JP6107105B2 - Driving assistance device - Google Patents

Description

  The present invention relates to a driving support apparatus that causes an alarm operation to be performed by an alarm operation unit such as a surrounding vehicle of a host vehicle or a facility around a road according to a driver's physical condition that affects the safe driving of the host vehicle.

Conventionally, there has been proposed an alarm device provided with alarm means for determining a driver's arousal level from a driver's blink captured by a vehicle interior camera and issuing a warning to the driver when a decrease in the driver's arousal level is detected. Yes.
In such an alarm device, it has been proposed to alert the operation manager or surrounding vehicles by wirelessly transmitting information about the history of detecting a decrease in arousal level or the history of issuing an alarm to surrounding vehicles. (See Patent Document 1).

JP 2008-23086 A

However, in the above prior art, the warning operation for the driver is to decelerate the vehicle speed, to accelerate or decelerate the vehicle speed in a short time, or to fluctuate the engine speed in a short time. It remains to change the behavior.
For this reason, even if the driver notices a change in the behavior of the host vehicle, driving assistance is not provided, so there is room for improvement in securing the safety of the host vehicle.
The present invention has been made in view of such circumstances, and its purpose is to ensure safety by accurately providing driving assistance according to the physical condition of the driver that affects safe driving of the host vehicle. An object of the present invention is to provide a driving support device that is advantageous for the purpose.

In order to achieve the above object, a driving support apparatus according to the present invention includes a driver state detecting unit that detects a physical state of a driver that affects safe driving of the host vehicle, and a driver that detects position information of the host vehicle. The vehicle position detection means, the alarm action part position detection means for detecting the position of the alarm action part located in the vicinity of the host vehicle, and the detected physical condition of the driver does not satisfy a predetermined criterion An alarm that causes the alarm operation unit to execute an alarm operation that alerts the driver of the own vehicle based on the position information of the own vehicle and the position information of the alarm operation unit when an alarm operation condition is satisfied Control means , wherein the alarm operation unit is a facility around a road on which the host vehicle travels, and the alarm control unit includes a travel speed of the host vehicle, position information of the host vehicle, and the alarm operation unit. With position detection means Together with the vehicle on the basis of the position information of the equipment issued calculates the passage time indicating the time when passing near portion of the plant to execute the alarm operation in the equipment to the passage time, and this It is characterized by.

According to the present invention, when a driver's physical condition affecting the safe driving of the host vehicle is detected, and an alarm action condition is established that the detected driver's physical condition does not satisfy a predetermined criterion In addition, based on the position information of the own vehicle and the position information of the alarm operation unit, the alarm operation unit is caused to execute an alarm operation that alerts the driver of the own vehicle.
Therefore, it is advantageous in ensuring safety by providing driving support accurately according to the physical condition of the driver that affects the safe driving of the host vehicle .
According to the present invention, when the alarm operation unit is a facility around the road on which the host vehicle travels, it is possible to provide safe driving by accurately providing driving support according to the physical condition of the driver that affects the safe driving of the host vehicle. It is advantageous in securing the property.
According to the present invention, since the alarm control means provided in the host vehicle sends alarm instruction information for executing an alarm operation via road-to-vehicle communication to the equipment, the equipment required on the equipment side can be minimized.
According to the present invention, since the alarm operation is performed in accordance with the time when the host vehicle passes through a location near the facility, it is advantageous in effectively alerting the driver of the host vehicle.
According to the present invention, since the alarm control means includes the information sending means provided in the own vehicle and the equipment vehicle control means provided in the equipment, the processing capacity on the own vehicle side is reduced. Therefore, it is advantageous in reducing the component cost.
According to the present invention, since the alarm operation is performed in accordance with the time when the host vehicle passes through a location near the facility, it is advantageous in effectively alerting the driver of the host vehicle.
According to the present invention, as a warning operation, the lighting of the street lights, flashing, or the display of the electric bulletin board, or to perform the generating a warning sound from the speakers, effectively attention to the driver of the vehicle It is advantageous to arouse.
According to the present invention, as the driver's physical state affecting the safe driving of the host vehicle, the driver's awakening state, the driver's saddle state, the driver's side-viewing state, the driver's operating state of the driving operation member At least one can be taken into consideration to alert the driver of the host vehicle.

It is a block diagram which shows the structure of 10 A of driving assistance apparatuses which concern on 1st Embodiment. 3 is a block diagram showing a configuration of a peripheral vehicle 4. FIG. It is a flowchart which shows operation | movement of 10 A of driving assistance apparatuses which concern on 1st Embodiment. It is explanatory drawing which shows the Example of 10 A of driving assistance apparatuses which concern on 1st Embodiment, (A) shows the state where the surrounding vehicle 4 is located ahead of the own vehicle 2, (B) is a surrounding vehicle. 4 shows a state in which the position of the vehicle 4 is detected, (C) shows a state in which alarm command information for executing an alarm operation is sent from the own vehicle 2 to the surrounding vehicle 4, and (D) shows that the surrounding vehicle 4 Indicates the state in which the alarm action is executed. It is a block diagram which shows the structure of the part provided in the own vehicle 2 side among the driving assistance apparatuses 10B which concern on 2nd Embodiment. It is a block diagram which shows the structure of the part provided in the surrounding vehicle 4 side among the driving assistance apparatuses 10B which concern on 2nd Embodiment. It is a flowchart which shows operation | movement of the driving assistance apparatus 10B which concerns on 2nd Embodiment. It is a block diagram which shows the structure of 10 C of driving assistance apparatuses which concern on 3rd Embodiment. 2 is a block diagram showing a configuration of equipment 6. FIG. It is a flowchart which shows operation | movement of 10 C of driving assistance apparatuses which concern on 3rd Embodiment. It is a block diagram which shows the structure of the part provided in the own vehicle 2 side among the driving assistance apparatuses 10D which concern on 4th Embodiment. It is a block diagram which shows the structure of the part provided in the installation 6 side among the driving assistance apparatuses 10D which concern on 4th Embodiment. It is a flowchart which shows operation | movement of the driving assistance apparatus 10D which concerns on 4th Embodiment.

(First embodiment)
Next, embodiments of the present invention will be described with reference to the drawings.
In the first embodiment, a case where the driving support device is provided in the own vehicle and the alarm operation unit is a surrounding vehicle will be described.
FIG. 1 is a block diagram showing a configuration of a driving support apparatus 10A according to the first embodiment, and FIG. 2 is a block diagram showing a configuration of a surrounding vehicle 4.
As shown in FIG. 1, the driving support device 10A is mounted on the host vehicle 2, and includes a camera 12, a wakefulness detection unit 14, a positioning unit 16, an illuminance sensor 18, an inter-vehicle communication unit 20, The driving support ECU 22 is included.

The camera 12 captures the blink of the driver seated in the driver's seat of the host vehicle 2 and generates image information thereof.
The arousal level detection unit 14 detects the driver's arousal level by analyzing image information supplied from the camera 12 and generates arousal level data. The arousal level data is expressed as a higher numerical value as the arousal level is higher, for example, level 1 to level 10.
Therefore, in the present embodiment, the camera 12 and the arousal level detection unit 14 function as a driver state detection unit that detects the physical state of the driver that affects the safe driving of the host vehicle 2.

The positioning unit 16 specifies the current position of the host vehicle 2 in accordance with a positioning signal received from a positioning satellite such as a GPS satellite, and generates position information of the host vehicle 2 in the form of coordinate data indicated by, for example, latitude and longitude. It is.
Therefore, in the present embodiment, the positioning unit 16 functions as own vehicle position detecting means for detecting the position of the own vehicle 2.

The illuminance sensor 18 detects illuminance in the surrounding environment of the host vehicle 2.
The inter-vehicle communication unit 20 exchanges information with the surrounding vehicle 4 located around the host vehicle 2 by inter-vehicle communication. The range that can be communicated by inter-vehicle communication is, for example, within a circle having a radius of about 200 m centering on the own vehicle 2 if the communication state is good.
The inter-vehicle communication is always performed between the own vehicle 2 and the surrounding vehicle 4.

The driving support ECU 22 receives the arousal level data detected by the arousal level detection unit 14, the position data of the host vehicle 2 generated by the positioning unit 16, and the illuminance data detected by the illuminance sensor 18, and the inter-vehicle communication unit 20. The information is exchanged with the surrounding vehicle 4 of the host vehicle 2 via the vehicle, and control for causing the surrounding vehicle 4 to perform an alarm operation is performed.
The driving support ECU 22 includes a CPU, a ROM that stores and stores a control program, a RAM as an operation area of the control program, an EEPROM that holds various data in a rewritable manner, an interface unit that interfaces with peripheral circuits, and the like. Composed.
As shown in FIG. 1, the CPU functions as the alarm operation unit position detection unit 22A and the alarm control unit 22B when the control program is executed.

  The alarm operation unit position detection means 22 </ b> A detects the position of the surrounding vehicle 4 as an alarm operation unit located around the host vehicle 2 via the inter-vehicle communication unit 20.

The alarm control means 22B determines that the alarm operation condition is satisfied when the arousal level data detected by the arousal level detection unit 14, that is, the driver's physical condition does not satisfy a predetermined criterion. For example, if the determination criterion of the arousal level is level 5, if the arousal level data falls below level 5, it is determined that the alarm action condition is satisfied.
Then, the alarm control unit 22B alerts the driver of the host vehicle 2 to the driver of the host vehicle 2 based on the position information of the host vehicle 2 and the position information of the surrounding vehicle 4 when the alarm operation condition is satisfied. An alarm action is executed.
In the present embodiment, the alarm control unit 22B sends alarm instruction information for executing an alarm operation to the surrounding vehicle 4 via inter-vehicle communication.

Next, the alarm operation performed by the surrounding vehicle 4 will be specifically described.
When the alarm control means 22B determines that the surrounding vehicle 4 is located in front of the own vehicle 2 based on the position information of the own vehicle 2 and the position information of the surrounding vehicle 4 as shown in FIG. As an alarm operation, alarm instruction information for turning on or blinking the brake lamp 28 of the surrounding vehicle 4 is sent to the surrounding vehicle 4 via inter-vehicle communication.
Further, the alarm control means 22B includes a distance between the own vehicle 2 obtained based on the position information of the own vehicle 2 and the position information of the surrounding vehicle 4 and the surrounding vehicle 4 positioned in front of the own vehicle 2, or an illuminance sensor. The warning instruction information for adjusting the light quantity of the brake lamp 28 of the surrounding vehicle 4 or the blinking pattern of the brake lamp 28 according to the illuminance of the surrounding environment of the host vehicle 2 detected in 18 is transmitted via the inter-vehicle communication. It is sent to the vehicle 4.
Specifically, the light amount of the brake lamp 28 is reduced as the distance to the surrounding vehicle 4 located in front of the host vehicle 2 approaches, and the brake is increased as the distance from the surrounding vehicle 4 positioned in front of the own vehicle 2 increases. The light quantity of the lamp 28 is increased.
In addition, the blinking pattern of the brake lamp 28 is made gentler as the distance to the surrounding vehicle 4 located in front of the own vehicle 2 becomes closer, and the distance from the surrounding vehicle 4 located in front of the own vehicle 2 is separated. The blinking pattern of the brake lamp 28 becomes intense as the number of times increases.
Further, the light amount of the brake lamp 28 is decreased as the illuminance of the surrounding environment of the host vehicle 2 is lower, and the light amount of the brake lamp 28 is increased as the illuminance of the surrounding environment of the host vehicle 2 is higher.
In addition, the blinking pattern of the brake lamp 28 is made gentler as the illuminance in the surrounding environment of the host vehicle 2 is lower, and the blinking pattern of the brake lamp 28 is made stronger as the illuminance in the surrounding environment of the own vehicle 2 is increased. To do.
Adjusting the amount of light and the blinking pattern of the brake lamp 28 in this way is advantageous in ensuring that the driver of the host vehicle 2 recognizes the alarm operation without giving an excessive stimulus to the driver of the host vehicle 2 and being surprised. Become.

Further, the alarm control means 22B indicates that the host vehicle 2 that should pay attention to the driver of the surrounding vehicle 4 behind the surrounding vehicle 4 is traveling when the surrounding vehicle 4 performs an alarm operation. Notification command information for notification is sent to surrounding vehicles 4 via inter-vehicle communication.
As a result, as shown in FIG. 2, the driver of the surrounding vehicle 4 is placed behind the surrounding vehicle 4 by using a display unit 32 and a speaker 34 that are provided in the surrounding vehicle 4 as notification means described later. It is notified that the host vehicle 2 to which attention should be paid is running.
Accordingly, the driver of the surrounding vehicle 4 traveling in front of the host vehicle 2 can be urged to perform a defense operation, which is advantageous in improving safety.

Further, when it is determined that the surrounding vehicle 4 is located in front of the own vehicle 2 based on the position information of the own vehicle 2 and the position information of the surrounding vehicle 4, the alarm control unit 22 </ b> B is shown in FIG. 2. Thus, the brake control command information for controlling the braking device 36 of the surrounding vehicle 4 so as to suppress the sudden braking in the surrounding vehicle 4 is sent to the surrounding vehicle 4 via the inter-vehicle communication.
Thereby, the braking device 36 of the surrounding vehicle 4 adjusts the degree of generation of the braking force when the brake pedal is operated so as to suppress sudden braking.
Therefore, sudden braking by the driver of the surrounding vehicle 4 traveling in front of the host vehicle 2 can be suppressed, which is advantageous in improving safety.
Even when the surrounding vehicle 4 receives the braking control command information via the inter-vehicle communication, if the driver of the surrounding vehicle 4 truly performs sudden braking to avoid danger, sudden braking is performed. Of course, it may be acceptable. For example, if the driving support ECU 38 of the surrounding vehicle 4 monitors the brake pressure information of the surrounding vehicle 4 and detects a brake pressure that is equal to or higher than a predetermined threshold value, it is possible to truly perform sudden braking for avoiding danger. Even if it is judged and braking control command information is received, sudden braking of the surrounding vehicle 4 may be permitted.

Further, the warning control means 22B, when it is determined that the surrounding vehicle 4 is located behind the own vehicle 2 based on the position information of the own vehicle 2 and the position information of the surrounding vehicle 4, Alarm instruction information for turning on or blinking the headlamp 30 of the surrounding vehicle 4 is sent to the surrounding vehicle 4 via inter-vehicle communication.
Further, the alarm control means 22B is configured such that the light amount of the headlamp 30 or the flashing pattern according to the distance between the host vehicle 2 and the surrounding vehicle 4 located behind the host vehicle 2 or the illuminance of the surrounding environment of the host vehicle 2. Is sent to the surrounding vehicle 4 via inter-vehicle communication.
Specifically, as in the case of the brake lamp 28, the light amount of the headlamp 30 of the surrounding vehicle 4 is decreased as the distance from the surrounding vehicle 4 located behind the own vehicle 2 approaches, and the rear of the own vehicle 2 is increased. The light quantity of the headlamp 30 is increased as the distance from the surrounding vehicle 4 is increased.
Further, as in the case of the brake lamp 28, the blinking pattern of the headlamp 30 becomes gentler as the distance from the surrounding vehicle 4 located behind the host vehicle 2 becomes closer, and the position of the head lamp 30 is increased. The blinking pattern of the headlamp 30 becomes more intense as the distance from the surrounding vehicle 4 is increased.
Further, the light intensity of the headlamp 30 is decreased as the illuminance of the surrounding environment of the host vehicle 2 is lower, and the light amount of the headlamp 30 is increased as the illuminance of the surrounding environment of the host vehicle 2 is higher.
Further, the blinking pattern of the headlamp 30 is made gentler as the illuminance in the surrounding environment of the host vehicle 2 is lower, and the blinking pattern of the headlamp 30 is made stronger as the illuminance in the surrounding environment of the own vehicle 2 is increased. To do.
Adjusting the amount of light and the blinking pattern in this manner is advantageous in reliably allowing the driver of the host vehicle 2 to recognize the alarm operation without giving a surprise to the driver of the host vehicle 2 and being surprised.

Further, the warning control means 22B determines that the surrounding vehicle 4 is located when the surrounding vehicle 4 is located behind the own vehicle 2 based on the position information of the own vehicle 2 and the position information of the surrounding vehicle 4. Notification command information for notifying the driver that the host vehicle 2 that should pay attention to the front of the surrounding vehicle 4 is traveling is transmitted to the surrounding vehicle 4 via inter-vehicle communication.
Thereby, in the surrounding vehicle 4, attention is given to the driver of the surrounding vehicle 4 in front of the surrounding vehicle 4 by using a display unit 32 and a speaker 34 that are provided in the surrounding vehicle 4 as a notification means described later. The fact that the host vehicle 2 to be paid is traveling is notified.
Accordingly, the driver of the surrounding vehicle 4 traveling behind the host vehicle 2 can be urged to perform a defense operation, which is advantageous in improving safety.

Next, the surrounding vehicle 4 located around the own vehicle 2 will be described.
As shown in FIG. 2, the surrounding vehicle 4 includes an inter-vehicle communication unit 24, a positioning unit 26, a brake lamp 28, a headlamp 30, a display unit 32, a speaker 34, a braking device 36, and driving assistance. ECU38 is comprised.

The inter-vehicle communication unit 24 of the peripheral vehicle 4 performs inter-vehicle communication in the same manner as the inter-vehicle communication unit 20 of the host vehicle 2.
The positioning unit 26 of the surrounding vehicle 4 generates position information of the surrounding vehicle 4 in the same manner as the positioning unit 16 of the host vehicle 2.
The brake lamp 28 is turned on in response to the operation of the brake pedal. In this embodiment, the brake lamp 28 is configured to be turned on and off by the control of the driving support ECU 38 of the surrounding vehicle 4.
The headlamp 30 is lit and extinguished in response to the switch operation. In the present embodiment, the headlamp 30 is configured to be lit and flashed by the control of the driving support ECU 38 of the surrounding vehicle 4. Yes.
The display unit 32 is arranged at a place where the driver can visually recognize and displays characters, images, and the like. In the present embodiment, the vehicle (automatically) moves forward or backward under the control of the driving support ECU 38 of the surrounding vehicle 4. It is configured to display information indicating that the vehicle 2) is located.
The speaker 34 generates voice guidance, warning sound, and the like for the driver. In the present embodiment, the vehicle (the host vehicle 2) is positioned forward or backward by the control of the driving support ECU 38 of the surrounding vehicle 4. It is configured to generate information indicating that it is doing.
Although the braking device 36 performs a braking operation by operating the brake pedal, in this embodiment, the braking force when the brake pedal is operated so as to suppress sudden braking by the control of the driving support ECU 38 of the surrounding vehicle 4. The degree of occurrence is adjusted.
The driving assistance ECU 38 of the surrounding vehicle 4 receives the position data of the surrounding vehicle 4 generated by the positioning unit 26 and also exchanges information with the own vehicle 2 via the inter-vehicle communication unit 24. Control.
Similar to the driving support ECU 22 of the host vehicle 2, the driving support ECU 38 of the surrounding vehicle 4 stores a CPU, a ROM that stores and stores a control program, a RAM as an operation area of the control program, and an EEPROM that stores various data in a rewritable manner. And an interface unit for interfacing with peripheral circuits and the like.
The CPU functions by executing the control program.

Next, operation | movement of 10 A of driving assistance apparatuses is demonstrated with reference to the flowchart of FIG.
The driving support ECU 22 of the host vehicle 2 repeatedly executes the process of FIG.
First, the driving support ECU 22 of the host vehicle 2 determines whether or not an alarm operation condition that the arousal level does not satisfy a predetermined criterion is established based on the arousal level data supplied from the arousal level detection unit 14. (Step S10).
If the alarm operation condition is not satisfied, the following processing is skipped.
If the alarm operation condition is satisfied, the driving support ECU 22 of the host vehicle 2 detects the position of the host vehicle 2 from the positioning unit 16 (step S12), and the surrounding vehicle 4 determines the position of the surrounding vehicle 4 via inter-vehicle communication. The position is detected (step S14).
Next, the driving support ECU 22 of the host vehicle 2 calculates the positional relationship between the host vehicle 2 and the surrounding vehicle 4 based on the position information of the host vehicle 2 and the position information of the surrounding vehicle 4 (step S16).

Next, based on the positional relationship between the host vehicle 2 and the surrounding vehicle 4, it is determined whether the surrounding vehicle 4 is a preceding vehicle positioned in front of the host vehicle 2 (step S18).
If the surrounding vehicle 4 is a preceding vehicle, the driving support ECU 22 of the host vehicle 2 sends alarm command information for instructing to turn on or blink the brake lamp 28 to the surrounding vehicle 4 via inter-vehicle communication (step S20).
As a result, the driving support ECU 38 of the surrounding vehicle 4 (preceding vehicle) that has received the warning command information causes the brake lamp 28 to be turned on or blinked, and performs an alarm operation that alerts the driver of the host vehicle 2.
Furthermore, the driving support ECU 22 of the host vehicle 2 sends notification command information for notifying that the host vehicle 2 that should pay attention to behind the surrounding vehicle 4 (preceding vehicle) is traveling through inter-vehicle communication. It is sent to the vehicle 4 (preceding vehicle) (step S22). As a result, in the surrounding vehicle 4 (preceding vehicle), a notification that the host vehicle 2 that should pay attention to behind the surrounding vehicle 4 is traveling is made.
Further, the driving support ECU 22 of the host vehicle 2 transmits the braking control command information for controlling the braking device 36 of the surrounding vehicle 4 (preceding vehicle) so as to suppress sudden braking in the surrounding vehicle 4 (preceding vehicle). To the surrounding vehicle 4 (preceding vehicle) (step S24). Thereby, sudden braking of the surrounding vehicle 4 (preceding vehicle) is suppressed. Then, the process ends.

On the other hand, if it is determined in step S18 that the surrounding vehicle 4 is not a preceding vehicle, is the surrounding vehicle 4 a succeeding vehicle positioned behind the own vehicle 2 based on the positional relationship between the own vehicle 2 and the surrounding vehicle 4? It is determined whether or not (step S26). If it is not a following vehicle, the following processing is skipped.
If the surrounding vehicle 4 is a succeeding vehicle, the driving support ECU 22 of the host vehicle 2 sends alarm command information for instructing to turn on or blink the headlamp 30 to the surrounding vehicle 4 via inter-vehicle communication (step S28).
As a result, the driving support ECU 38 of the surrounding vehicle 4 (following vehicle) that has received the warning command information causes the headlamp 30 to light up or blink, and executes an alarm operation that alerts the driver of the host vehicle 2.
Further, the driving support ECU 22 of the host vehicle 2 provides notification command information for notifying the surrounding vehicle 4 (following vehicle) that the host vehicle 2 that should pay attention to the front of the surrounding vehicle 4 is traveling. It sends out to the surrounding vehicle 4 (following vehicle) via inter-vehicle communication (step S30). As a result, in the surrounding vehicle 4 (following vehicle), notification is made that the host vehicle 2 that should pay attention to the front of the surrounding vehicle 4 is traveling. Then, the process ends.

Next, an embodiment will be described with reference to FIG. In the figure, symbol R indicates a road, and symbol CL indicates a center line.
The case where the surrounding vehicle 4 (preceding vehicle) is located ahead of the own vehicle 2 as shown in FIG.
First, it is determined that the arousal level of the driver of the host vehicle 2 has decreased in the state of FIG.
Then, as shown in FIG. 4B, the host vehicle 2 detects the positions of the surrounding vehicles 4 through inter-vehicle communication.
Next, as shown in FIG. 4C, alarm command information for executing an alarm operation is sent from the own vehicle 2 to the surrounding vehicle 4.
Next, as shown in FIG. 4D, when the surrounding vehicle 4 receives the warning command information, the brake lamp 28 blinks in the surrounding vehicle 4 (preceding vehicle), and the warning that alerts the driver of the host vehicle 2 The action is executed.

According to the first embodiment, the driver's arousal level is detected as the physical state of the driver that affects the safe driving of the host vehicle 2, and the detected criterion of the driver's arousal level is determined in advance. When the alarm operation condition that the vehicle does not satisfy the condition is satisfied, the alarm operation for causing the driver of the own vehicle 2 to alert the driver of the own vehicle 2 based on the position information of the own vehicle 2 and the position information of the surrounding vehicle 4 is executed. I tried to make it.
Therefore, it is advantageous in ensuring safety by providing driving assistance accurately according to the physical condition of the driver that affects the safe driving of the host vehicle 2.

  Further, since the alarm control means 22B provided in the own vehicle 2 sends alarm instruction information for executing the alarm operation to the surrounding vehicle 4 via the inter-vehicle communication, the necessary apparatus on the surrounding vehicle 4 side is minimized. That's it.

  Further, the alarm control means 22B turns on or flashes the brake lamp 28 of the surrounding vehicle 4 as an alarm operation when it is determined that the surrounding vehicle 4 is located in front of the own vehicle 2. This is advantageous in attracting attention to the driver.

  Further, when it is determined that the surrounding vehicle 4 is located behind the host vehicle 2, the headlamp 30 of the surrounding vehicle 4 is turned on or blinked as an alarm operation. It is advantageous in attracting attention effectively.

(Second Embodiment)
Next, a second embodiment will be described.
In the second embodiment, a case will be described in which the driving support device 10B is provided in the host vehicle 2 and the surrounding vehicle 4, and the alarm operation unit is the surrounding vehicle 4.
In the following embodiments, the same parts as those in the first embodiment are denoted by the same reference numerals, the description thereof is omitted, and different portions are mainly described.
FIG. 5 is a block diagram showing a configuration of a portion provided on the own vehicle 2 side in the driving support device 10B according to the second embodiment, and FIG. 6 is a diagram of the driving support device 10B according to the second embodiment. It is a block diagram which shows the structure of the part provided in the surrounding vehicle 4 side.

As shown in FIG. 5, the host vehicle 2 includes a camera 12, a wakefulness detection unit 14, a positioning unit 16, an illuminance sensor 18, an inter-vehicle communication unit 20, as in the first embodiment. The driving support ECU 22 is included.
In the second embodiment, the information sending means 22C is realized by the driving support ECU 22.
The information sending means 22C sends the condition establishment information indicating that the alarm operation condition is established and the position information of the host vehicle 2 detected by the positioning unit 16 to the surrounding vehicle 4 via the inter-vehicle communication. .

As shown in FIG. 6, the surrounding vehicle 4 includes an inter-vehicle communication unit 24, a positioning unit 26, a brake lamp 28, a headlamp 30, a display unit 32, a speaker 34, and a braking device 36, as in the first embodiment. The driving support ECU 38 is configured.
In the second embodiment, an alarm operation unit position detection means 22A for detecting the position of the surrounding vehicle 4 as an alarm operation unit positioned around the host vehicle 2 is configured by the positioning unit 26.
Further, the driving assistance ECU 38 realizes the surrounding vehicle control means 38A.
The surrounding vehicle control means 38A includes the condition establishment information received through the inter-vehicle communication and the position information of the own vehicle 2, and the position information of the surrounding vehicle 4 detected by the positioning unit 26 (alarm operation unit position detecting means 22A). Based on this, the surrounding vehicle 4 is caused to execute an alarm operation.
In the second embodiment, the alarm control means 22B includes information sending means 22C provided in the host vehicle 2 shown in FIG. 5, and surrounding vehicle control means 38A provided in the surrounding vehicle 4 shown in FIG. It is configured to include.

Next, operation | movement of the driving assistance apparatus 10B is demonstrated with reference to the flowchart of FIG.
The driving support ECU 22 of the host vehicle 2 determines whether or not an alarm operation condition that the arousal level does not satisfy a predetermined criterion is established based on the arousal level data supplied from the arousal level detection unit 14 ( Step S40).
If the alarm operation condition is not satisfied, the following processing is skipped.
If the alarm operation condition is satisfied, the driving support ECU 22 of the host vehicle 2 detects the position of the host vehicle 2 from the positioning unit 16 (step S42).
Next, the driving support ECU 22 of the own vehicle 2 sends the condition establishment information and the position information of the own vehicle 2 to the surrounding vehicle 4 via the inter-vehicle communication (step S44: information sending means 22C), and ends the process.

On the other hand, the driving assistance ECU 38 of the surrounding vehicle 4 monitors whether or not information (condition establishment information and position information of the own vehicle 2) is received from the own vehicle 2 via inter-vehicle communication (step S46). .
If the information from the own vehicle 2 is not received, the following processing is skipped.
When the information from the host vehicle 2 is received, the driving support ECU 38 of the surrounding vehicle 4 detects the position of the surrounding vehicle 4 by the positioning unit 26 (step S48).
Next, the driving support ECU 38 of the surrounding vehicle 4 calculates the positional relationship between the own vehicle 2 and the surrounding vehicle 4 based on the position information of the own vehicle 2 and the position information of the surrounding vehicle 4 (step S50).
Next, based on the positional relationship between the host vehicle 2 and the surrounding vehicle 4, it is determined whether the surrounding vehicle 4 is a preceding vehicle positioned in front of the host vehicle 2 (step S52).
If the surrounding vehicle 4 is a preceding vehicle, the driving assistance ECU 38 of the surrounding vehicle 4 turns on or blinks the brake lamp 28 of the surrounding vehicle 4 (step S54). That is, the surrounding vehicle 4 performs an alarm operation that alerts the driver of the host vehicle 2.
Further, the driving support ECU 38 of the surrounding vehicle 4 notifies the display unit 32 or the speaker 34 that the own vehicle 2 that should pay attention to behind the surrounding vehicle 4 (preceding vehicle) is traveling (step S56). ).
Further, the driving assistance ECU 38 of the surrounding vehicle 4 controls the braking device 36 of the surrounding vehicle 4 so as to suppress sudden braking in the surrounding vehicle 4 (step S58). Thereby, sudden braking of the surrounding vehicle 4 (preceding vehicle) is suppressed. Then, the process ends. As described in the first embodiment, when the driver of the surrounding vehicle 4 truly performs sudden braking for avoiding danger, the driving assistance ECU 38 of the surrounding vehicle 4 allows the rapid braking. .
On the other hand, if it is determined in step S52 that the surrounding vehicle 4 is not a preceding vehicle, is the surrounding vehicle 4 a succeeding vehicle positioned behind the own vehicle 2 based on the positional relationship between the own vehicle 2 and the surrounding vehicle 4? It is determined whether or not (step S60). If it is not a following vehicle, the following processing is skipped.
If the surrounding vehicle 4 is a subsequent vehicle, the driving assistance ECU 38 of the surrounding vehicle 4 turns on or blinks the headlamp 30 of the surrounding vehicle 4 (step S62). That is, the surrounding vehicle 4 performs an alarm operation that alerts the driver of the host vehicle 2.
Further, the driving support ECU 38 of the surrounding vehicle 4 uses the display unit 32 or the speaker 34 to notify that the own vehicle 2 that should pay attention to is traveling ahead of the surrounding vehicle 4 (following vehicle) (step S64). ). Then, the process ends.

According to the second embodiment, as in the first embodiment, safety is ensured by providing driving assistance accurately according to the physical condition of the driver that affects the safe driving of the host vehicle 2. This is advantageous.
Further, the alarm control means 22B is configured to include the information sending means 22C provided in the own vehicle 2 and the surrounding vehicle control means 38A provided in the surrounding vehicle 4, so that the driving support ECU 22 of the own vehicle 2 Since the processing capacity is reduced, it is advantageous in reducing the component cost.

(Third embodiment)
Next, a third embodiment will be described.
In the third embodiment, a case will be described in which the driving support device 10 </ b> C is provided in the host vehicle 2 and the alarm operation unit is a facility around the road on which the host vehicle 2 travels.
FIG. 8 is a block diagram showing the configuration of the driving support apparatus 10C according to the third embodiment, and FIG. 9 is a block diagram showing the configuration of the equipment 6. As shown in FIG.

As shown in FIG. 8, the driving support device 10 </ b> C is mounted on the host vehicle 2, and as in the first embodiment, the camera 12, the arousal level detection unit 14, the positioning unit 16, and the illuminance sensor 18 is different from the first embodiment only in that a road-to-vehicle communication unit 40 is provided instead of the vehicle-to-vehicle communication unit 20 of the first embodiment. Yes.
The road-to-vehicle communication unit 40 performs road-to-vehicle communication with the road-to-vehicle communication unit 42 of the facility 6 shown in FIG.
In the third embodiment, the driving support ECU 22 of the host vehicle 2 constitutes an alarm action unit position detection unit 22A and an alarm control unit 22B.
The alarm operation unit position detection means 22A detects the position of the facility 6 as an alarm operation unit located around the road on which the host vehicle 2 travels via the road-to-vehicle communication unit 40.

The alarm control unit 22B executes an alarm operation that alerts the driver of the host vehicle 2 to the facility 6 based on the position information of the host vehicle 2 and the position information of the facility 6 when the alarm operation condition is satisfied. It is something to be made.
The alarm control means 22B is provided in the host vehicle 2 and sends alarm instruction information for executing an alarm operation to the facility 6 through road-to-vehicle communication.
Further, in the present embodiment, the alarm control means 22B is configured such that the own vehicle 2 is located in the vicinity of the equipment 6 based on the position information of the own vehicle 2 and the position information of the equipment 6 detected by the alarm operation unit position detection means 22A. The passage time indicating the passage time is calculated, and the passage time information is sent to the facility 6 together with the warning instruction information via the road-to-vehicle communication.

The alarm operation will be specifically described.
The alarm control means 22B provides alarm instruction information for lighting or blinking the street light 44 of the facility 6 shown in FIG. 9 as an alarm operation based on the position information of the host vehicle 2 and the position information of the facility 6. To send. Alternatively, alarm instruction information for causing the electronic bulletin board 46 of the facility 6 to display to alert the driver of the host vehicle 2 is sent to the facility 6. Alternatively, alarm instruction information for generating an alarm sound (including electronic sound or voice guidance) for alerting the driver of the host vehicle 2 from the speaker 48 of the facility 6 is sent to the facility 6.

Next, the facility 6 located around the road on which the host vehicle 2 travels will be described.
As shown in FIG. 9, the facility 6 constitutes a so-called road infrastructure, and includes a road-to-vehicle communication unit 42, a street light 44, an electric bulletin board 46, a speaker 48, and a facility ECU 50. Has been.

The road-to-vehicle communication unit 42 performs road-to-vehicle communication in the same manner as the road-to-vehicle communication unit 40 of the host vehicle 2.
The street lamps 44 are provided at intervals along the road, and the lighting and blinking of the street lamps 44 are controlled by the equipment ECU 50 so as to alert the driver of the host vehicle 2.
The electric bulletin board 46 is installed at a side portion of the road or an upper portion of the road, and is controlled by the equipment ECU 50 to display to alert the driver of the host vehicle 2.
The speaker 48 is installed at a side location on the road or an upper location on the road, and is controlled by the equipment ECU 50 so as to generate an alarm sound that alerts the driver of the host vehicle 2.

The equipment ECU 50 exchanges information with the host vehicle 2 via road-to-vehicle communication, and controls the equipment 6.
In addition, the equipment ECU 50 is configured so that position information 50A indicating the position of the equipment 6 is registered in advance, and the position information 50A of the equipment 6 is supplied to the host vehicle 2 via road-to-vehicle communication.
Like the driving support ECU 22 of the host vehicle 2, the facility ECU 50 includes a CPU, a ROM that stores and stores a control program, a RAM as an operation area of the control program, an EEPROM that holds various data in a rewritable manner, peripheral circuits, and the like. It includes an interface unit that takes the interface.
The CPU functions by executing the control program.

Next, the operation of the driving support device 10C will be described with reference to the flowchart of FIG.
The driving support ECU 22 of the host vehicle 2 repeatedly executes the process of FIG.
First, the driving support ECU 22 of the host vehicle 2 determines whether or not an alarm operation condition that the arousal level does not satisfy a predetermined criterion is established based on the arousal level data supplied from the arousal level detection unit 14. (Step S80).
If the alarm operation condition is not satisfied, the following processing is skipped.
If the alarm operation condition is satisfied, the driving support ECU 22 of the host vehicle 2 detects the position of the host vehicle 2 from the positioning unit 16 (step S82), and the position of the facility 6 from the facility ECU 6 via the road-to-vehicle communication (installation facility). Position information 50A) is detected (step S84: alarm operation unit position detection means 22A).
Next, the driving support ECU 22 of the host vehicle 2 calculates the positional relationship between the host vehicle 2 and the facility 6 based on the position information of the host vehicle 2, the position information 50 </ b> A of the facility 6, and the traveling speed of the host vehicle 2. Based on the positional relationship between the vehicle 2 and the facility 6, a passing time when the host vehicle 2 passes through the facility 6 is calculated (step S86).
Next, the driving support ECU 22 of the host vehicle 2 transmits warning instruction information and a passage time for executing an alarm operation in the facility 6 to the facility 6 via road-to-vehicle communication (step S88), and ends the process.
As a result, the equipment ECU 50 that has received the warning command information and the passing time causes the street light 44 to be turned on and blinked when the passing time of the host vehicle 2 is reached, or to cause the electronic bulletin board 46 to display a warning, or A warning sound for calling attention is generated from the speaker 48. In other words, an alarm operation that alerts the driver of the host vehicle 2 is executed.

According to the third embodiment, the driver's arousal level is detected as the physical state of the driver that affects the safe driving of the host vehicle 2, and the detected criterion of the driver's arousal level is determined in advance. When the alarm action condition that the vehicle does not satisfy is satisfied, the facility 6 informs the driver of the vehicle 2 based on the location information of the vehicle 2 and the location information 50A of the facility 6 around the road on which the vehicle 2 travels. The alarm action to call attention was executed.
Therefore, it is advantageous in ensuring safety by providing driving assistance accurately according to the physical condition of the driver that affects the safe driving of the host vehicle 2.

  Moreover, since the alarm control means 22B is provided in the own vehicle 2 and sends alarm instruction information for executing an alarm operation to the equipment 6 through road-to-vehicle communication, the equipment required on the equipment 6 side can be minimized.

  Further, the alarm control means 22B, as an alarm operation, turns on or blinks the street light 44, displays the electric bulletin board 46, or generates a warning sound from the speaker 48. It is advantageous to draw attention effectively.

(Fourth embodiment)
Next, a fourth embodiment will be described.
In the fourth embodiment, a case will be described in which the driving support device 10 </ b> D is provided in the host vehicle 2 and the facility 6, and the alarm operation unit is the facility 6.
FIG. 11 is a block diagram showing a configuration of a portion provided on the own vehicle 2 side in the driving support device 10D according to the fourth embodiment, and FIG. 12 shows a driving support device 10D according to the fourth embodiment. It is a block diagram which shows the structure of the part provided in the installation 6 side.

As shown in FIG. 11, the host vehicle 2 is similar to the third embodiment in that the camera 12, the arousal level detection unit 14, the positioning unit 16, the illuminance sensor 18, the road-to-vehicle communication unit 40, The driving support ECU 22 is included.
In the fourth embodiment, the information sending means 22C is realized by the driving support ECU 22.
The information sending means 22C sends condition establishment information indicating that the alarm operation condition is established and position information of the host vehicle 2 detected by the positioning unit 16 to the facility 6 via road-to-vehicle communication. In the present embodiment, the information sending unit 22C sends the traveling speed of the host vehicle 2 to the facility 6 via road-to-vehicle communication in addition to the condition establishment information and the position information of the host vehicle 2.

As shown in FIG. 12, the facility 6 includes a road-to-vehicle communication unit 42, a street lamp 44, an electric bulletin board 46, a speaker 48, and a facility ECU 50, as in the third embodiment. ing.
In the fourth embodiment, the alarm operation unit position detection means 22A for detecting the position of the facility 6 as the alarm operation unit located around the host vehicle 2 by the facility ECU 50 in which the position information 50A of the facility 6 is registered. It is configured.
Further, the equipment control means 50B is realized by the equipment ECU 50.
The facility control means 50B performs an alarm operation on the facility 6 based on the condition establishment information received through the road-to-vehicle communication and the position information of the host vehicle 2, the position information 50A of the facility 6, and the traveling speed of the host vehicle 2. To be executed.
And in 4th Embodiment, the alarm control means 22B is comprised including the information transmission means 22C provided in the own vehicle 2, and the equipment control means 50B provided in the equipment 6. FIG.

Next, the operation of the driving support device 10D will be described with reference to the flowchart of FIG.
The driving support ECU 22 of the host vehicle 2 determines whether or not an alarm operation condition that the arousal level does not satisfy a predetermined criterion is established based on the arousal level data supplied from the arousal level detection unit 14 ( Step S100).
If the alarm operation condition is not satisfied, the following processing is skipped.
If the alarm operation condition is satisfied, the driving support ECU 22 of the host vehicle 2 detects the position of the host vehicle 2 from the positioning unit 16 (step S102).
Next, the driving support ECU 22 of the host vehicle 2 sends the condition establishment information, the position information of the host vehicle 2 and the traveling speed of the host vehicle 2 to the facility 6 through road-to-vehicle communication by inter-vehicle communication (step S104: information). The sending means 22C) ends the processing.

On the other hand, the facility ECU 50 monitors whether information from the host vehicle 2 (condition establishment information and position information of the host vehicle 2) has been received via road-to-vehicle communication (step S106).
If the information from the own vehicle 2 is not received, the following processing is skipped.
When the information from the host vehicle 2 is received, the equipment ECU 50 detects the position of the equipment 6 registered in the equipment ECU 50 (equipment position information 50A) (step S108: alarm operation unit position detection means 22A).
Next, the facility ECU 50 calculates the positional relationship between the host vehicle 2 and the facility 6 based on the positional information of the host vehicle 2 and the position information 50A of the facility 6, and the positional relationship between the host vehicle 2 and the facility 6 and the host vehicle. Based on the travel speed, the passing time when the host vehicle 2 passes the equipment 6 is calculated (step S110).
Next, the equipment ECU 50 determines whether or not the passage time has come (step S112).
If it is not the passage time, step S114 is repeated.
When the passage time is reached, the equipment ECU 50 turns on and blinks the street light 44, or causes the electronic bulletin board 46 to display a warning, or generates a warning sound from the speaker 48. . That is, an alarm operation for alerting the driver of the host vehicle 2 is executed (step S114).

According to the fourth embodiment, as in the third embodiment, safety is ensured by accurately providing driving assistance according to the physical condition of the driver that affects the safe driving of the host vehicle 2. This is advantageous.
Further, the alarm control means 22B includes the information sending means 22C provided in the own vehicle 2 and the equipment control means 50B provided in the equipment 6, so that the processing capability of the driving support ECU 22 of the own vehicle 2 is achieved. This is advantageous in reducing the cost of parts.

In the embodiment, the case has been described in which the driver's physical state detected by the driver state detecting means is the driver's arousal state.
However, the driver's body state detected by the driver state detecting means may be any one of the driver's saddle state, the driver's side-by-side state, and the driver's operation state of the driving operation member, or these A combination of these may be used.

Note that the driver's sad state can be detected by various conventionally known detection devices that detect the alcohol concentration contained in the driver's exhalation or the driver's heart rate.
In this case, it is determined that the alarm operation condition is satisfied when the detected data of the degree of wrinkle does not satisfy a predetermined criterion.
Further, the driver's looking aside can be detected by various conventionally known detection devices that detect the direction of the driver's face or the line of sight captured by the vehicle interior camera.
In this case, when the detected data of the degree of looking aside does not satisfy a predetermined criterion, it is determined that the alarm action condition is satisfied.
Further, the operation state of the driving operation member by the driver can be obtained by detecting the operation frequency, operation timing, and operation amount of the steering, accelerator pedal, and brake pedal, for example.
In this case, when these operation states do not satisfy a predetermined determination criterion (when it is determined that an abnormal operation is being performed), the driver's physical state may be caused by any cause (for example, animal jumping out). Etc.), it is determined that the alarm operation condition is satisfied.

  Further, in the embodiment, the case where the communication line is vehicle-to-vehicle communication or road-to-vehicle communication has been described. However, various publicly known communication lines such as a mobile phone line can be used as the communication line.

  2 ... own vehicle, 4 ... surrounding vehicle, 6 ... equipment, 10A to 10D ... driving support device, 12 ... camera, 14 ... wakefulness detection unit, 16 ... positioning unit, 20 ... inter-vehicle distance Communication unit 22 …… Drive assist ECU 22A …… Alarm operation unit position detection means 22B …… Alarm control unit 22C …… Information transmission unit 24 …… Vehicle-to-vehicle communication unit 26 …… Positioning unit 28 Brake lamp, 30 head lamp, 32 display, 34 speaker, 36 braking device, 38 driving assistance ECU, 38A surrounding vehicle control means, 40 road-to-vehicle communication section, 42. Road-to-vehicle communication section, 44. Street light, 46. Electric bulletin board, 48. Speaker, 50. Equipment ECU, 50A. Equipment position information, 50B. Equipment control means.

Claims (6)

A driver state detecting means for detecting a physical state of the driver affecting the safe driving of the host vehicle;
Own vehicle position detecting means for detecting position information of the own vehicle;
Alarm operation unit position detection means for detecting the position of the alarm operation unit located around the vehicle;
When the alarm operation condition that the detected physical condition of the driver does not satisfy a predetermined criterion is satisfied, the alarm is based on the position information of the host vehicle and the position information of the alarm operation unit. An alarm control means for executing an alarm operation to alert the driver of the host vehicle to the operation unit ,
The alarm operation unit is a facility around a road on which the host vehicle travels,
The warning control means is configured to determine the location of the vicinity of the equipment on the basis of the traveling speed of the own vehicle, the position information of the own vehicle, and the position information of the equipment detected by the position detecting means of the alarm operation unit. Calculating a passing time indicating a passing time, and causing the equipment to execute the alarm operation at the passing time;
Driving support device comprising a call. The driver state detection means, the own vehicle position detection means, the alarm operation unit position detection means, and the alarm control means are provided in the own vehicle,
The alarm control means is configured to send alarm instruction information for executing the alarm operation to the equipment through a communication line together with information on the passage time .
The driving support apparatus according to claim 1 . The driver state detecting means and the own vehicle position detecting means are provided in the own vehicle,
The alarm operation unit position detection means is provided in the facility,
The alarm control means includes
Information sending means that is provided in the host vehicle and sends condition establishment information indicating that the alarm operation condition is established and position information of the host vehicle to the facility via a communication line;
Based on the condition establishment information and the position information of the host vehicle, which are provided in the facility and received via the communication line, and the facility position information detected by the alarm operation unit position detection means. It is configured to include equipment control means for executing the alarm operation,
The driving support apparatus according to claim 1 . The information sending means sends the traveling speed of the host vehicle to the facility via the communication line in addition to the condition establishment information and the position information of the host vehicle,
The facility control means is configured to determine a location near the facility based on the traveling speed of the host vehicle, the position information of the host vehicle, and the position information of the facility detected by the alarm operation unit position detection unit. Calculating a passing time indicating a passing time, and causing the equipment to execute the alarm operation based on the passing time;
The driving support apparatus according to claim 3 . The facility has a street light or an electric bulletin board or a speaker,
The alarm operation is an alarm operation for turning on or blinking the street light, an alarm operation for performing an alarm display on the electric bulletin board, or an alarm operation for generating an alarm sound from the speaker.
The driving support apparatus according to any one of claims 1 to 4, wherein The physical state of the driver that affects the safe driving of the host vehicle is at least the driver's awakening state, the driver's saddle state, the driver's side-by-side state, and the driver's operating state of the driving operation member. Including one,
The driving support apparatus according to any one of claims 1 to 5, wherein

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