avg and standard deviation (what is called variation) (sigma) of driving characteristic value (tau). It is a flowchart which shows the operation | movement performed by the driving | running characteristic determination apparatus of FIG. It is a flowchart which shows the operation | movement performed by the driving characteristic determination apparatus which concerns on another embodiment. It is a flowchart which shows the operation | movement performed by the driving characteristic determination apparatus which concerns on another embodiment. It is explanatory drawing for demonstrating the effect by an operation characteristic determination apparatus. It is explanatory drawing for demonstrating the correspondence of the driving profile of a real driver, and the driving skill estimated using the driving characteristic determination apparatus.

  Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings. In the following description, the same or equivalent elements will be denoted by the same reference numerals, and redundant description will be omitted.

  FIG. 1 is a block diagram showing a functional configuration of a driving characteristic determination device according to an embodiment of the present invention. The driving characteristic determination device is mounted on the host vehicle, and driving characteristics such as driving skill of the driver based on statistical values of driving characteristic values related to the running state of the host vehicle when an object (object) around the host vehicle is detected. This is a device for determining (driving tendency). As shown in FIG. 1, the driving characteristic determination device 1 includes a traveling state detection unit 10, an object detection unit 12, a driving operation detection unit 14, a driving support ECU 30, and an output unit 40.

  The traveling state detection unit 10 detects information related to the traveling state of the host vehicle. In one embodiment, the traveling state detection unit 10 includes a vehicle speed sensor 16 and an acceleration sensor 18. The vehicle speed sensor 16 is a sensor that detects the speed of the host vehicle. The acceleration sensor 18 is a sensor that detects acceleration (deceleration, acceleration / deceleration) and jerk of the host vehicle. The time derivative of velocity is acceleration and the time derivative of acceleration is jerk. If the acceleration during deceleration is -a (a is a positive number), the deceleration is a. The acceleration sensor 18 may be a sensor that can detect jerk by calculating jerk from the acceleration (deceleration) of the host vehicle, or may be a sensor that can directly detect jerk of the host vehicle. The traveling state detection unit 10 outputs own vehicle traveling information including the speed and acceleration of the own vehicle detected using various sensors to the driving support ECU 30.

  The object detection unit 12 detects an object around the host vehicle. Here, the target object is a moving object that can be an obstacle such as another vehicle or a pedestrian existing around the host vehicle. In one embodiment, the object detection unit 12 includes a radar 20 and an outside camera 22. The radar 20 is a measuring device that measures the distance to an object, for example, transmits electromagnetic waves while scanning in a horizontal plane, receives reflected waves that are reflected back to the object, and detects the frequency change of the received signal. Information such as the presence / absence of the object, the orientation of the object viewed from the vehicle, the distance from the vehicle to the object, and the relative speed of the object with respect to the vehicle is acquired. The outside camera 22 is, for example, a multi-lens camera, and by imaging the front-rear direction and the left-right direction of the host vehicle with a predetermined frequency, the presence / absence of the object, the direction of the object viewed from the vehicle, the vehicle to the object Information such as relative distance and relative speed of the object with respect to the vehicle is acquired. The object detection unit 12 outputs object information including the orientation of the object detected using various sensors, the relative speed and the relative distance between the host vehicle and the other vehicle, to the driving support ECU 30. The object detection unit 12 functions as the object detection unit described in the claims.

  The driving operation detection unit 14 detects a driving operation by the driver. In one embodiment, the driving operation detection unit 14 includes a brake pedal sensor 24, an accelerator pedal sensor 26, and a steering sensor 28. The brake pedal sensor 24 is a sensor that detects the depression timing and the depression amount of the brake pedal. The accelerator pedal sensor 26 is a sensor that detects the depression timing and the depression amount of the accelerator pedal. The steering sensor 28 is a sensor that detects the steering start timing and the steering amount of the steering. The driving operation detection unit 14 outputs driving operation information including the content of the driving operation by the driver of the host vehicle to the driving support ECU 30.

  The driving support ECU 30 is a computer that includes a CPU (Central Processing Unit), a ROM (Read Only Memory), a RAM (Random Access Memory), and the like, and is a device that determines whether or not to perform driving support control of the host vehicle. is there. The driving support ECU 30 includes a characteristic value calculation unit 32, a characteristic value storage unit 34, a characteristic determination unit 36, and a passenger determination unit 38.

  The characteristic value calculation unit 32 calculates the quantified driving characteristic value τ based on the host vehicle traveling information output from the traveling state detection unit 10 and the object information output from the object detection unit 12. is there. The driving characteristic value τ is an index related to the running state of the host vehicle, and the jerk (time differential value of the deceleration) of the host vehicle at that time for each unit time Δt is set as the deceleration (speed time). Among the values obtained by dividing by (differential value), the value is the maximum value or the maximum value. The characteristic value calculation unit 32 cancels the reaction operation after detecting the reaction operation when a reaction operation to the detected object by the driver in the traveling vehicle is detected after the object around the vehicle is detected. The maximum value or the maximum value of the index related to the traveling state of the host vehicle until the detection of the operation or the operation opposite to the reaction operation is calculated as the driving characteristic value τ. The reaction operation is, for example, an accelerator pedal OFF operation (depressing), a brake pedal ON operation (depressing), a steering start, and the like. An operation opposite to the reaction operation cancellation or reaction operation is, for example, an accelerator pedal. ON operation (depression), brake pedal OFF operation (depression), steering return, and the like. An index relating to the traveling state of the host vehicle will be described later.

  Examples of the reaction operation performed on the detected object by the driver include stepping on a brake pedal, stepping off an accelerator pedal, and steering for avoiding a collision with an object (detected object). For example, when the driver's reaction operation is depression of the brake pedal, the cancellation of the reaction operation or the opposite operation to the reaction operation is, for example, depressing the brake pedal, and when the driver's reaction operation is, for example, depressing the accelerator pedal, the reaction The operation opposite to the cancellation of the operation or the reaction operation is, for example, depression of an accelerator pedal. Further, when the driver's reaction operation is, for example, right steering for avoiding a collision with an object, the operation opposite to the cancellation of the reaction operation or the reaction operation is, for example, left steering, and the driver's reaction operation is, for example, the target In the case of left steering for avoiding a collision with an object, for example, right steering is performed to cancel the reaction operation or to perform the operation opposite to the reaction operation. The index related to the running state of the host vehicle described above is obtained by dividing the jerk (time differential value of deceleration) of the host vehicle at that time point for each unit time by the deceleration (time differential value of speed) at that time point. Is the value obtained. Then, the characteristic value calculation unit 32 stores the calculated operation characteristic value τ in the characteristic value storage unit 34. The characteristic value calculation unit 32 functions as characteristic value calculation means described in the claims.

The method for obtaining the operating characteristic value τ will be described more specifically with reference to FIG. For convenience of explanation, in FIG. 2, the traveling direction of the host vehicle is the X-axis direction, and the width direction component of the host vehicle orthogonal to the X-axis direction is the Y-axis direction. FIG. 2 shows a situation where the host vehicle C is traveling on the road in the X-axis direction at a speed V, and the pedestrian P is moving outside the road in the Y-axis direction (direction approaching the host vehicle C). . Hereinafter, at time t, the acceleration (that is, deceleration) of the host vehicle C in the −X direction is A (t) (m / s ² ), and the jerk is J (t) (m / s ³ ). In one embodiment, the characteristic value calculation unit 32 calculates the driving characteristic value τ by the following equation (1). That is, the driving characteristic value τ is the jerk J (t) (time differential value of the deceleration) of the host vehicle at that time for each unit time Δt, and the deceleration A (t) (speed time) at that time. Among the values obtained by dividing by (differential value), the value is the maximum value or the maximum value.
τ = max {τ (t)} = max {J (t) / A (t)} (1)

The operation characteristic value τ can be generalized as shown in the following formula (2). Here, R is a feature amount relating to the behavior of the driver of the host vehicle while traveling, such as deceleration, and ΔR is a change amount of R.
τ = ΔR / R (2)

As a first example of R and ΔR, in the case of avoiding a collision with an object by a driver's braking operation, R and ΔR can be expressed by the following equation (3). Here, Ax is a deceleration in the traveling direction x of the host vehicle at that time, and α is a design parameter (weighting coefficient). V is the speed of the vehicle at that time, and J is the jerk of the vehicle at that time.
R = Ax + αV, ΔR = dR / dt = J + αAx (3)

As a second example of R and ΔR, in the case of avoiding a collision with an object by a steering operation of a driver, R and ΔR can be expressed by the following equation (4). Here, β is a design parameter (weighting coefficient).
R = (rotational acceleration) + β × (rotational angular velocity), ΔR = (differential of rotational acceleration) + β × (rotational acceleration) (4)

As a third example of R and ΔR, in the case of avoiding a collision with an object by simultaneous operation of braking and steering by the driver, R and ΔR can be expressed by the following equation (5). Here, τs is an index (when avoiding by steering) obtained based on the above formula (4), and τb is an index (when avoiding by braking) obtained based on the above formula (3). , K are design parameters (weighting coefficients).
τ = τs + K × τb (5)

  The characteristic value storage unit 34 accumulates and stores the driving characteristic value τ calculated by the characteristic value calculation unit 32 in a database. The driving characteristic determination device 1 can be set to an initial learning mode in which additional storage of the driving characteristic value τ is performed. When set in this way, the characteristic value storage unit 34 accumulates and stores the driving characteristic value τ calculated by the characteristic value calculation unit 32 in a database. The characteristic value storage unit 34 functions as storage means described in the claims.

The characteristic determination unit 36 calculates an average value Avg and a standard deviation (so-called variation) σ of the operation characteristic value τ accumulated in the characteristic value storage unit 34, and based on the magnitudes of the average value Avg and the standard deviation σ, It determines the driving characteristics such as the driving skill of the driver of the own vehicle. In one embodiment, as shown in FIG. 3, the characteristic determination unit 36 includes four driving characteristics RSS, RSB, RBS, and RBB based on the average value Avg and the standard deviation σ. Select one. That is, the characteristic determination unit 36 determines the driving characteristic RSS if the standard deviation σ of τ is less than σm and the average value Avg is less than Am, and the standard value σ of τ is less than σm and the average value Avg is greater than or equal to Am. Is the driving characteristic RSB, if the standard deviation σ of τ is σm or more and the average value Avg is less than Am, the driving characteristic is RBS, and the standard deviation σ of τ is σm or more and the average value Avg is Am or more. If so, the operating characteristic RBB is set.

Here, if the standard deviation σ is less than σm, since the variation in the driving characteristic value τ is relatively small, it is determined that the driving skill has high driving characteristics, and the standard deviation σ of the driving characteristic value τ is If it is greater than or equal to σm, the variation is relatively large, so it is determined that the driving characteristic is low. Further, if the average value Avg is less than Am, the deceleration A (t) is relatively large, so it is determined that the vehicle has driving characteristics in which the speed change is gentle, and the average value Avg is greater than or equal to Am. If so, since the jerk J (t) is relatively large, it is determined that the jerk J (t) has an operation characteristic for performing an aggressive speed change operation.

In summary, the driving characteristic R _SS is determined to be a driving characteristic in which the speed change of the own vehicle (how to change the traveling speed) is performed with a high driving skill and the driving characteristic is moderate. _SB is determined to be a driving characteristic in which aggressive speed change is performed with high driving skill. In addition, the driving characteristic _RBS is determined to be a driving characteristic in which the driving speed is moderately changed with a low driving skill, and the driving characteristic _RBB is a driving characteristic in which a positive speed change is performed with a low driving skill. It is determined that there is. The characteristic determination unit 36 functions as characteristic determination means described in the claims.

The passenger determination unit 38 determines the degree of reassurance of the passenger of the own vehicle based on the driving characteristics determined by the characteristic determination unit 36. In one embodiment, the passenger determination unit 38 has a relatively high degree of peace of mind (evaluation score) for the passenger of the own vehicle with respect to the driving characteristic R _SS that is a driving characteristic in which the driving speed is moderately changed with high driving skills. Judge as high. On the other hand, the passenger determination unit 38 determines that the degree of reassurance of the passenger of the host vehicle is relatively low with respect to the driving characteristic _RBB, which is a driving characteristic for performing aggressive speed change with low driving skill. The passenger determination unit 38 outputs a control signal indicating the determination result of the driving characteristics and the degree of safety of the driver to the output unit 40.

In addition, in one Embodiment, the passenger determination part 38 may quantify and determine the comfort level of the passenger of the own vehicle. The degree of peace of mind Y of the passenger of the own vehicle can be quantified by the following equation (6), for example. Ka, Kb, Kc, and Kd are design parameters, σ is a standard deviation of τ, and Av is a past number of vehicle speeds immediately after the behavior for avoiding a collision by a predetermined number of times. It is an average value, and Avg is an average value of τ.
Y = −Ka × σ + Kb × Av + Kc × (σ / Avg) + Kd (6)

(Σ / Avg) in the above-described equation (6) is a part that is largely related to the passenger's degree of security mainly defined by the relationship between the average value Avg of τ and the standard deviation σ. In addition, Av in the above equation (6) is considered to be largely related to the driving method (atmosphere) before the behavior for collision avoidance. The passenger determination unit 38 functions as passenger determination means described in the claims.

  The output unit 40 is a device that performs driving support according to the output from the driving support ECU 30. In one embodiment, the output unit 40 includes a notification device 42. For example, the notification device 42 can be listened only to a display, a light emitting device, and a driver as an HMI (Human Machine Interface) configured such that only the driver can see and the passenger cannot see, and the passenger can listen. An earphone-attached voice output device configured impossible, a portable information terminal capable of wireless communication owned by the driver, etc., which outputs a warning display based on a control signal output from the driving support ECU 30 and It is a device that reports the degree of relief (evaluation score). The notification device 42 can display the quantified passenger comfort level on the display while displaying the determined driving characteristics of the driver using the graph of FIG. 3. The notification device 42 functions as a passenger determination unit described in the claims.

  Next, with reference to FIG. 4, the operation of the driving characteristic determination device 1 according to the embodiment and the driving characteristic determination method according to the embodiment will be described. FIG. 4 is a flowchart showing the operation of the driving characteristic determination device 1 according to the embodiment. Each process shown in FIG. 4 is started when, for example, the presence of a target target as an object is detected around the host vehicle by the driving characteristic determination device 1, and is repeatedly executed at predetermined intervals.

  As shown in FIG. 4, the driving assistance ECU 30 of the driving characteristic determination device 1 firstly outputs the own vehicle traveling information, the object information, and the traveling data from the traveling state detecting unit 10, the object detecting unit 12, and the driving operation detecting unit 14. And driving operation information is acquired (object detection step), and it is determined whether the own vehicle is in the target scene at the present time (step S01). The target scene is a situation in which an approach of a target target as an object around the host vehicle is detected. If it is determined that the host vehicle is not in the target scene at this time, the series of processing ends. On the other hand, if it is determined that the host vehicle is currently in the target scene, the process proceeds to step S03 described later.

  In step S03, the driving assistance ECU 30 determines whether or not the host vehicle is currently in the τ analysis section (step S03, characteristic value calculation step). The τ analysis section refers to a response operation (for example, accelerator operation) when a reaction operation (for example, accelerator OFF operation, brake ON operation, steering start) by a driver in a traveling vehicle is detected. OFF operation, brake ON operation, steering start) until detection of reaction operation cancellation or detection operation opposite to reaction operation (eg accelerator ON operation, brake OFF operation, steering return) That is. If it is determined that the host vehicle is not in the τ analysis section at the present time, the series of processing ends. On the other hand, when it is determined that the vehicle is currently in the τ analysis section, the process proceeds to step S05 described later.

In step S05, the characteristic value calculation unit 32 calculates the driving characteristic value τ by calculation based on the own vehicle traveling information output from the traveling state detection unit 10 and the object information output from the object detection unit 12. (Characteristic value calculation step). And the characteristic value memory | storage part 34 accumulate | stores and memorize | stores the driving | running characteristic value (tau) calculated by the characteristic value calculation part 32 in a database (step S07, accumulation | storage step). Then, the characteristic determination unit 36 calculates an average value Avg and standard deviation (so-called variation) σ of the operation characteristic value τ accumulated in the characteristic value storage unit 34 (step S09, characteristic determination step). And the characteristic determination part 36 determines driving characteristics, such as the driving skill of the driver of the own vehicle based on the magnitude | size of this average value Avg and standard deviation (sigma) (step S09, characteristic determination step).

  Next, the operation of the driving characteristic determination device according to the second embodiment, which is different from the above-described one embodiment, and the driving characteristic determination method according to the second embodiment will be described with reference to FIG. The configuration of the driving characteristic determination device according to the second embodiment is the same as the configuration of the driving characteristic determination device 1 according to one embodiment described above. FIG. 5 is a flowchart showing the operation of the driving characteristic determination device according to the second embodiment. Each process shown in FIG. 5 is started when the presence of a target as an object is detected around the host vehicle by the driving characteristic determination device, for example, and is repeatedly executed at predetermined intervals.

As shown in FIG. 5, steps S11, S13, S15, and S17 are the same as steps S01, S03, S05, and S07 in FIG. In step S17, when the characteristic value storage unit 34 accumulates and stores the driving characteristic value τ calculated by the characteristic value calculation unit 32 in the database, the characteristic determination unit 36 stores the driving characteristic stored in the characteristic value storage unit 34. An average value Avg and a standard deviation (so-called variation) σ of the value τ are calculated (characteristic determination step).

The characteristic determining unit 36 determines driving characteristics such as the driving skill of the driver of the host vehicle based on the average value Avg and the standard deviation σ, and the output unit 40 performs the four driving operations shown in FIG. Which one of the characteristics corresponds is displayed, for example, on a display as an HMI (Human Machine Interface) configured so that only the driver can see and the passenger cannot see (Step S19, characteristic determination step). Thus, the driver can recognize the quantified relationship between the driving characteristics such as the driver's driving skill and the passenger's sense of security.

  Next, with reference to FIG. 6, the operation of the driving characteristic determination device according to the third embodiment different from the second embodiment described above and the driving characteristic determination method according to the third embodiment will be described. The configuration of the driving characteristic determination device according to the third embodiment is the same as the configuration of the driving characteristic determination device 1 according to one embodiment described above. FIG. 6 is a flowchart showing the operation of the driving characteristic determination apparatus according to the third embodiment. Each process shown in FIG. 6 is started when, for example, the presence of a target as an object is detected around the host vehicle by the driving characteristic determination device, and is repeatedly executed at predetermined intervals.

  As shown in FIG. 6, steps S21, S23, S25, and S27 are the same as steps S01, S03, S05, and S07 in FIG. In step S27, when the characteristic value storage unit 34 accumulates and stores the driving characteristic value τ calculated by the characteristic value calculation unit 32 in the database, the characteristic determination unit 36 displays the vehicle immediately after the behavior for collision avoidance. A vehicle speed is acquired (step S29, characteristic determination step).

Then, the characteristic determination unit 36 calculates the average value Avg and the standard deviation (so-called variation) σ of the driving characteristic value τ accumulated in the characteristic value storage unit 34, and determines the degree of safety Y of the passenger of the own vehicle as described above. Using the acquired vehicle speed, for example, the above-described equation (6) is used for quantification (step S31, characteristic determination step).

Then, the characteristic determination unit 36 determines the driving characteristic such as the driving skill of the driver of the own vehicle based on the average value Avg and the standard deviation σ, and the output unit 40 calculates the driving characteristic. The passenger's comfort level Y is displayed, for example, on a display as an HMI (Human Machine Interface) configured such that only the driver can see and the passenger cannot see (Step S31). Thus, the driver can recognize the quantified relationship between the driving characteristics such as the driver's driving skill and the passenger's sense of security.

  Next, with reference to FIG.7 and FIG.8, the effect of the driving characteristic determination apparatus 1 which concerns on one Embodiment is demonstrated. FIG. 7 shows TTC (Time To Collision), which is the time until the collision between the host vehicle C and the target object P in the situation where the driver of the host vehicle C is driving the host vehicle C without noticing the presence of the target object P. ) Is an explanatory diagram when the horizontal axis is taken. FIG. 8 is an explanatory diagram for explaining the correspondence relationship between the driving profile of an actual driver and the driving skill estimated using the driving characteristic determination device.

As shown in FIG. 7, according to the driving characteristic determination device 1, the collision avoidance reaction operation of the driver of the host vehicle C that is running after the target P is detected is detected (at the timing when TTC becomes t <b> 1). In this case, it is possible to calculate one or a plurality of the above-mentioned driving characteristic values τ based on the stimulus sensing characteristics and determine the driving characteristics of the driver of the host vehicle C based on the average value Avg and the standard deviation σ of the driving characteristic values τ. become. For this reason, even if the vehicle does not stop, the above-mentioned driving characteristic value τ obtained when the reaction operation to the detected object of the driver of the host vehicle C is detected in the running scene (scene) before the vehicle stops. Since statistical values such as the average value Avg and the standard deviation σ are used, it is possible to accurately estimate driving characteristics (driving tendency including driving aggressiveness and driving skills) such as driving skills of the driver of the host vehicle. . Further, the opportunity to obtain statistical values of the average value Avg and the standard deviation σ of the driving characteristic value τ increases, and as a result, the evaluation quality of the driving characteristic can be improved.

  As shown in FIG. 8, when a plurality of drivers who have acquired a license for 18 years or more get on the vehicle equipped with the driving characteristic determination device 1, “the result of subjective driving skill determination by the passenger” is “advanced”. It was judged during driving, and the driving skill, which was greatly related to the driving history, could be determined accurately even during driving. In addition, when a plurality of drivers who have acquired the license for less than 18 years get on the vehicle equipped with the driving characteristic determination device 1, the “in-house driving skill” is determined to be “intermediate” while driving, and is greatly related to the driving history. The driving skill to be judged was able to be accurately determined even while driving.

  Moreover, according to the driving characteristic determination apparatus 1, it is possible to determine the degree of reassurance of the passenger of the host vehicle based on the determined driving characteristic. For this reason, when there is a passenger in addition to the driver, even if he is convinced that he is not anxious about this passenger, the driver's driving characteristics determined by objective statistical values will determine this passenger. It is possible to objectively estimate the degree of relief that is likely to be actually felt.

Moreover, according to the driving characteristic determination apparatus 1, the driving characteristic relating to how the traveling speed of the host vehicle is changed is determined according to the average value Avg of the accumulated driving characteristic value τ and the standard deviation σ. Can do.

  Further, according to the driving characteristic determination device 1, in addition to the statistical values σ and Avg relating to the driving characteristic value τ, the past average value Av of the vehicle speed immediately after the behavior for avoiding the collision is used for a predetermined number of times. This makes it possible to estimate the passenger's degree of comfort Y for driving the vehicle by the driver.

  Although one embodiment of the present invention has been described above, various modifications can be made without being limited to the above-described embodiment.

  ADVANTAGE OF THE INVENTION According to this invention, the driving characteristic determination apparatus and driving characteristic determination method which can determine the driving characteristic of a driver, without stopping a vehicle can be provided.

    DESCRIPTION OF SYMBOLS 1 ... Driving characteristic determination apparatus, 10 ... Driving state detection part, 12 ... Object detection part, 14 ... Driving operation detection part, 16 ... Vehicle speed sensor, 18 ... Acceleration sensor, 20 ... Radar, 22 ... Outside vehicle, 24 ... Brake Pedal sensor, 26 ... accelerator pedal sensor, 28 ... shift sensor, 30 ... driving support ECU, 32 ... characteristic value calculation unit, 34 ... characteristic value storage unit, 36 ... characteristic determination unit, 38 ... passenger determination unit, 40 ... output Part, 42 ... notification device, C ... own vehicle, P ... pedestrian.

Claims (4)

Object detection means for detecting objects around the host vehicle;
When a reaction operation to the detected object of the driver of the host vehicle is detected after the object is detected by the object detection means, the detection of the cancellation of the reaction operation or the reaction after the detection of the reaction operation Characteristic value calculation means for calculating, as a driving characteristic value, a maximum value or a maximum value of an index related to the traveling state of the host vehicle until the detection of the operation opposite to the operation;
Accumulating means for accumulating and storing the driving characteristic value calculated by the characteristic value calculating means;
Characteristic determining means for determining driving characteristics of the driver of the host vehicle based on an average value and standard deviation of the driving characteristic values accumulated in the accumulating means,
The index is a value obtained by dividing the jerk of the host vehicle by the deceleration,
Driving characteristic determination device. Passenger determination means for determining the degree of peace of mind of the fellow passenger of the host vehicle based on the driving characteristics determined by the characteristic determination means;
The driving characteristic determination apparatus according to claim 1. The characteristic determining means determines the driving characteristic related to how to change the traveling speed of the host vehicle according to the average value and the standard deviation of the driving characteristic value accumulated in the accumulating means.
The driving | running characteristic determination apparatus of Claim 1 or 2. An object detection step in which the driving characteristic determination device detects an object around the host vehicle;
When a reaction operation for the detected object of the driver of the host vehicle is detected after the object is detected by the object detection step, the detection of the cancellation of the reaction operation or the reaction is detected after the detection of the reaction operation. A characteristic value calculating step in which the driving characteristic determination device calculates the maximum value or the maximum value of the index related to the running state of the host vehicle as the driving characteristic value until the detection of the operation opposite to the operation;
An accumulation step in which the driving characteristic determination device accumulates and stores the driving characteristic value calculated by the characteristic value calculating step;
A characteristic determination step in which the driving characteristic determination device determines a driving characteristic of the driver of the host vehicle based on an average value and a standard deviation of the driving characteristic values accumulated in the accumulation step;
The index is a value obtained by dividing the jerk of the host vehicle by the deceleration,
Operation characteristic judgment method.

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