JP5983513B2 - Driving assistance device - Google Patents

Driving assistance device Download PDF

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JP5983513B2
JP5983513B2 JP2013084940A JP2013084940A JP5983513B2 JP 5983513 B2 JP5983513 B2 JP 5983513B2 JP 2013084940 A JP2013084940 A JP 2013084940A JP 2013084940 A JP2013084940 A JP 2013084940A JP 5983513 B2 JP5983513 B2 JP 5983513B2
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information
road
vehicle
driving support
dangerous
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JP2014206906A (en
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英己 寺澤
英己 寺澤
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株式会社デンソー
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Description

  The present invention relates to a driving support device mounted on a vehicle.

  Conventionally, a driving support device mounted on a vehicle is known. In this driving support device, the current position of the host vehicle matches the dangerous point information registered as information representing a point with a high risk when the host vehicle has traveled in the past, and the living body of the driver of the host vehicle is present. If the change in information (for example, pulse or blood pressure) is greater than or equal to a specified value, driving support control is executed (see Patent Document 1). The driving support control executed by the driving support device is, for example, issuing a warning that prompts an occupant of the own vehicle to call attention.

  In this conventional driving support device, when a vehicle equipped with the device has traveled in the past, a point at which a change in biological information becomes larger than a reference value is used as dangerous point information. Note that this dangerous point information is obtained by associating information on the point (for example, latitude, longitude, and name of the point) with the driver's biometric information at the time of traveling the point.

JP 2011-242190 A

  By the way, even if the point is the same as the point represented by the dangerous point information, depending on the situation around the host vehicle, it may not be necessary to execute the driving support control. That is, for example, even if the point is the same as the point represented by the dangerous point information, the risk that the driver feels depends on whether or not an object such as a pedestrian or an oncoming vehicle exists around the host vehicle. Unlikely, driving support control such as warning may not be necessary.

In other words, the conventional driving support apparatus has a problem that unnecessary driving support control may be executed.
In addition, in the conventional driving support device, although a warning is issued when reaching a point registered as dangerous point information among points on the road that have traveled in the past, Driving support control such as warning is not implemented. However, in the driving assistance device, it is desired that a warning is issued for a highly dangerous point even on a newly traveling road.

That is, the conventional driving support apparatus has a problem that the driving support control is not performed at an appropriate timing.
Accordingly, an object of the present invention is to enable driving support control to be executed at a more appropriate timing in the driving support device.

The present invention made to achieve the above object relates to a driving support apparatus mounted on a vehicle.
The driving support apparatus according to the present invention includes own vehicle position acquisition means, road information acquisition means, surrounding situation acquisition means, biological information acquisition means, risk determination means, storage control means, and driving support means. ing.

  In the driving support device of the present invention, the own vehicle position acquisition means acquires the own vehicle position representing the current position of the own vehicle, and the road information acquisition means includes the vicinity of the own vehicle position acquired by the own vehicle position acquisition means. Information on the road (hereinafter referred to as “road information”). And a surrounding situation acquisition means acquires the surrounding situation information showing the surrounding situation of the own vehicle, and a biometric information acquisition means acquires the biometric information of the occupant of the own vehicle.

  Further, the risk determination unit determines whether or not the tension level represented by the biological information acquired by the biological information acquisition unit is equal to or higher than a risk reference value defined in advance as a level indicating the occurrence of danger. Then, if the vehicle is traveling, information on a point with high risk is used as the dangerous point information, and if the storage control unit determines that the tension level is equal to or higher than the risk reference value as a result of the determination by the risk determination unit, the tension level is By correlating each of the own vehicle position, road information, and surrounding situation information as configuration items at the timing when the risk reference value is exceeded, dangerous point information is created and stored in the storage device.

  Further, in the driving support device of the present invention, the driving support means acquires the own vehicle position and road information acquired by the own vehicle position acquisition means, the road information acquisition means, and the surrounding situation acquisition means along the time axis. If the correlation value is equal to or greater than a prescribed reference value defined in advance as a result of collating the surrounding situation information with each constituent item of the dangerous point information stored in the storage device, the safety of traveling of the host vehicle is Carry out driving support control to improve.

  According to the driving support device of the present invention, the configuration items of the dangerous point information stored in the storage device are the vehicle position, road information, and surrounding situation information at the timing when the tension level becomes equal to or higher than the risk reference value. can do.

  In the driving support device of the present invention, the correlation value is defined as a result of collating the own vehicle position, road information, and surrounding situation information acquired along the time axis with the dangerous point information composed of such configuration items. If it is equal to or greater than the reference value, driving support control is being executed.

  Therefore, according to the driving support device of the present invention, the types of information to be compared and collated in order to determine whether or not to perform driving support control can be diversified, and the determination accuracy of whether or not to execute the driving support control Can be improved.

As a result, according to the driving support device of the present invention, driving support control can be executed at an appropriate timing.
By the way, even if the point is the same as the point registered as the dangerous point information, the driving support control may not be necessary and need not be executed depending on the tension level of the occupant. For example, when the driving support control is executed when the tension level indicates that the driver is concentrating on driving, there is a possibility that an occupant feels troublesome.

  Therefore, the driving support means in the present invention may execute driving support control if the tension level represented by the biological information acquired by the biological information acquisition means is less than a predetermined safety reference value. The “safety standard value” here is a standard value that can be secured in advance, and is defined as, for example, a tension level in the case of indicating that the driver is concentrating on driving. It is a thing.

According to such a driving assistance device, even if it is a point represented by the dangerous point information, it is possible to reduce that the driving assistance control is executed when the tension level is less than the danger reference value.
That is, according to the driving support device of the present invention, it is possible to reduce unnecessary driving support control, and to reduce the feeling of annoyance by the occupant of the host vehicle.

  Furthermore, even if the point is the same as the point registered as the dangerous point information, the risk level of the point changes depending on whether or not an object such as a pedestrian or an oncoming vehicle exists around the host vehicle. Therefore, driving support control may not be necessary.

  For this reason, as a result of collating at least one of the road information and the surrounding situation information with the configuration item of the dangerous spot information stored in the storage device, the driving support means in the present invention has a correlation value equal to or higher than the specified reference value. If there is, the driving support control may be executed.

  According to such a driving support device, even if the point is represented by the dangerous point information, if the correlation value obtained by collating at least one of the behavior information and the surrounding situation information is equal to or higher than the specified reference value, the driving is performed. Support control can be executed.

According to the driving support apparatus of the present invention, it is possible to reduce unnecessary driving support control from being executed in such a case, and to reduce the feeling of annoyance by the occupant of the host vehicle.
In the present invention, the road information includes at least a road attribute having at least the shape of the road, the number of lanes on the road, and a curvature, and the type of the road situation. It may include at least presence / absence, presence / absence of an oncoming vehicle around the host vehicle, and presence / absence of a preceding vehicle relative to the host vehicle.

  In this case, the storage control means in the present invention creates, as the dangerous point information, information that has been subjected to a content quantification process that integrates road attributes, types of road conditions, and surrounding situation information with common contents among the configuration items. May be.

According to the driving support device of the present invention, it is possible to integrate each information as a configuration item included in the dangerous spot information with common contents.
For this reason, according to the driving support device of the present invention, it is possible to collate various information with the configuration items included in the dangerous point information similar to the point on the road where the own vehicle travels newly (and the situation at the point). Even if it is a newly traveling road, the driving support control can be executed at a point with high risk.

It is a block diagram which shows schematic structure of the driving assistance system to which this invention was applied. It is a flowchart which shows the process sequence of a dangerous point registration process. It is explanatory drawing which shows the outline | summary of dangerous point information. It is explanatory drawing which shows the outline | summary of dangerous point dynamic information. It is explanatory drawing explaining the representative in danger point dynamic information. It is explanatory drawing which shows the result which arranged the dangerous point information by the content quantification process. It is a flowchart which shows the process sequence of a driving assistance process.

Embodiments of the present invention will be described below with reference to the drawings.
<overall structure>
The driving support system 1 shown in FIG. 1 is a system that is used by being mounted on an automobile. If the degree of danger when the host vehicle is traveling is equal to or higher than a predetermined reference value that is defined in advance, This is a system that executes driving support control such as issuing a warning to call attention to the user.

  In order to realize this, the driving support system 1 includes a biological information acquisition unit 3, a vehicle behavior acquisition unit 5, a surrounding situation information acquisition unit 7, a position detection device 21, an information communication device 22, and a display device 23. And an audio output device 24, a vehicle control device 25, a storage device 26, and a driving support electronic control device (hereinafter referred to as “driving support device”) 40.

  The biometric information acquisition unit 3 measures the biometric information of the occupant of the host vehicle. The “biological information” here is information representing the physical state of the occupant, and includes, for example, at least one of the pulse, heart rate, body temperature, blood pressure, and line-of-sight direction. The “occupant” referred to here is a driver.

  These pulse, heart rate, body temperature, and blood pressure may be measured using a known sensor provided on the steering wheel of the host vehicle, or may be measured by a known method using another portable terminal. good. Further, the direction of the line of sight may be measured using a known image sensor provided in the vehicle interior so as to capture an image including the occupant's face, or may be measured by other known methods. .

  The vehicle behavior acquisition unit 5 acquires information representing the behavior of the host vehicle (hereinafter referred to as “behavior information”). The “behavior information” referred to here is information including the operation amount of various operations on the host vehicle in addition to the actual behavior that is the behavior when the host vehicle travels. This actual behavior includes at least one of the travel locus of the host vehicle, the vehicle speed, the acceleration applied to the host vehicle, and the slip state of the host vehicle. Of these, the travel trajectory may be acquired as a travel trajectory along the time axis of the position where the host vehicle is detected, which is detected by the position detection device 21 described later. The vehicle speed may be measured based on the detection result of a known vehicle speed sensor (wheel speed sensor). The acceleration may be measured with a known acceleration sensor. For the slip state, information detected by a known ABS system may be acquired.

  The operation amount includes a brake operation amount, a steering angle, an accelerator operation amount, and the like. The brake operation amount may be measured by a brake sensor. The steering angle may be measured with a steering angle sensor. The accelerator operation amount may be measured by a throttle opening sensor.

  The surrounding situation information acquisition unit 7 acquires surrounding situation information representing the surrounding situation of the host vehicle. The “peripheral situation information” mentioned here includes the presence / absence of various objects around the host vehicle. The various objects in the surrounding situation information are pedestrians, preceding vehicles, succeeding vehicles, oncoming vehicles, and the like.

  Therefore, the “peripheral situation information” includes the presence / absence and type of pedestrians, preceding vehicles, succeeding vehicles, and oncoming vehicles, as well as those pedestrians, preceding vehicles, following vehicles, and oncoming vehicles, Including relative position and relative speed with the vehicle. Information on these various objects may be obtained using a well-known millimeter wave radar device, a light wave radar device, or a sonar mounted on the host vehicle, or image analysis is performed by imaging the situation around the vehicle. You may acquire using the well-known image sensor.

  The position detection device 21 detects the current position of the host vehicle and the direction of travel, and includes at least a known GPS receiver 31, gyro sensor 32, and geomagnetic sensor 33. The information communication device 22 is a device that transmits and receives information via dedicated wireless communication or a public communication network, and is, for example, a VICS (registered trademark) receiver or a wireless telephone device.

  Further, the display device 23 is a device (for example, a liquid crystal display) that displays an image according to a control signal from the driving support device 40. The voice output device 24 is a device (so-called speaker) that converts a control signal from the driving support device 40 into voice and outputs the voice. The vehicle control device 25 is a known control device that controls a vehicle-mounted device including at least one of an internal combustion engine, a power train mechanism, a brake mechanism, and a steering device mounted on the host vehicle.

  The storage device 26 is a rewritable nonvolatile storage device, and is constituted by, for example, a hard disk drive or a flash memory. The storage device 26 stores map data MD and dangerous point information HD described later in detail.

  The map data MD includes various data such as node data, link data, cost data, road data, terrain data, mark data, intersection data, facility data, guidance voice data, voice recognition data, and the like.

  The node data is data relating to a node representing each specific point on the road (for example, an intersection or a branch point). This node data includes the node ID, which is an identification number assigned to each node, the coordinates of each node, the link IDs of all links connected to the node, and node types (types such as intersections and junctions). At least characteristic information is included.

  The link data is data relating to a link representing each road connecting the nodes. This link data includes a link ID that is an identification number assigned to each link, a node ID of each node to which the start and end of each link are connected, and a link length that represents the distance from the start to the end of the road corresponding to each link. The data includes at least information such as the road rating of the road corresponding to each link, the road width of the road corresponding to each link, the number of lanes, the legal speed limit, and the road gradient. The “road case” here includes, for example, an expressway, a toll road, a national road, a prefectural road, a municipal road, and the like.

  The driving support device 40 follows a ROM 41 that stores data and programs that need to retain stored contents even when the power is turned off, a RAM 42 that temporarily stores data, and a program stored in the ROM 41 or RAM 42. A known microcomputer including at least a CPU 43 that executes processing is mainly configured.

In such a driving assistance device 40, the current position of the host vehicle and the heading direction are derived by a known method based on the output signal from the position detection device 21.
In the driving assistance device 40, information regarding the dangerous point is generated as the dangerous point information HD, and the dangerous point registration process stored in the storage device 26 is executed. Furthermore, in the driving support device 40, as a result of collating various information with each of the dangerous point information HD registered in the dangerous point registration process, there is dangerous point information HD having a correlation value equal to or greater than a predetermined reference value. Then, the driving support control is executed so that the safety of traveling of the host vehicle is improved.
<Dangerous point registration process>
The dangerous point registration process executed by the driving support device 40 is started when an activation command is input (for example, when an ignition switch is turned on).

When this dangerous point registration process is started, as shown in FIG. 2, first, various information is acquired (S110).
The various information acquired in S110 includes the biological information of the occupant of the host vehicle measured by the biological information acquisition unit 3, the behavior information acquired by the vehicle behavior acquisition unit 5, and the peripheral status acquired by the peripheral status information acquisition unit 7. Contains information. Furthermore, the various information acquired in S110 includes the current position of the host vehicle derived by the driving support device 40 itself (hereinafter referred to as “own vehicle position”) and the map data MD stored in the storage device 26. Information on the road around the vehicle position based on the vehicle (hereinafter referred to as “road information”).

  The road information includes the type of road corresponding to the vehicle position (hereinafter referred to as “road condition type”) and road attributes. The “road condition type” mentioned here includes a road condition type indicating whether the road is a straight line, a curved road, an intersection, or the like. Further, the “road attribute” referred to here includes at least a road case, a legally limited speed, the number of lanes, a road width (width), a curve curvature, the number of intersecting roads, and the presence / absence of a signal.

  Subsequently, it is determined whether or not the tension level derived based on the biological information acquired in S110 is equal to or higher than a risk reference value defined in advance as a tension level representing the occurrence of danger (S120). The “tension level” referred to here is an index representing the degree of tension of the occupant. Since this tension level estimation method is well known, detailed description thereof is omitted here. For example, the higher the pulse rate or the heart rate, the higher the tension level.

  If the result of determination in S120 is that the tension level is less than the danger reference value (S120: NO), whether or not the behavior of the host vehicle represented by the behavior information acquired in S110 matches the danger behavior. Is determined (S130). The “dangerous behavior” mentioned here includes behaviors in which the behavior of the vehicle becomes unstable, and includes behaviors such as sudden braking, sudden start, and sudden turning.

  As a result of the determination in S130, if the behavior of the host vehicle represented by the behavior information is incompatible with the dangerous behavior (S130: NO), the process returns to S110. On the other hand, as a result of the determination in S130, if the behavior of the host vehicle represented by the behavior information matches the dangerous behavior (S130: YES), the process proceeds to S140.

Note that, as a result of the determination in S120, if the tension level is greater than or equal to the risk reference value (S120: YES), the process proceeds to S140.
In S140, the dangerous spot information HD is created and stored in the storage device 26. The creation of the dangerous spot information HD in S140 is executed by associating the dangerous spot static information and the dangerous spot dynamic information among the various information acquired in S110 of the current cycle.

  In the “dangerous point static information” here, as shown in FIG. 3, the position of the dangerous point (ie, latitude, longitude, and range from the point) and the approach direction to the dangerous point (approach direction) And road information (that is, road condition type and road attribute) at the danger point. In the present embodiment, the own vehicle position is set as a dangerous point position.

  The “dangerous point dynamic information” referred to here is information relating to an object existing around the dangerous point. Specifically, as shown in FIG. 4, the danger point dynamic information is the surrounding situation information acquired by the surrounding situation information acquisition unit 7, and includes information on pedestrians, preceding vehicles, subsequent vehicles, and oncoming vehicles. It includes items such as presence / absence, type, number, pedestrian, preceding vehicle, succeeding vehicle, oncoming vehicle, and relative position and relative speed of the host vehicle.

  However, when there are a plurality of pedestrians, preceding vehicles, succeeding vehicles, and oncoming vehicles within each detection range, one representative of each of these pedestrians, preceding vehicles, following vehicles, and oncoming vehicles. The information regarding the risk point dynamic information may be used. For example, as shown in FIG. 5, the “representative” in this case is a distance from the own vehicle within the detection range of the pedestrian, the preceding vehicle, and the following vehicle for the pedestrian, the preceding vehicle, and the following vehicle. Should be the closest one. The oncoming vehicle may be a vehicle that is likely to face the host vehicle as time progresses within the detection range of the oncoming vehicle, and the distance from the host vehicle may be the closest.

That is, the dangerous point information HD is created by associating the own vehicle position, the road information, and the surrounding situation information with each of the dangerous points as configuration items.
Subsequently, a content quantification process for grouping the dangerous spot information HD according to the set sorting condition is executed (S150). That is, in the content quantification process, the dangerous point information HD having the configuration items having the same information content is classified and integrated according to the sorting condition in which the configuration items of the dangerous point information HD are classified. Thereby, the set of the dangerous point information HD is constructed as a database having a hierarchical structure.

  The sorting condition in the present embodiment is to classify road attributes, road situation types, and surrounding situation information with common contents among the configuration items constituting the dangerous spot information HD. This integration of common contents is executed in the order of road attributes, road types, and surrounding situation information.

  Specifically, in the content quantification process, as shown in FIG. 6, first, the first classification is performed in which all the dangerous spot information HD is grouped by those having the same road condition type in the road information. To do. Subsequently, for each group of the dangerous spot information HD grouped in the first classification, a second classification is performed in which the dangerous spot information HD having a common road case as a road attribute is grouped. Further, for each group of the dangerous spot information HD grouped in the second classification, the third classification is performed for grouping the dangerous spot information HD having the same presence / absence and type of the surrounding object as the surrounding situation information.

  Therefore, the set of the dangerous spot information HD constructed as a database in the content quantification process of the present embodiment has the road condition type as the first hierarchy, the road case as the second hierarchy, and the presence and type of surrounding objects as the first hierarchy. It is classified by each classification item made up of three levels. Hereinafter, a group of each classification result generated by executing the content quantification process of S150 is referred to as a classification group.

  Then, in the dangerous point registration process, the number of dangerous point information HD included in each classification group is totaled, and it is determined whether or not the difference in the number of cases between the classification groups is greater than or equal to a predefined value ( S160). As a result of the determination in S160, if the difference in the number of classification groups is greater than or equal to the specified value (S160: YES), the more dangerous points information HD included in the classification group, the more dangerous the vehicle will travel. A high risk level is set assuming that the degree of is high (S170).

Thereafter, the process returns to S110.
On the other hand, as a result of the determination in S160, if the difference in the number of registrations between the classification groups is less than the specified value (S160: NO), the sort condition is changed (S180), and then the process returns to S110.

  That is, in the risk point registration process of the present embodiment, when the tension level derived based on the biological information is greater than or equal to the risk reference value, or the tension level is less than the risk reference value and is represented by the behavior information. If the behavior of the own vehicle matches the dangerous behavior, the dangerous point information HD is generated and registered. This dangerous point information HD is information relating to a dangerous point that is highly dangerous when the vehicle travels, and is created by associating the own vehicle position (dangerous point), road information, and surrounding situation information as configuration items, It is stored in the storage device 26.

Further, in the dangerous point registration process of the present embodiment, the collection of the dangerous point information HD is set to have a hierarchical structure in which one classification group has a plurality of classes, with the configuration items constituting the dangerous point information HD as a class. organize.
<Driving support processing>
The driving support process executed by the driving support device 40 is started when a start command is input (for example, when an ignition switch is turned on).

  When this driving support process is activated, as shown in FIG. 7, first, various types of information are acquired (S310). In S310, specifically, biological information, behavior information, surrounding situation information, own vehicle position, and road information of the occupant of the own vehicle are acquired.

  Subsequently, the own vehicle position acquired in S310 (hereinafter, referred to as “current vehicle position”) is collated with the dangerous points included in each of the dangerous point information HD stored in the storage device 26 (S320). ). As a result of the collation in S320, if there is dangerous point information (hereinafter referred to as “first dangerous point information”) having a dangerous point that matches the current vehicle position as a configuration item (S320: YES), The process proceeds to S330. In S320, in addition to the fact that the current vehicle position and the latitude and longitude of the dangerous point completely match, the correlation value between the current vehicle position and the dangerous position is preliminarily defined as a value that can be regarded as a match. Even if it is within the range, it is determined that the first danger point information exists.

  In S330, the surrounding situation information acquired in S310 (hereinafter referred to as “current situation information”) is collated with the dangerous spot dynamic information included in each of the first dangerous spot information (S330). As a result of the collation in S330, if the risk compliance rate, which is the correlation value of the current situation information with respect to the dangerous point dynamic information included in the first dangerous point information, is greater than or equal to the first reference value defined in advance (S330: YES), the process proceeds to S370 to be described later in detail.

  The risk conformity rate is based on the presence / absence, type and number of pedestrians, preceding vehicles, succeeding vehicles, and oncoming vehicles included in the current situation information, and the dangerous point dynamic information included in the first dangerous point information. The higher the risk level associated with the first danger point information, the higher the weight assigned to the correlation value with the presence, type, and number of pedestrians, preceding vehicles, subsequent vehicles, and oncoming vehicles. Further, the first reference value in the present embodiment represents the degree of danger when the vehicle travels, and the presence, type, and number of pedestrians, preceding vehicles, subsequent vehicles, and oncoming vehicles (that is, (Dangerous point dynamic information) is an index indicating that the correlation value is equal to or higher than a predetermined risk level.

  On the other hand, as a result of the collation in S330, if the risk suitability rate of the current surrounding situation information for the dangerous point dynamic information included in the first dangerous point information is less than the first reference value (S330: NO), the process returns to S310. .

  If the first dangerous point information does not exist as a result of the collation in S320 (S320: NO), the process proceeds to S340. In S340, the road situation type and road case acquired in S310 (hereinafter referred to as “current road situation”) are converted into the road situation type and road case of each of the dangerous point information HD stored in the storage device 26. Match. As a result of the collation in S340, if there is dangerous point information (hereinafter referred to as “second dangerous point information”) having a road condition type suitable for the current road condition and a road case as configuration items (S340). : YES), the process proceeds to S350. In S340, when the correlation value between the road situation type and the road case included in each of the current road situation and the dangerous spot information is within an allowable range preliminarily defined as a value that can be regarded as a match, the second dangerous spot It is determined that information exists.

  In S350, the current situation information is collated with the dangerous point dynamic information of the second dangerous point information. As a result of the collation in S350, if the risk conformance rate of the current situation information with respect to the dangerous point dynamic information included in the second dangerous point information is greater than or equal to the second reference value defined in advance (S350: YES), the details Shifts to S370 to be described later. Note that the second reference value in the present embodiment is a risk in which the presence / absence of pedestrians, preceding vehicles, following vehicles, and oncoming vehicles, and correlation values of types and numbers (ie, dangerous point dynamic information) are defined in advance. It is an index indicating that it is greater than or equal to the degree, and is set to a value higher than the first reference value.

  That is, as a result of the determination in S350, the dangerous situation point similar to the current position where the host vehicle is traveling, and the surrounding situation information representing the situation similar to the situation around the vehicle at the current point are set as configuration items. If the dangerous point information HD exists, the process proceeds to S370.

  On the other hand, as a result of the collation in S350, if the risk compliance rate of the current situation information for the dangerous point dynamic information included in the second dangerous point information is less than the second reference value (S350: NO), the process returns to S310.

  If the second dangerous point information does not exist as a result of the collation in S340 (S340: NO), the current situation information is converted into the dangerous point dynamic information for each of the dangerous point information HD stored in the storage device 26. (S360).

  As a result of the collation in S360, if the risk conformance rate of the current situation information with respect to the dangerous point dynamic information included in the dangerous point information HD is equal to or greater than a predetermined third reference value (S360: YES), the process proceeds to S370. And migrate. The third reference value in the present embodiment is a risk in which the presence / absence of pedestrians, preceding vehicles, following vehicles, and oncoming vehicles, and correlation values of types and numbers (that is, dangerous point dynamic information) are defined in advance. It is an index indicating that it is greater than or equal to the degree, and is set to a value higher than the second reference value.

  That is, as a result of the determination in S360, if there is dangerous point information HD having a situation similar to the situation around the vehicle at the current point where the host vehicle is traveling, the process proceeds to S370.

  On the other hand, if the risk matching rate of the current status information with respect to the dangerous point dynamic information included in the dangerous point information HD is less than the third reference value as a result of the collation in S360, the process returns to S310.

  Here, description will be given of S370 that is shifted when there is dangerous point information HD having the dangerous point and dangerous point dynamic information that match (similar) the current vehicle position at the present time and the situation around the own vehicle position as the configuration items. .

  In S370, it is determined whether or not the tension level represented by the biological information acquired in S310 is equal to or higher than a safety reference value that is defined in advance as a reference value that can ensure safety. As a result of the determination in S370, if the tension level is less than the safety reference value (S370: NO), the driver's attention is distracted even though the situation where the vehicle is traveling is dangerous. As a thing, driving assistance control is performed so that the safety | security of driving | running | working of the own vehicle improves (S380). The driving support control executed in S380 is, for example, notification from the display device 23 or the voice output device 24, intervention control, or the like. Here, “notification” includes issuing a warning. Further, “intervention control” here refers to controlling the number of revolutions of the internal combustion engine or strengthening the braking force of the host vehicle via the vehicle control device 25 so that the host vehicle can travel safely. For example, controlling the rudder angle.

  On the other hand, as a result of the determination in S370, if the tension level is equal to or higher than the safety reference value (S370: YES), it is determined that the driver is concentrating on driving, and the process returns to S310 without executing the step of S380. .

That is, in the driving support process, the vehicle position, road information, and surrounding situation information are compared with each component item of the dangerous point information HD stored in the storage device 26, and as a result, are represented by the dangerous point information HD. If the vehicle is traveling at a point (and situation) that matches or is similar to a point (and situation) that has traveled in the past, a driving assistance control such as issuing a warning to alert the passenger of the vehicle is executed. The driving support process is executed.
[Effect of the embodiment]
As described above, according to the driving support system 1, the configuration items of the dangerous point information HD stored in the storage device 26 are the vehicle position and road information at the timing when the tension level becomes equal to or higher than the risk reference value. , And surrounding situation information.

  And in the driving assistance system 1, as a result of collating the own vehicle position, road information, and surrounding situation information acquired along the time axis with the dangerous point information HD composed of such configuration items, the correlation value is a reference value. If it is above, driving assistance control is performed.

  Therefore, according to the driving support system 1, it is possible to diversify the types of information to be compared in order to determine whether or not to execute the driving support control, and improve the determination accuracy of whether or not to execute the driving support control. Can be made. As a result, according to the driving support system 1, driving support control can be executed at an appropriate timing.

  Further, in the driving support process of the present embodiment, the dangerous point information HD including the dangerous point and the dangerous point dynamic information that match (similar) the current vehicle position and the situation around the own vehicle position are detected. However, if the tension level is equal to or higher than the safety reference value, it is assumed that the driver is concentrating on driving and the execution of driving support control is avoided.

  Therefore, according to the driving assistance system 1, even if it is a point represented by dangerous point information, when a tension level is less than a danger reference value, it can reduce that driving assistance control is performed.

  In other words, according to the conventional technique, even if the point is the same as the point registered as the dangerous point information HD, there is a case where the driving support control is unnecessary and need not be executed depending on the tension level of the occupant. For example, when the driving support control is executed when the tension level indicates that the driver is concentrating on driving, there is a possibility that the passenger may feel troublesome.

On the other hand, according to the driving assistance system 1, it can reduce that unnecessary driving assistance control is performed, and it can reduce that the passenger | crew of the own vehicle feels troublesome.
In S330 in the driving support process of the present embodiment, if the current situation information is collated with the dangerous point dynamic information included in each of the first dangerous point information, if the risk conformity rate is equal to or higher than the first reference value, the driving is performed. Support control can be executed.

  In other words, in the conventional technology, even if the point is the same as the point registered as the dangerous point information HD, depending on whether or not an object such as a pedestrian or an oncoming vehicle exists around the host vehicle, Because the degree of danger changes, there are cases where driving support control is unnecessary.

  On the other hand, according to the driving support system 1, it is possible to reduce the unnecessary driving support control from being executed at the same point as the point represented by the dangerous point information HD, and the occupant of the own vehicle is troublesome. Can reduce the feeling.

  Further, in the driving support system 1, common contents are grouped in the configuration items included in the dangerous spot information HD. The driving support system 1 determines the necessity of driving support control according to the result of collating various information with the grouped (generalized) configuration items of the dangerous point information HD.

  For this reason, according to the driving assistance system 1, various information can be collated with the configuration item which the dangerous point information HD similar to the point (and the situation in the said point) on the road where the own vehicle travels newly, Even on a newly traveling road, it is possible to execute driving support control at a point with high risk.

In particular, in the content quantification processing of the present embodiment, common contents are integrated in the order of road attributes, types, and surrounding situation information, and the risk point information having a hierarchical structure using these as classes is created. Therefore, according to the driving support system 1, it is possible to determine whether or not the situation is similar to the situation at the point on the road on which the host vehicle is traveling in the order of road attribute, type, and surrounding situation information.
[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.

  For example, in the above-described embodiment, the storage location of the dangerous point information HD is the storage device 26. However, the storage location of the dangerous point information HD is not limited to the storage device 26. That is, the storage location of the dangerous point information HD may be various servers and storages provided outside the vehicle.

  In the above embodiment, the dangerous point information HD and the map data MD are stored in the storage device 26. However, the dangerous point information HD and the map data MD may be stored in different devices.

  In the above-described embodiment, the surrounding situation information is acquired by an in-vehicle sensor such as a millimeter wave radar device, a light wave radar device, a sonar, and an image sensor. However, the method for obtaining the surrounding situation information is not limited thereto. Instead, for example, the current position, the traveling direction, etc. may be acquired as the surrounding situation information from the other vehicle itself via the information communication device 22, or the pedestrian acquired from the roadside device using road-to-vehicle communication. The information may be peripheral situation information.

Furthermore, the information acquired via the information communication device 22 is not limited to the surrounding state information, and may include other information.
Further, in the driving support process of the above embodiment, the driving support device 40 has executed up to the driving support control. Until the determination (S370) may be used. That is, the execution itself of the driving support control (S370) may be executed by another device such as the vehicle control device 25.

In the above embodiment, the first reference value, the second reference value, and the third reference value are different values. However, the first reference value, the second reference value, and the third reference value are the same value. May be.
In the above embodiment, the occupant of the host vehicle is limited to the driver. However, the occupant in the present invention is not limited to the driver, and may be a person seated in the passenger seat or the rear seat.

  Furthermore, although the driving assistance apparatus 40 of the said embodiment has implement | achieved this invention because the CPU43 performs a dangerous point registration process and a driving assistance process, the method by which the driving assistance apparatus 40 implement | achieves this invention is demonstrated. This is not a limitation. For example, it may be realized by a dedicated circuit such as an ASIC.

  In addition, the driving support system 1 of the above embodiment is mounted on an automobile. However, the vehicle on which the driving support system 1 is mounted is not limited to an automobile, and any vehicle may be used.

  In addition, the aspect which abbreviate | omitted a part of structure of the said embodiment as long as the subject could be solved is also embodiment of this invention. Further, an aspect configured by appropriately combining the above embodiment and the modification is also an embodiment of the present invention. Moreover, all the aspects which can be considered in the limit which does not deviate from the essence of the invention specified by the wording described in the claims are the embodiments of the present invention.

  The reference numerals used in the description of the above embodiments are also used in the claims as appropriate, but they are used for the purpose of facilitating the understanding of the invention according to each claim, and the technical aspects of the invention according to each claim. It is not intended to limit the scope.

  DESCRIPTION OF SYMBOLS 1 ... Driving assistance system 3 ... Biometric information acquisition part 5 ... Vehicle behavior acquisition part 7 ... Peripheral condition information acquisition part 10 ... Navigation apparatus 21 ... Position detection apparatus 22 ... Information communication apparatus 23 ... Display apparatus 24 ... Audio | voice output apparatus 25 ... Vehicle Control device 26 ... Storage device 31 ... GPS receiver 32 ... Gyro sensor 33 ... Geomagnetic sensor 40 ... Navi ECU 41 ... ROM 42 ... RAM 43 ... CPU

Claims (5)

  1. A driving support device mounted on a vehicle,
    Own vehicle position acquisition means (21, 40, S110, S130) for acquiring the own vehicle position representing the current position of the own vehicle;
    Road information acquisition means (26, 40, S110, S130) for acquiring road information, which is information about roads around the vehicle position acquired by the vehicle position acquisition means;
    Surrounding situation acquisition means (7, 40, S110, S130) for obtaining surrounding situation information representing the surrounding situation of the host vehicle;
    Biometric information acquisition means (3, 40, S110, S130) for acquiring biometric information of an occupant of the host vehicle;
    A risk judging means (40, S120) for judging whether or not a tension level represented by the biometric information acquired by the biometric information acquiring means is equal to or higher than a risk reference value defined in advance as a level indicating the occurrence of danger; ,
    When the vehicle travels, information on a point with high risk is used as dangerous point information. Storage control means for creating the dangerous point information and storing it in the storage device (26) by associating the own vehicle position, the road information, and the surrounding situation information as configuration items at the above timing. (40, S140 to S180),
    The storage device acquires the own vehicle position, the road information, and the surrounding situation information acquired by each of the own vehicle position obtaining unit, the road information obtaining unit, and the surrounding situation obtaining unit along a time axis. If the correlation value is equal to or greater than a predetermined reference value defined in advance as a result of collating with each constituent item of the dangerous point information stored in the driving support control, the driving assistance control is performed so that the traveling safety of the host vehicle is improved. the driving support means (40, S320~S370) for executing and provided with,
    The road information is
    Including at least a road attribute and a road condition type,
    The road attributes include at least a road case, the number of lanes on the road, and a curvature,
    The road condition type includes the shape of the road,
    The surrounding situation information is
    Including the presence or absence of pedestrians around the host vehicle, the presence or absence of oncoming vehicles around the host vehicle, and the presence or absence of a preceding vehicle relative to the host vehicle,
    The storage control means
    Among the configuration items, the road attribute, the road situation type, the surrounding situation information, information that has been subjected to content quantification processing that integrates with common content as the dangerous point information,
    The content quantification process executed by the storage control means is:
    Each of the information which integrated the content which is common in the order of the said road attribute, the said road condition classification, and the said surrounding condition information is produced as the said dangerous point information, The driving assistance apparatus characterized by the above-mentioned .
  2. The driving support means includes
    The driving support control is executed if the tension level represented by the biological information acquired by the biological information acquisition means is less than a safety reference value defined in advance as a reference value that can ensure safety. The driving support device according to claim 1.
  3. The driving support means includes
    If at least one of the road information and the surrounding situation information is collated with a configuration item of the dangerous point information stored in the storage device, and the correlation value is equal to or greater than the specified reference value, the driving support The driving support device according to claim 2, wherein control is executed.
  4. Driving support apparatus according to any one of the previous SL hazard location information from claim 1, characterized in that the hierarchical structure to claim 3.
  5. Behavior information acquisition means (5, 40, S110, S130) for acquiring behavior information representing the behavior of the host vehicle,
    The storage control means
    If the behavior level acquired by the behavior information acquisition unit matches the dangerous behavior indicating the behavior of the vehicle in which the traveling of the host vehicle is dangerous when the tension level is less than the risk reference value, the dangerous point information the create and driving support device according to any one of claims 1, characterized in that stored in the storage device to the claim 4.
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US9134133B2 (en) * 2008-05-30 2015-09-15 Here Global B.V. Data mining to identify locations of potentially hazardous conditions for vehicle operation and use thereof
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