JP5892038B2 - Driving assistance device - Google Patents

Description

  The present invention relates to an apparatus used for driving assistance of a driver.

  In recent years, vehicle surroundings (signals, vehicles, presence or absence of pedestrians, distance between vehicles, etc.) and driving conditions (vehicle speed, steering angle, etc.) of the vehicle are estimated, and driving assistance according to the surroundings and driving conditions is executed. The device is known.

  As this type of device, for a driver who has stopped a vehicle by waiting for a signal, when the signal light color changes to blue and a preceding vehicle that has stopped by waiting for the same signal has started, a device that issues a start notification is available. Yes (see, for example, Patent Document 1).

JP 2011-70299 A

However, the apparatus described in Patent Document 1 has a problem that it is not possible to appropriately execute the start notification in a situation where there is no traffic light.
The present invention has been made in view of these problems, and an object of the present invention is to provide a driving support device that can appropriately execute a start notification regardless of the presence or absence of a traffic light.

  The driving support apparatus of the present invention made to achieve the above object is an apparatus mounted on a vehicle, and the start notification means uses the information about the surrounding situation of the vehicle as the surrounding information, and the vehicle is stopped. When the surrounding information indicates a predetermined situation in which the vehicle is permitted to start, a start notification that prompts the driver to start the vehicle is performed. In addition, the start caution determining means uses the information about the vehicle state as vehicle information, and sets the situation that prevents the driver from starting the vehicle in a stopped state with caution as the start caution situation. Determine if there is a caution situation. The start notification stop means stops the start notification when the start attention determination means determines that there is a start attention situation.

  Therefore, according to the driving support device of the present invention, the start warning situation is detected using the surrounding information and the vehicle information, so that the start notification can be appropriately executed regardless of the presence or absence of a traffic light. In addition, since the start notification is stopped when there is a start attention situation, it is possible to reduce a sense of inconvenience and discomfort given to the driver by frequently executing the start notification.

It is a block diagram of the driving support system to which this embodiment was applied. It is a flowchart which shows a start alerting | reporting process. It is a flowchart which shows a starting attention determination process. It is explanatory drawing which shows a connection road.

[Embodiment]
Embodiments of the present invention will be described below with reference to the drawings.
[overall structure]
The driving support system 1 is mounted on a vehicle and, as shown in FIG. 1, an information acquisition unit 10 that acquires information about the situation around the vehicle (ambient information) and information about the vehicle state (vehicle information), and an information acquisition unit 10 includes a control unit 20 that controls the driving support content of the vehicle according to the information acquired by 10, and a driving support execution unit 30 that executes various driving support according to the output of the control unit (ECU) 20.

  Among these, the in-vehicle device of the driving support execution unit 30 to be controlled includes at least an image display device 31 that displays various images and an acoustic device 32 that outputs an alarm sound and a guidance sound.

The information acquisition unit 10 includes a wireless communication unit 11, a radar unit 12, a camera unit 13, a navigation unit 14, and a sensor unit 15.
The wireless communication unit 11 is a communication device for performing road-to-vehicle communication. As a communication system for road-to-vehicle communication, radio beacon and optical beacon technologies used in VICS (registered trademark), safe driving support systems (DSSS), etc., and ETC (registered trademark) system are used. Techniques such as narrow area communication (DSRC) are used.

  Here, for example, when an optical beacon is installed at an intersection, the wireless communication unit 11 acquires and outputs at least the approach information of another vehicle at the intersection by road-to-vehicle communication with the optical beacon. In addition, when the optical beacon is installed in front of the intersection where the traffic signal is installed, the wireless communication unit 11 displays at least information related to the own vehicle, other vehicles, pedestrians, etc. that enter the intersection. The signal light color information related to the current signal light color (current display signal light color) is acquired and output.

  The radar unit 12 detects an identification target (mainly another vehicle) existing around the host vehicle, and outputs at least a distance and a relative speed with respect to the detected identification target. The camera unit 13 is a CCD camera disposed in the passenger compartment near the room mirror, and outputs a captured image obtained by capturing at least a road scenery in front of the host vehicle.

  The navigation unit 14 is a well-known car navigation system that searches for a recommended route from the current location to the destination based on road map data and provides driving guidance according to the searched recommended route. The navigation part 14 outputs the positional information regarding the present position of the own vehicle at least. For example, if the vehicle is stopped at an intersection, information indicating that the vehicle is located at the intersection is output as position information. Also, for example, if you are traveling around an elementary school, you can output that it is located in the school zone as location information, and if you are traveling around a facility that is frequently used by elderly people, Outputs that it is located in the silver zone. Such detection of position information is a function provided in advance in the navigation system.

  The sensor unit 15 includes a vehicle speed sensor 51 that detects the speed of the vehicle, a brake pedal sensor 52 that detects a brake depression amount corresponding to the driver's brake pedal operation, and an accelerator opening that corresponds to the depression amount of the driver's accelerator pedal. An accelerator pedal opening sensor 53 to detect, a steering angle sensor 54 to detect the steering angle of the steering wheel by the driver, a yaw rate sensor 55 to detect the rate of change of the rotation angle in the turning direction of the host vehicle, and the like are detected. It consists of various sensors and outputs detection signals from the various sensors to each part of the vehicle.

Information output from the wireless communication unit 11, the radar unit 12, the camera unit 13, the navigation unit 14, and the sensor unit 15 is input to the control unit 20.
The control unit 20 is configured around a known microcomputer including a CPU, a ROM, a RAM, and the like, and includes at least a start notification processing unit 21.

[Start notification process]
The start notification process executed by the start notification processing unit 21 will be described with reference to the flowchart shown in FIG. The start notification process is executed in response to detection of a stop state of the host vehicle. Here, when it is detected from the detection signals of the accelerator pedal opening sensor 53 and the brake pedal sensor 52 that the driver has operated the accelerator pedal and the brake pedal and the vehicle speed sensor 51 detects that the vehicle speed is zero, Assume that the host vehicle is in a stopped state.

  In S110, it is determined whether or not there is a preceding vehicle. If it is determined that there is a preceding vehicle (S110: YES), the process proceeds to S120, and if it is determined that there is no preceding vehicle (S110: NO), this process ends. The preceding vehicle is a vehicle that stops in front of the host vehicle in the same lane as the host vehicle. Here, the presence / absence of the preceding vehicle is determined using the distance and relative speed with the preceding vehicle detected by the radar unit 12 using the identification target as a vehicle and the image captured by the camera unit 13. That is, it is confirmed from the captured image that there is a vehicle stopped ahead of the host vehicle, and the distance between the vehicle detected by the radar unit 12 and the host vehicle is equal to or less than a predetermined distance (for example, 5 m). Yes, when the relative speed is a predetermined value (for example, 0), it is determined that there is a preceding vehicle.

  In S120 that is shifted when it is determined that there is a preceding vehicle, the process waits until the preceding vehicle starts, and when it is determined that the vehicle has started (S120: YES), the process shifts to S130. Here, when the relative speed with the preceding vehicle detected by the radar unit 12 is equal to or higher than a predetermined value, it is determined that the preceding vehicle has started.

  Next, in S130, a start attention determination process is executed. In subsequent S140, if the value of the attention flag output as a result of the start attention determination process is not 1 (S140: NO), it is determined that the start attention situation has not been detected, and the process proceeds to S150. On the other hand, if the value of the caution flag is 1 (S140: YES), the process proceeds to S160, assuming that the start caution situation has been detected.

In S150, which is shifted to when the start warning situation is not detected, the image display device 31 and the sound device 32 are instructed to execute the start notification, and this processing is terminated.
In S160, which is shifted to when the start warning situation is detected, the image display device 31 and the sound device 32 are instructed to stop the start notification, and this processing is ended.

Here, the details of the start attention determination process executed in S130 will be described with reference to the flowchart shown in FIG.
In S210, when the own vehicle has entered the school zone (S210: YES), the process proceeds to S270, and when the vehicle has not entered the school zone (S210: NO), the process proceeds to S220. Here, based on the positional information output from the navigation part 14, it is judged whether the own vehicle has entered the school zone.

  In subsequent S220, when there is a traffic light at the intersection ahead, if the signal lamp color is a signal lamp color (red and yellow) meaning stop (S220: YES), the process proceeds to S270, and if it is blue (S220: NO), the process proceeds to S230. Here, the signal lamp color is determined based on the signal lamp color information acquired by the road-to-vehicle communication with the optical beacon by the wireless communication unit 11.

  Next, in S230, when there is a sign indicating a temporary stop at the intersection ahead (S230: YES), the process proceeds to S270, and when there is no sign (S230: NO), the process proceeds to S240. Here, the presence / absence of the sign is determined by identifying the sign indicating the temporary stop from the image captured by the camera unit 13.

  In S240, when there is another vehicle approaching the stopped own vehicle (S240: YES), the process proceeds to S270. When there is no other vehicle (S240: NO), the process proceeds to S250. Here, it is determined whether or not the other vehicle exists using a detection signal (distance, relative speed, and direction from the other vehicle) by the radar unit 12.

  Next, in S250, if the host vehicle is about to enter the connecting road (S250: YES), the process proceeds to S270, and if not (S250: NO), the process proceeds to S260. The connection road refers to a road that is connected to the current traveling road with the road on which the vehicle is currently traveling as the current traveling road.

  The situation where the host vehicle is about to enter the connecting road is, for example, as shown in FIG. 4A, when the host vehicle P traveling on a non-priority road (current driving road) is a priority road (connecting road). Or a situation where the vehicle Q traveling on the side road (current road) is about to enter the main road (connection road) as shown in FIG. Here, it is determined using the positional information output from the navigation part 14 whether the own vehicle is going to approach this connection road.

  In S260, where a negative determination is made in any of S210 to S250 and the transition is made, the value of the caution flag is set to 0, and this process ends. In S270, where an affirmative determination is made in at least one of S210 to 250 and the process proceeds to S270, the value of the caution flag is set to 1, and the present process ends.

  In other words, in the start notification process of the present embodiment, there is a situation where there is a preceding vehicle that stops in front of the stopped own vehicle (S110: YES) and the preceding vehicle starts (S120: YES). A start notification process is executed as a “predetermined situation permitting the start of the own vehicle that is stopped” (referred to as a start permission situation) (S150). However, in this situation, if a start warning situation is detected (S140: YES), the start notification process is stopped (not executed) (S160).

A situation in which an affirmative determination is made in each step (S210 to 250) of the start attention determination process corresponds to a start attention situation. That is, here, the situation where at least the host vehicle needs to slow down as in S210 to 240 and the situation where the host vehicle tries to enter the connecting road from the current traveling road as in S250 correspond to the start warning situation. .
[Operation]
In the driving support system 1 configured as described above, when a start warning situation is not detected in the start permission state, a preceding vehicle in a stopped state exists in front of the own vehicle in a stopped state, and the preceding vehicle has started. At this time, an image that prompts the driver to start the host vehicle is displayed on the image display device 31. In addition, the sound device 32 generates a guidance voice or a warning sound that prompts the driver to start the vehicle. On the other hand, when a start warning situation is detected in the start permission state, there is a preceding vehicle in a stopped state in front of the host vehicle in a stopped state, and the image display device 31 even when the preceding vehicle starts. And the start notification by the sound device 32 is not performed.
[effect]
As described above, the driving support system 1 can detect the start warning situation using the surrounding information and the vehicle information in the start permission state, and appropriately execute the start notification regardless of the presence or absence of a traffic light. In addition, since the start notification is not executed (stopped) when there is a start attention situation, it is possible to reduce a sense of inconvenience or discomfort given to the driver by frequently executing the start notification.
[Correspondence with Claims]
In the present embodiment, the control unit 20 corresponds to the “driving support device” in the claims. S150 executed by the start notification processing unit 21 corresponds to “start notification means” in claims, S130 and 140 correspond to “start attention determination means” in claims, and S150 claims. This corresponds to “start notification stop means” in the range.
[Other Embodiments]
As mentioned above, although embodiment of this invention was described, this invention is not limited to the said embodiment, In the range which does not deviate from the summary of this invention, it is possible to implement in various aspects.

  (B) In the above embodiment, there is a preceding vehicle that is stopped in front of the own vehicle that is stopped, and the state in which the preceding vehicle starts is set as the start permission state, but the start permission state is limited to this. is not. For example, when the start permission state is set regardless of whether there is a preceding vehicle, S110 and S120 are deleted in the start notification process shown in FIG. The process after the start attention process (S130) may be executed in response to the detection.

  (B) In the above embodiment, the stop state of the host vehicle is detected using the vehicle speed sensor 51, the brake pedal sensor 52, and the accelerator pedal opening sensor 53. However, the present invention is not limited to this, and other sensors (not shown) However, the stop state of the host vehicle may be detected using the output result of the acceleration sensor or the like or the image captured by the camera unit 13. Further, for example, in a situation where an optical beacon is installed, detection may be performed by using road-to-vehicle communication by the wireless communication unit 11. By effectively utilizing infrastructure equipment such as optical beacons, the presence or absence of a start warning situation is determined in a more complex manner.

  (C) In the above embodiment, the presence / absence of the preceding vehicle (S110) and the start of the preceding person (S120) are determined using the radar unit 12 and the camera unit 13. However, the present invention is not limited to this. This information may be detected by using only the radar unit 12 or only the camera unit 13. Further, for example, in a situation where an optical beacon is installed, detection may be performed by using road-to-vehicle communication by the wireless communication unit 11.

  (D) In the above embodiment, the position information of the navigation unit 14 is used to detect the entry of the host vehicle into the school zone (S210). However, the present invention is not limited to this. You may detect the approach of the own vehicle to the school zone by identifying the sign indicating the school zone in the image. Further, for example, in a situation where an optical beacon is installed, entry into the school zone may be detected by road-to-vehicle communication by the wireless communication unit 11.

  It should be noted that the entry of the host vehicle to a silver zone, a shopping street, etc., for example, may be detected in addition to the school zone. In other words, it is desirable to detect the approach of the host vehicle to such a situation (location), assuming that a situation in which there are many traffic weak persons such as pedestrians is required to slow down the host vehicle.

  (E) In the above embodiment, the current display signal lamp color is detected by road-to-vehicle communication using the wireless communication unit 11 (S220). However, the present invention is not limited to this. For example, an image captured by the camera unit 13 is captured. The current display signal lamp color may be detected by a known method used.

  (F) In the above embodiment, the presence or absence of a sign indicating a pause (S230), the presence or absence of another vehicle (S240), and the approach of the host vehicle to the connected road (S250) 12 and the navigation unit 14 have been detected. However, the present invention is not limited to this. For example, if an optical beacon is installed, the wireless communication unit 11 can determine these by road-to-vehicle communication. May be obtained.

  (G) In the above-described embodiment, at least various situations (including situations in which the host vehicle is advanced by repeatedly stopping and starting) that require slow driving of the host vehicle, and at least the host vehicle is connected from the current traveling road Various situations of entering the road were taken as start warning situations. However, the situation assumed as the start caution situation is not limited to this, and in addition to these, various situations where the driver of the own vehicle should start the vehicle with caution from a stopped state are assumed.

  (H) The components of the control unit 20 described in the above embodiment may be realized by hardware, may be realized by software, or may be realized by a combination of hardware and software. These components are functionally conceptual, and some or all of them may be functionally or physically distributed or integrated.

  DESCRIPTION OF SYMBOLS 1 ... Driving assistance system 10 ... Information acquisition part 20 ... Control part (ECU) 21 ... Start notification processing part 30 ... Driving assistance execution part 31 ... Image display apparatus 32 ... Sound equipment

Claims (5)

A driving support device mounted on a vehicle,
When the vehicle is stopped with the information about the surrounding situation of the vehicle as the surrounding information, and the surrounding information indicates a predetermined situation permitting the vehicle to start, Start notifying means (21, S150) for notifying the start of the vehicle,
Information on the state of the vehicle is vehicle information, and a situation that prevents a driver from starting the vehicle in a stopped state with caution is defined as a start caution situation. The presence / absence of the start caution situation from the surrounding information and the vehicle information Starting attention determining means (21, S130, 140) for determining
A start notification stop means (21, S160) for stopping the start notification when it is determined by the start attention determination means that the start attention situation exists;
Equipped with a,
The starting note determining means, the driving support device wherein the vehicle is characterized in the starting care situations and to Rukoto a situation that entered the school zone (20). A driving support device mounted on a vehicle,
When the vehicle is stopped with the information about the surrounding situation of the vehicle as the surrounding information, and the surrounding information indicates a predetermined situation permitting the vehicle to start, Start notifying means (21, S150) for notifying the start of the vehicle,
Information on the state of the vehicle is vehicle information, and a situation that prevents a driver from starting the vehicle in a stopped state with caution is defined as a start caution situation. The presence / absence of the start caution situation from the surrounding information and the vehicle information Starting attention determining means (21, S130, 140) for determining
A start notification stop means (21, S160) for stopping the start notification when it is determined by the start attention determination means that the start attention situation exists;
Equipped with a,
The starting note determining means, the driving support device wherein the vehicle is characterized in the starting care situations and to Rukoto a situation that entered the Silver zone (20). A driving support device mounted on a vehicle,
When the vehicle is stopped with the information about the surrounding situation of the vehicle as the surrounding information, and the surrounding information indicates a predetermined situation permitting the vehicle to start, Start notifying means (21, S150) for notifying the start of the vehicle,
Information on the state of the vehicle is vehicle information, and a situation that prevents a driver from starting the vehicle in a stopped state with caution is defined as a start caution situation. The presence / absence of the start caution situation from the surrounding information and the vehicle information Starting attention determining means (21, S130, 140) for determining
A start notification stop means (21, S160) for stopping the start notification when it is determined by the start attention determination means that the start attention situation exists;
Equipped with a,
The starting note determining means, the driving support apparatus, wherein said starting care situations and to Rukoto a situation where there is another vehicle approaching the vehicle is stopped (20). A driving support device mounted on a vehicle,
When the vehicle is stopped with the information about the surrounding situation of the vehicle as the surrounding information, and the surrounding information indicates a predetermined situation permitting the vehicle to start, Start notifying means (21, S150) for notifying the start of the vehicle,
Information on the state of the vehicle is vehicle information, and a situation that prevents a driver from starting the vehicle in a stopped state with caution is defined as a start caution situation. The presence / absence of the start caution situation from the surrounding information and the vehicle information Starting attention determining means (21, S130, 140) for determining
A start notification stop means (21, S160) for stopping the start notification when it is determined by the start attention determination means that the start attention situation exists;
Equipped with a,
The starting note determining means, the driving support device a situation where the vehicle traveling a non-priority road is to enter the priority road, wherein the starting care situations and to Rukoto (20). A driving support device mounted on a vehicle,
When the vehicle is stopped with the information about the surrounding situation of the vehicle as the surrounding information, and the surrounding information indicates a predetermined situation permitting the vehicle to start, Start notifying means (21, S150) for notifying the start of the vehicle,
Information on the state of the vehicle is vehicle information, and a situation that prevents a driver from starting the vehicle in a stopped state with caution is defined as a start caution situation. The presence / absence of the start caution situation from the surrounding information and the vehicle information Starting attention determining means (21, S130, 140) for determining
A start notification stop means (21, S160) for stopping the start notification when it is determined by the start attention determination means that the start attention situation exists;
Equipped with a,
The starting note determining means, the driving support apparatus, wherein the vehicle you to said starting care situations a situation that is about to enter the main road in traveling side road (20).

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