JP6098476B2 - Driving assistance device - Google Patents

Description

  The present invention relates to a driving support device that supports driving of a vehicle by a driver.

  There is known a technique for outputting a warning for prompting a driver to visually check an object in advance when there is an object to avoid contact such as a bicycle or a pedestrian in the traveling direction of the vehicle. . For example, when the vehicle makes a right or left turn, it is determined whether or not the driver's line-of-sight direction detected from the in-vehicle camera is directed to a confirmation area including at least the expected course. A device that outputs a warning prompting visual confirmation of an object when it is determined that the object has not been visually observed is known (see Patent Document 1).

JP 2008-97278 A

  However, in the case of the prior art, a confirmation area in which the driver's line-of-sight direction includes the predicted course is not in a situation where the vehicle and the object are close to each other, but also when the possibility of contact between the vehicle and the object is low. If it is not directed to, a warning will be output every time. As described above, when a warning is output every time regardless of the possibility of contact between the vehicle and the object, the driver's awareness of alerting may be reduced. Further, assuming that both the vehicle and the object are moving, it can be said that there is room for consideration in order to more appropriately warn the driver.

  The main object of the present invention is to provide a driving support device that can more appropriately implement a warning that prompts the driver to visually check an object in consideration of the relationship between the vehicle and the object.

  The present invention is a driving support device mounted on a vehicle, wherein vehicle speed determination means for determining that the vehicle is in a predetermined low speed state, and contact avoidance within a predetermined intersection area including the intersection and its surroundings. An object determination means for determining that a target object is present and the vehicle is approaching the object in the intersection area, and the vehicle is in a predetermined low speed state by the vehicle speed determination means. Warning that prompts the driver to visually check the object when it is determined that the vehicle is approaching the object in the intersection area by the object determining means. And a warning execution means for implementing the above.

  In the above invention, when it is determined that the vehicle is in a predetermined low-speed state and it is determined that the vehicle is approaching the object in the intersection area, the driver visually confirms the object. The warning is given to the driver so that the warning can be given in situations where there is a low alertness to the vehicle on the object side and there is a high possibility of contact within the intersection area. It is possible to increase the awareness of the alert. As described above, appropriate driving support can be implemented.

The block diagram which shows schematic structure of a driving assistance system. The flowchart of the driving assistance process of a driving assistance device. Explanatory drawing of the example of execution of a driving assistance process. The flowchart of the example of a change of a driving assistance process. The schematic block diagram of an electroencephalogram signal acquisition apparatus. The flowchart of the driving assistance process using an electroencephalogram signal.

  Hereinafter, the driving support apparatus according to the present embodiment will be described with reference to the drawings. When the vehicle enters the intersection area including the intersection and its surroundings in a predetermined low speed state, the driving support device of the present embodiment is in a situation where the object existing in the intersection area and the vehicle approach each other. The warning for prompting the driver to visually confirm the object is performed, and the warning is performed particularly when the driver does not visually confirm the object.

  FIG. 1 is a block diagram showing a schematic configuration of the driving support system. The driving support system includes a driving support ECU 10, an engine ECU 20, a navigation ECU 30, an image acquisition ECU 40, and a line-of-sight detection ECU 50. Each ECU10-50 is comprised as a known microcomputer provided with CPU, ROM, RAM, etc., and it is comprised so that each ECU10-50 can mutually communicate via predetermined communication protocols, such as CAN, via a communication line. ing.

  A vehicle speed sensor 21 is connected to the engine ECU 20. The engine ECU 20 controls the engine (not shown) based on the detection result of the vehicle speed by the vehicle speed sensor 21 and transmits the detection result (vehicle speed information) of the vehicle speed sensor 21 to the driving support ECU 10 and the navigation ECU 30.

  A GPS antenna 31 is connected to the navigation ECU 30. The navigation ECU 30 acquires the current location of the vehicle from the detection signal of the GPS antenna 31 and transmits it to the driving support ECU 10.

  The vehicle camera 41 is connected to the image acquisition ECU 40, and an image of the intersection area (image in the vehicle traveling direction) captured by the vehicle camera 41 is acquired and transmitted to the driving support ECU 10.

  An in-vehicle camera 51 (IR camera) is connected to the line-of-sight detection ECU 50. The in-vehicle camera 51 has an angle of view including the driver's face in the imaging range, and is provided in a sun visor, an A pillar, or the like in front of the driver's seat in the passenger compartment. The line-of-sight detection ECU 50 detects a driver's line-of-sight direction by performing image processing on a captured image (IR image) of the in-vehicle camera 51 and transmits the detected direction to the driving support ECU 10. The gaze direction is detected by, for example, obtaining the driver's pupil center and corneal center from the captured image, and calculating the driver's gaze direction by obtaining the position of the pupil relative to the position of corneal reflection (position on the cornea). . Note that the line-of-sight direction detection process is a well-known technique and will not be described in detail. For gaze detection, see, for example, JP-A-7-159317.

A display device 11 and a speaker 12 are connected to the driving assistance ECU 10. For example, the display device 11 is provided, for example, in an instrument panel portion (not shown) of a vehicle, and has a display screen that can be visually recognized by a driver during driving of the vehicle. As the display device 11, a head-up display or the like that superimposes and displays an image on the windshield of the vehicle may be used.
The driving support ECU 10 executes a driving support process described later based on input signals from the ECUs 20 to 50, thereby notifying the driver of the processing result via the display device 11 and the speaker 12.

  Next, a procedure of driving support processing executed by the driving support ECU 10 will be described. FIG. 2 is a flowchart of the driving support process. The following driving support processing is repeatedly executed while the driving support ECU 10 is activated.

  First, in step S10, the vehicle speed is acquired. In continuing step S11, it is determined whether the present location of a vehicle is an intersection area. Here, when the current location of the vehicle based on the reception signal of the GPS antenna 31 is within an intersection or a predetermined range from the intersection (for example, a range including a pedestrian crossing), the vehicle is determined to be within the intersection area. In addition, the area | region of an intersection is defined based on the road traffic law for every kind of intersection, for example, suppose that it is the range enclosed by the side edge line of the roadway. If the determination is affirmative, it is determined in step S12 whether the vehicle speed is in a predetermined low speed state. For example, it is determined whether the vehicle speed is a predetermined threshold value or less. For example, the threshold value is 10 km / h.

  If the determination is affirmative, the process proceeds to step S13, and a captured image in the intersection area is acquired. At this time, a captured image having an angle of view including at least the traveling direction of the vehicle 60 is acquired. In subsequent step S14, it is determined whether the current location of the vehicle is a warning execution position in the intersection. For example, it is assumed that the warning execution position is set at a position where a vehicle has traveled a predetermined distance after entering an intersection, or a position of several meters just before a pedestrian crossing. Whether or not it is a warning execution position is determined based on information on the current location of the vehicle based on the received signal of the GPS antenna 31. Or you may determine based on the elapsed time after a vehicle approached an intersection. If an affirmative determination is made, in a subsequent step S15, it is determined whether or not the object is included in the captured image in the acquired intersection area. The target object is extracted by collating information regarding the characteristics of the target object stored in the memory with the captured image.

  If the object is included and an affirmative determination is made, it is determined in a subsequent step S16 whether the vehicle and the object are in a close state. For example, the information on the position, speed, and moving direction of the object is acquired from the image captured by the camera 41 outside the vehicle, and the relative speed between the vehicle and the object is determined from the information such as the vehicle running speed (vehicle speed) and the right / left turn. A change in the relative distance is obtained, and it is determined whether or not the vehicle and the target object are in close proximity. If a positive determination is made, the process proceeds to step S17, and a warning that prompts the driver to visually confirm the object is output. For example, the type and direction of the object are output from the speaker 12 by voice. Alternatively, the position of the object may be indicated by image processing on the display screen (captured image) of the display device 11.

  In the subsequent step S18, the driver's line-of-sight direction is detected from the captured image of the in-vehicle camera 51. In a succeeding step S19, it is determined whether the driver visually confirms the object. That is, it is determined whether the driver's line-of-sight direction and the object do not match. For example, it is determined whether or not the visual confirmation has been made based on whether or not the driver's line of sight matches the object for a predetermined time (for example, 1 second). When it is determined that the driver has not visually confirmed the object, the process proceeds to step S20, and a predetermined warning sound is output from the speaker 12, for example.

  In addition, this process is complete | finished when negative determination is carried out by step S11, S12, S14-S16, S19.

  Next, an execution example of the above process will be described with reference to FIG. Here, an execution example of the driving support process when the vehicle 60 makes a right turn at an intersection will be described. Note that the driver turns on a right turn direction indicating means (for example, a blinker) when confirming an intersection that makes a right turn while traveling straight on the road, and decelerates the vehicle speed toward the right turn at the intersection.

  When the vehicle 60 reaches the point A at the boundary of the intersection area S, it is determined whether the vehicle 60 is in a predetermined low speed state. In this case, since the vehicle 60 is decelerated to change direction at the intersection, it is determined that the vehicle 60 is in a low speed state, and a process of detecting the object 61 from the captured image of the vehicle camera 41 is performed. Here, it is detected that there is a pedestrian as the object 61 on the right side crosswalk in the traveling direction of the vehicle 60. Then, when it is determined that the vehicle 60 and the object 61 are approaching from changes in the relative speed and the relative distance between the object 61 and the vehicle 60, the object 61 is confirmed from the speaker 12 to the driver. A warning sound is output to urge you.

  Thereafter, it is determined whether the current location of the vehicle 60 is a warning execution position in the intersection S1. When the current location of the vehicle 60 is the point B where the warning is performed, it is determined whether the driver has visually confirmed the object 61 between the time when the vehicle 60 enters the intersection S1 and the point B. . That is, it is determined whether or not the driver's line of sight matches the object 61 for a predetermined time. Here, if it is determined that the driver has not visually confirmed the object 61, a warning sound is output from the speaker 12. If it is determined that the driver is visually confirming the object 61, no warning sound is output. Thereafter, when the current location of the vehicle 60 is outside the intersection area S (point C), the driving support process ends.

  Note that when the current location of the vehicle 60 is within the intersection area S, the object 61 is detected, but if it is determined that the vehicle 60 and the object 61 are not in an approaching state, a warning prompting visual confirmation is output. Not.

  According to the above, the following excellent effects can be obtained.

  (1) While the vehicle 60 is traveling, when the vehicle speed of the vehicle 60 is in a low-speed state, the vehicle 60 on the side of a pedestrian, a bicycle, or the like is more alert than when the vehicle 60 is at a speed other than low speed. Even if the vehicle 60 is approaching, it is considered that the alertness to the vehicle 60 is low. Further, from the vehicle 60 side, when the low-speed vehicle 60 enters the intersection area S, when the vehicle 60 enters the intersection area S, the vehicle 60 is crossed by a right or left turn (a place where a pedestrian or the like actually exists). It is conceivable that the degree of approach to pedestrians, bicycles, etc. will change due to a time difference from the point in time at which it reaches). In such a case, the possibility that the vehicle 60 comes into contact with a pedestrian, a bicycle, or the like increases.

  On the other hand, when an object 61 such as a pedestrian or a bicycle is present in the intersection area S, a warning is given to the vehicle 60 so that the driver can visually confirm the object 61 by the warning. It is possible to do. However, if the warning is performed every time the target 61 exists, in other words, if the warning is performed every time regardless of the possibility of contact, the driver's awareness of alerting may be reduced. Concerned.

  In this regard, in the above configuration, when it is determined that the vehicle 60 is in a predetermined low speed state and it is determined that the vehicle 60 is approaching the object 61 in the intersection area S, driving is performed. Since the warning for urging the person to visually check the object 61 is implemented, the alertness to the vehicle 60 is low on the object 61 side and the possibility of contact in the intersection area S is high. This makes it possible to implement warnings on the road and raise the driver's awareness of alerting. As described above, appropriate driving support can be implemented.

  (2) When the vehicle 60 is in a low speed state and the current location of the vehicle 60 is in the intersection area S, the vehicle 61 is approaching the object 61 detected in the intersection area S. In this case, if the driver does not visually check the object 61, a warning for avoiding contact between the object 61 and the vehicle 60 is output. In this case, no warning is output when it is determined that the driver is visually checking. Thereby, unnecessary alerting to the driver can be suppressed, and the driver's awareness of alerting can be increased.

(3) When the driver's line-of-sight direction does not coincide with the object 61 and the driver cannot visually confirm the object 61, a warning for avoiding contact between the object 61 and the vehicle 60 is issued. Added output. In this case, since the warning is not output when the driver can visually confirm the object 61, the driver can be alerted more appropriately and the driver's awareness of the alert can be increased. be able to.
[Other Embodiments]
The present invention is not limited to the description of the above embodiment, and may be implemented as follows.

  -Driving assistance may be implemented based on intersection information such as the size and form of the intersection S1. For example, in the case of an intersection S1 with a large number of lanes and a large scale, or an intersection S1 with a large number of road branches and a complicated shape, it is assumed that the driver is likely to overlook the object 61. On the other hand, in the case of the intersection S1 having a relatively small scale or the intersection S1 having a simple shape (for example, a T-junction or the like), it is assumed that the driver is less likely to overlook the object 61. Therefore, when the size of the intersection S1 is large or the like, a determination for performing a warning for prompting the visual determination of the object 61 is performed. On the other hand, when the size of the intersection S1 is small, the determination for performing the warning for prompting the visual determination of the object 61 is not performed.

  FIG. 4 shows a flowchart of a modified example of the driving support device. In FIG. 4, the same processes as those in the flowchart of FIG. 2 are denoted by the same reference numerals, and detailed description thereof is omitted here. In this process, when it is determined in step S11 that the current location of the vehicle 60 is in the intersection area S, intersection information is acquired in the subsequent step S30. For example, the intersection information such as the size and form of the intersection S1 is acquired based on the detection signal from the GPS antenna 31. In a succeeding step S31, it is determined whether or not the size of the intersection S1 is large. For example, it is determined that the size of the intersection S1 is large when the number of lanes at the intersection S1 is a predetermined number or more (for example, three lanes or more), or when the number of road branches is a predetermined number or more (for example, five or more roads). If a positive determination is made, the process proceeds to step S12. If it is determined that the size of the intersection S1 is small, the present process is terminated. By doing in this way, according to intersection S1, the warning which prompts the driver | operator to visually confirm the target object 61 can be implemented more appropriately.

  -The warning execution position in the intersection S1 may be determined according to the type of the intersection S1. For example, when the size of the intersection S1 is relatively large, it takes a relatively long time for the vehicle 60 and the object 61 to come into contact with each other when the vehicle 60 and the object 61 are in close proximity. Is assumed. On the other hand, when the size of the intersection S1 is relatively small, the time until the vehicle 60 and the object 61 are brought into contact with each other when the vehicle 60 and the object 61 are close to each other is relatively short. It is assumed that Therefore, in the case of the intersection S1 having a large scale, the elapsed time from when the vehicle 60 enters the intersection S1 until it is determined to be the warning execution position is set to be relatively long. On the other hand, when the size of the intersection S1 is small, the elapsed time from when the vehicle 60 enters the intersection S1 until it is determined to be the warning execution position is set to be relatively short. By doing in the above way, a warning can be implemented at a more appropriate timing according to the kind of intersection S1.

  The driver's line-of-sight direction may be determined from the captured image of the driver's head captured by the in-vehicle camera 51. For example, both movements of the head and the eyeball may be acquired from the captured image of the driver's head captured by the in-vehicle camera 51, and the driver's line-of-sight direction may be determined from the detection result. Alternatively, it is also possible to acquire only the movement of the head and determine whether or not the driver's line of sight is directed toward the object 61 from the movement of the head.

  The determination as to whether the driver has visually confirmed the object 61 may be made using the brain wave signal of the driver. FIG. 5 shows an example of an electroencephalogram signal acquisition apparatus that acquires an electroencephalogram signal. The electroencephalogram signal acquisition device 70 is an imaging device 71 that images the outside world (in front of the driver), an electrode 72 that is fixed to the driver's head and acquires the driver's brain wave signal, an imaging device 71, and an electrode 72. A frame 73 in the shape of a eyeglass, which is a support for fixing the position, and a control unit 74 for obtaining a change in an electroencephalogram signal detected by an image taken by the imaging device 71 and the electrode 72. When the driver runs the vehicle, the frame 73 of the electroencephalogram signal acquisition device 70 is attached in front of the driver's eyes, and the electrode 72 is fixed to the head.

  FIG. 6 shows a flowchart in the case of visually confirming the driver using an electroencephalogram signal. In FIG. 6, the same processes as those in the flowchart of FIG. 2 are denoted by the same reference numerals, and detailed description thereof is omitted here. First, in step S40, an electroencephalogram signal is acquired from the detection signal of the electrode 72. In subsequent step S10, the vehicle speed is acquired. Then, by making a positive determination in subsequent steps S11 to S18, it is determined in subsequent step S19 whether the driver's line-of-sight direction and the object 61 are inconsistent. If the line-of-sight direction and the object 61 do not match, the process proceeds to step S20. On the other hand, if the line-of-sight direction and the object 61 coincide with each other, the process proceeds to step S41 to determine whether or not there is a predetermined change in the electroencephalogram signal. For example, information on the change in the electroencephalogram signal that occurs when the driver recognizes the object 61 is stored in the memory in advance, and it is determined whether there is no change in the electroencephalogram signal from comparison with the change information on the electroencephalogram signal. judge. If there is no change in the electroencephalogram signal and an affirmative determination is made, the process proceeds to step S20, and a warning is performed. If a negative determination is made, this process ends.

  By using the driver's brain wave signal in this way, the driver's line of sight matches the object 61, but if the driver's brain wave signal has not undergone a predetermined change, the driver will be the target. It can be determined that the object 61 is not recognized, and a warning can be implemented in this case. By determining whether or not to issue a warning based on whether the driver recognizes the target object 61 as well as whether the driver's line of sight matches the target object 61, Warnings that prompt visual confirmation can be implemented more appropriately.

  In addition to the camera 41 outside the vehicle, the object 61 may be detected using a detection device that can detect the direction and distance of the object 61 present in the traveling direction of the vehicle 60. For example, the object 61 may be acquired from the detection result of an ultrasonic device or radar.

  When a plurality of objects 61 are detected when the vehicle 60 enters the intersection area S, a warning output determination for the object 61 that is most likely to be approached to the vehicle 60 is performed. Like that. For example, based on the relative speed and relative distance between each object 61 and the vehicle 60, the objects 61 are prioritized in the order of the highest possibility of approaching the vehicle 60. In this case, a warning for avoiding contact with the object 61 is output based on the determination result of whether or not the visual confirmation of the object 61 with a high priority is performed. Note that the approaching situation between the vehicle 60 and each object 61 changes with time. Therefore, it is preferable that the priority order of each object 61 is updated in accordance with a change in the approaching situation with respect to the vehicle 60.

  In a situation where the vehicle 60 and the object 61 are close to each other and the relative speed is high, there is a high possibility that the vehicle 60 and the object 61 come into contact with each other. Therefore, when the relative speed between the vehicle 60 and the object 61 in the approaching state is fast, the warning level is set to be high so that the driver is alerted. Can be promoted more suitably. Even when a warning is output using the display device 11, the display state (such as character size) may be changed according to the possibility of the vehicle 60 and the object 61 coming into contact with each other.

  -At intersection S1, based on the direction indication state of the direction indication means (for example, blinker) of the vehicle 60, you may determine that it is in the condition where the vehicle 60 is approached with respect to the target object 61. FIG. That is, when a right turn or a left turn instruction is given at the intersection S1 where there is a traffic light and a pedestrian crossing, and a right turn or a left turn is made with a green light, there is a high possibility that the pedestrian crosses the pedestrian crossing. Therefore, in such a case, it may be determined that the vehicle 60 is in a situation in which the vehicle 60 is approaching the object 61.

  DESCRIPTION OF SYMBOLS 10 ... Driving assistance ECU, 11 ... Display apparatus, 12 ... Speaker, 21 ... Vehicle speed sensor, 31 ... GPS antenna, 40 ... Image acquisition ECU, 50 ... Eye-gaze detection ECU, 51 ... In-vehicle camera, 60 ... Vehicle, 70 ... EEG signal Acquisition device, 71... Photographing device.

Claims (7)

A driving support device (10) mounted on a vehicle (60),
Vehicle speed determination means for determining that the vehicle is in a predetermined low speed state;
It is determined that there is an object to avoid contact in a predetermined intersection area including the intersection and its surroundings, and that the vehicle is approaching the object in the intersection area. An object determination means to perform,
The vehicle speed determining means determines that the vehicle is in the predetermined low speed state, and the object determining means determines that the vehicle is in a state of approaching the object within the intersection area. Warning execution means for executing a warning prompting the driver to visually check the object when
Equipped with a,
The warning execution means makes a determination to execute a warning prompting the visual confirmation when the number of lanes at the intersection is greater than or equal to a predetermined value. A driving support device that prevents a determination to perform a warning prompting confirmation from being performed . The vehicle speed determining means determines that the vehicle is in the predetermined low speed state, and the object determining means determines that the vehicle is in a state of approaching the object within the intersection area. A visual judgment means for judging whether or not the driver visually confirms the object,
The driving support device according to claim 1, wherein the warning execution unit performs the warning when the visual determination unit determines that the driver has not visually confirmed the object. Provided with gaze direction judging means (50) for judging the direction of the driver's gaze,
The visual determination means, when the line-of-sight direction determined by the line-of-sight direction determination means matches the direction in which the object exists, based on the time when the line-of-sight matches, The driving support device according to claim 2, wherein it is determined whether or not the object is visually confirmed. A position determination unit that determines an execution position of the warning in the intersection area and determines whether the vehicle has reached the execution position when the vehicle enters the intersection area;
The driving assistance apparatus according to claim 2 or 3, wherein the visual determination unit is configured to determine the visual confirmation when the vehicle reaches the warning execution position. The acquisition means (30) which acquires the intersection information about the size and form of the intersection in the intersection area,
The position determination means determines an execution position of the warning based on the intersection information, and determines whether or not the execution position is reached when the vehicle enters the intersection area. The driving assistance apparatus as described. An electroencephalogram measuring means (70) for measuring the electroencephalogram of the driver while driving the vehicle;
An electroencephalogram determination means (74) for determining a change in electroencephalogram measured by the electroencephalogram measurement means;
With
The warning executing means determines that the warning is determined by the visual determination means when the driver visually confirms the object and the brain wave determination means determines that a predetermined change in the electroencephalogram has not occurred. The driving support device according to any one of claims 2 to 5, wherein: An electroencephalogram measuring means (70) for measuring the electroencephalogram of the driver while driving the vehicle;
The vehicle speed determining means determines that the vehicle is in the predetermined low speed state, and the object determining means determines that the vehicle is in a state of approaching the object within the intersection area. An electroencephalogram determination means (74) for determining whether or not a predetermined change has occurred in the electroencephalogram measured by the electroencephalogram measurement means,
With
The driving support device according to claim 1, wherein the warning execution unit performs the warning when the brain wave determination unit determines that the predetermined change has not occurred in the brain wave.

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