JP6296684B2 - Driving assistance device - Google Patents

Description

  The present invention relates to a technique for providing information indicating a collision risk between a moving body such as a vehicle and an obstacle such as a pedestrian, a bicycle, or a two-wheeled vehicle.

Conventionally, there are various driving support devices that detect the danger of a collision between a moving body such as a vehicle traveling on a road and an obstacle such as a pedestrian, a bicycle, or a two-wheeled vehicle and warn the driver of the moving body. Proposed.
For example, in Patent Document 1, the driver's line-of-sight direction is detected from the eyeball position of the driver driving the vehicle, and the driver recognizes the pedestrian based on the position of the pedestrian and the driver's line-of-sight. There is disclosed an object warning device that judges whether or not a pedestrian that is not recognized by the driver enters a predetermined warning range and urges the driver to give a warning.

JP 2006-27481 A

  However, in the technique disclosed in Patent Document 1 described above, the driver's line-of-sight direction is detected only from the driver's monocular, so when there are a plurality of obstacles in the line-of-sight direction, all the obstacles are detected. There is a case in which an erroneous determination is made when the vehicle is recognized, and there is a problem that the visual recognition object that the driver truly recognizes cannot be detected with high accuracy. Furthermore, there has been a problem that an appropriate warning cannot be performed regarding an obstacle that the driver does not recognize.

  In recent years, with the spread of HUD (Head Up Display) and mobile terminals, there are many scenes where the driver moves his / her line of sight to various information display areas, and the line-of-sight directions of the information display area and obstacles overlap. Even in this case, there is a problem that it is erroneously determined that the overlapping obstacle is recognized, and the visual recognition object that the driver truly recognizes cannot be detected with high accuracy. Furthermore, there has been a problem that an appropriate warning cannot be performed for an obstacle that is not actually recognized by the driver.

  The present invention has been made to solve the above-described problems, and detects a visual recognition object that is truly recognized by a driver, and accurately determines the risk of collision between a moving object and an obstacle. The purpose is to provide information.

A driving support apparatus according to the present invention includes an obstacle detection unit that detects an obstacle located around a moving body, a line-of-sight specifying unit that specifies a line-of-sight vector indicating the line-of-sight direction of both eyes of the driver of the moving body, and an obstacle Based on the obstacle detected by the object detection unit and the line-of-sight vector of both eyes of the driver specified by the line-of-sight specifying unit, the driver visually recognizes an obstacle located at the intersection of the line-of-sight vector of both eyes of the driver. Visual information including cumulative visual recognition time, which is the cumulative value of the visual time recognized by the driver regarding the obstacle judged as an obstacle and the obstacle visually recognized by the driver and the obstacle detected by the obstacle detection unit The visual information generation unit that updates the cumulative value by adding the time that the driver has viewed intermittently within a predetermined time to the cumulative value, and the visual recognition time generated by the visual information generation unit The information generation unit visually recognizes the driver. The obstacle cumulative viewing time is less than the threshold value of the obstacle and the determined obstacle are, those having a unconfirmed obstacle identification unit that identifies as unconfirmed obstacle.

  According to the present invention, it is possible to accurately detect an object visually recognized by the driver, and it is possible to acquire information for accurately determining the risk of collision between the moving body and the obstacle.

1 is a block diagram illustrating a configuration of a driving support device according to Embodiment 1. FIG. 6 is an explanatory diagram showing identification of a visual recognition object using line-of-sight information of the driving assistance device according to Embodiment 1. FIG. It is a figure which shows an example of the visual recognition information which the driving assistance device by Embodiment 1 produces | generates. FIG. 6 is a diagram illustrating a three-dimensional vector based on visual information of the driving support device according to the first embodiment. 4 is a flowchart showing the operation of the driving support apparatus according to the first embodiment. FIG. 6 is a block diagram illustrating a configuration of a driving support apparatus according to a second embodiment. 6 is a flowchart illustrating an operation of the driving support apparatus according to the second embodiment. FIG. 10 is a block diagram illustrating a configuration of a driving support apparatus according to a third embodiment. 12 is a flowchart illustrating the operation of the driving support apparatus according to the third embodiment. 12 is a flowchart illustrating other operations of the driving support apparatus according to the third embodiment.

Embodiment 1 FIG.
FIG. 1 is a block diagram showing a configuration of a driving support apparatus according to Embodiment 1 of the present invention.
The driving support apparatus 100 includes an obstacle detection unit 10, a line-of-sight specifying unit 20, and a visual information generation unit 30.
The obstacle detection unit 10 includes a sensor information acquisition unit 11 and a communication unit 12, and detects information related to obstacles such as pedestrians, bicycles, and two-wheeled vehicles that can be an obstacle to a moving body such as a vehicle traveling on a road. . Obstacle information indicating the ID, position, moving speed, and acceleration of the obstacle is generated based on the detected information regarding the obstacle, and is output to the visual information generation unit 30.

  The sensor information acquisition unit 11 is a front obstacle detection sensor including, for example, a camera or a millimeter wave radar that acquires information related to an obstacle located in front of the vehicle. The communication unit 12 communicates with an external communication device and acquires information related to an obstacle located in front of the vehicle, for example. As the external communication device, for example, a portable terminal held by an obstacle, a road device installed on the road, an in-vehicle device mounted on a vehicle, and the like are assumed. Various communication methods of the communication unit 12 are applicable. For example, 5.8 GHz or 700 MHz wireless communication, wireless LAN communication, mobile phone communication, BlueTooth (registered trademark), Wimax communication, telematics communication, or the like is applicable.

The line-of-sight specifying unit 20 specifies a line-of-sight vector indicating the driver's line-of-sight direction based on the eyeball information of both eyes of the driver, and generates line-of-sight information. First, the line-of-sight specifying unit 20 irradiates the eyeball with infrared light, and specifies the eyeball position of both eyes from the position of the Purkinje image reflected on the eyeball, using the time until the reflected wave of the irradiated infrared light returns. . Next, a line-of-sight vector indicating the line-of-sight direction of both eyes is calculated from the specified eyeball position, and the calculation result is used as line-of-sight information.
FIG. 2 is an explanatory diagram showing the identification of the visual target using the line-of-sight information of the driving assistance apparatus according to Embodiment 1 of the present invention. As shown in FIG. 2, the line-of-sight specifying unit 20 calculates line-of-sight vectors Oa ′ and Ob ′ of both eyes Oa and Ob of the driver. It is specified from the calculated line-of-sight vector that the driver does not visually recognize the HUD (Head Up Display) P positioned ahead, but is viewing the pedestrian R positioned at the intersection Q of the line-of-sight vectors Oa ′ and Ob ′. can do.

The visual information generation unit 30 includes a visual recognition determination unit 31, a visual information update unit 32, and a visual information storage unit 33, and includes obstacle information input from the obstacle detection unit 10 and line-of-sight information input from the line-of-sight specifying unit 20. Based on this, visual information is generated and output to the external device 200.
FIG. 3 is a diagram showing an example of visual information generated by the driving support apparatus according to Embodiment 1 of the present invention. The visual information includes “ID”, “cumulative visual recognition time”, “position (x, y, z)”, “position (previous value)”, “speed V (x, y, z)”, acceleration A (x, y, z) ". Based on the visual information shown in FIG. 3, the three-dimensional vector shown in FIG. 4 can be expressed. In FIG. 4, the origin is the driver O, the position of the obstacle is represented by three-dimensional vector coordinates (x, y, z), and the velocity V of the obstacle is represented by a three-dimensional vector V = (Vx, Vy, Vz). The obstacle acceleration A is expressed by a three-dimensional vector A = (Ax, Ay, Az).

  The visual recognition determination unit 31 detects an obstacle positioned on the line-of-sight vector for each eye of the driver, and determines that the driver is visually checking an obstacle common to both eyes. In addition, the method shown by the patent document 1 mentioned above is applicable to the detection of the obstruction located on a gaze vector for every eye of a driver | operator. The visual recognition determination unit 31 also calculates a relative relationship (position / speed / acceleration) between the driver and the obstacle.

  The visual information update unit 32 refers to the visual information stored in the visual information storage unit 33 and updates the visual information. Specifically, when there is a new obstacle that does not exist in the visual information list of the visual information storage unit 33, the obstacle is newly added with the cumulative visual time being set to “0”. On the other hand, when the same obstacle has been visually recognized since the previous update, the cumulative visual recognition time is updated as a value obtained by adding a specified time (for example, a processing cycle) to the previous value. Further, the cumulative visual recognition time of an obstacle that has not been visually recognized for a predetermined time or more is updated to “0”, and when the cumulative visual recognition time is not updated for a predetermined time or more, it is deleted from the list. The visual information storage unit 33 is a memory that stores the visual information updated by the visual information update unit 32.

  The external device 200 can be referred to from the visual information input from the visual information generation unit 30, based on information indicating an obstacle that the driver is viewing or an obstacle that the driver is not viewing. Driving assistance such as estimating the collision risk and notifying the driver that there is a collision risk. Further, when the external device 200 is configured with a drive recorder or the like, it can be acquired together with the surrounding situation of the own vehicle and the driving situation of the driver, and used as information useful for on-site verification after an accident. Can do.

Next, the operation of the driving support device 100 will be described.
FIG. 5 is a flowchart showing the operation of the driving support apparatus according to Embodiment 1 of the present invention.
The obstacle detection unit 10 detects the position, moving speed, and acceleration of the obstacle via the sensor information acquisition unit 11 and the communication unit 12 (step ST1), and adds an obstacle ID to the search result to obstruct the obstacle. Information is generated (step ST2). Next, the line-of-sight specifying unit 20 acquires the line-of-sight information of both eyes of the driver (step ST3). The visual recognition determination unit 31 of the visual information generation unit 30 detects the obstacle visually recognized by the driver based on the line-of-sight information acquired in step ST3 (step ST4), and further the obstacle information generated in step ST2. Is used to calculate the relative relationship between the driver and the obstacle detected in step ST4 to generate visual information (step ST5). The visual information update unit 32 performs a process of updating the visual information recorded in the visual information storage unit 33 based on the visual information generated in step ST5 (step ST6). Thereafter, the visual information generation unit 30 outputs the visual information generated in step ST5 to the external device 200 (step ST7), and ends the process.

  As described above, according to the first embodiment, since the obstacle determination unit 31 determines that an obstacle located at the intersection of the line-of-sight vectors of the left and right eyes of the driver is a visual object, It is possible to accurately determine the obstacle visually recognized by the driver.

  Moreover, according to this Embodiment 1, the obstacle which the driver | operator is visually recognizing is detected based on the obstacle information which the obstacle detection part 10 produced | generated, and the gaze information which the gaze specific | specification part 20 acquired. Since it is configured to include the visual information generating unit 30 that generates visual information indicating the relative relationship between the driver and the detected obstacle, it generates accurate visual information regarding the obstacle visually recognized by the driver. And can be provided to the external device 200. Thereby, appropriate driving assistance can be implemented in the external device 200.

  Moreover, according to this Embodiment 1, since it comprised so that the visual recognition information which the visual information generation part 30 produced | generated was output to external apparatuses 200, such as a drive recorder, in the said drive recorder, a surrounding condition and a driver | operator's driving condition And can be used as more useful information in on-site verification after an accident.

Embodiment 2. FIG.
In this Embodiment 2, in addition to the structure of Embodiment 1, the structure which judges the collision risk of the own vehicle using the visual recognition information which the visual information generation part 30 produced | generated is shown.
FIG. 6 is a block diagram showing the configuration of the driving support apparatus according to Embodiment 2 of the present invention.
In the driving support apparatus 100 ′ of the second embodiment, an unidentified obstacle identifying unit 40, a collision risk determination unit 50, a control unit 60, and a notification unit 70 are added to the driving support apparatus 100 shown in FIG. In addition, the same code | symbol as the code | symbol used in Embodiment 1 is attached | subjected to the part which is the same as or corresponds to the component of the driving assistance apparatus 100 by Embodiment 1, and description is abbreviate | omitted or simplified.

In the second embodiment, description will be made on the assumption that the driving support device 100 ′ is mounted on a vehicle that is a moving body and performs driving support to the driver of the host vehicle.
The unconfirmed obstacle specifying unit 40 uses the visual information generated by the visual information generation unit 30 to specify an obstacle that is not visually recognized by the driver of the host vehicle (hereinafter referred to as an unconfirmed obstacle). Specifically, referring to the accumulated visual recognition time indicated in the visual recognition information, an obstacle whose cumulative visual recognition time is equal to or less than a threshold is extracted and specified as an unconfirmed obstacle.

  The collision risk determination unit 50 determines whether or not there is a risk of collision between the unconfirmed obstacle specified by the unconfirmed obstacle specifying unit 40 and the host vehicle. Specifically, the collision risk determination unit 50 acquires the relative position information of the unidentified obstacle from the sensor information acquisition unit 11, and the course predicted from the traveling direction and speed of the unconfirmed obstacle is on the traveling direction of the host vehicle. If it is located, it is determined that there is a risk of collision. The relative position information of the unconfirmed obstacle is acquired from the communication unit 12 as GPS position information from the sensor information acquisition unit 11 or the portable terminal held by the driver of the unconfirmed obstacle or the unconfirmed obstacle. Furthermore, based on the history of acceleration information and the history of position information recorded in the visual recognition information, there is a risk of collision when the position of an unidentified obstacle after a certain period of time overlaps the traveling direction of the host vehicle. to decide.

  In addition to the GPS position information, the collision risk determination unit 50 acquires the three-axis acceleration information of the three-axis acceleration sensor from the portable terminal held by the driver of the unidentified obstacle or the unidentified obstacle via the communication unit 12. The course of the unidentified obstacle may be predicted from the traveling direction and speed of the unidentified obstacle. When using information acquired using a three-axis acceleration sensor, it is possible to quickly detect the movement of an unconfirmed obstacle, so that it is possible to warn in real time of the danger of a collision due to a sudden jump or the like.

  The control unit 60 refers to the determination result of the collision risk determination unit 50 and, when there is a risk of collision, performs control for notifying that there is a risk of collision via the notification unit 70 or the external device 200 ′. Do. The notification target person is a driver of the own vehicle, a pedestrian outside the own vehicle, a driver of a two-wheeled vehicle and a bicycle, or the like. Further, the control unit 60 may be configured to perform brake control of the host vehicle that is the external device 200 ′ when there is a risk of collision. The notification unit 70 includes, for example, a speaker or a display, and notifies the driver of the host vehicle that there is a risk of collision in response to a request from the control unit 60. When the driving support device 100 ′ is mounted on the host vehicle, the notification unit 70 can use a display of an existing navigation device mounted.

  The external device 200 ′ is a device that notifies the risk of a collision to a pedestrian, a two-wheeled vehicle, a bicycle, or the like other than the host vehicle when a request for notifying the risk of a collision is input from the driving support device 100 ′. Composed. For example, it is composed of horns and headlights, etc., and horns are sounded to notify the danger of collision, or the headlights are turned on or blinking, turned on with a high beam, and turned on for pedestrians by changing the lighting direction. It may be possible to perform operations such as When the external device 200 ′ is a portable terminal held by an unidentified obstacle, the portable terminal communicates with the control unit 60 of the driving support device 100 ′ to receive information indicating the collision risk, Sound and video display indicating danger. In addition, when the control unit 60 controls the host vehicle, the external device 200 ′ is configured by a brake of the host vehicle.

Next, the operation of the driving support device 100 ′ will be described.
FIG. 7 is a flowchart showing the operation of the driving support apparatus according to Embodiment 2 of the present invention. In the following, the same steps as those of the driving support apparatus according to Embodiment 1 are denoted by the same reference numerals as those used in FIG. 5, and description thereof is omitted or simplified.
When the visual information update unit 32 of the visual information generation unit 30 performs a process of updating the visual information generated in step ST5 in the visual information storage unit 33 (step ST6), the visual information generation unit 30 performs an unconfirmed fault identification unit 40. Visual information is output to (step ST7 '). The unconfirmed obstacle specifying unit 40 refers to the visual information output in step ST7 ′ and determines whether or not an unconfirmed obstacle exists (step ST11). If there is no unidentified obstacle (step ST11; NO), the process is terminated.

  On the other hand, when an unconfirmed obstacle exists (step ST11; YES), the unconfirmed obstacle identifying unit 40 identifies an unconfirmed obstacle (step ST12). The collision risk determination unit 50 acquires the relative position information regarding the unconfirmed obstacle specified in step ST12 and predicts the course of the unconfirmed obstacle (step ST13). The course of the unconfirmed obstacle predicted in step ST13 is compared with the traveling direction of the host vehicle, and it is determined whether there is a risk of collision (step ST14). If there is no risk of collision (step ST14; NO), the process is terminated.

  On the other hand, when there is a risk of collision (step ST14; YES), the control unit 60 notifies the driver of the collision risk via the notification unit 70 (step ST15), and the process is terminated. The notification of the collision risk in step ST15 is configured to notify the driver of the collision risk outside the host vehicle via the external device 200, in addition to notifying the driver of the collision risk via the notification unit 70. It is also possible to do.

  As described above, according to the second embodiment, the obstacle visually recognized by the driver based on the obstacle information generated by the obstacle detection unit 10 and the line-of-sight information acquired by the line-of-sight specifying unit 20. And a visual information generating unit 30 that generates visual information indicating a relative relationship between the driver and the detected obstacle, and determining whether or not an unconfirmed obstacle exists based on the visual information. Since it is configured to include an unidentified obstacle identifying unit 40 that identifies an object and a collision risk determining unit 50 that determines a collision risk between an unidentified obstacle and the host vehicle, the driver of the host vehicle is not visually recognizing Only driving assistance related to obstacles can be provided. Thereby, the driving assistance regarding the obstacle visually recognized by the driver can be omitted, and only the necessary driving assistance can be performed without performing unnecessary driving assistance.

  Further, according to the second embodiment, when there is a collision risk between the own vehicle and an unidentified obstacle, the obstacle 60 controls the own vehicle, so the collision risk is determined. This can be used to control the traveling of the vehicle, such as applying a brake.

  Further, according to the second embodiment, the collision risk determination unit 50 predicts the path of an unconfirmed obstacle using the GPS positioning information or the sensor information of the triaxial acceleration sensor acquired via the communication unit 12. Since it comprised, the motion of an unidentified obstacle can be estimated based on transition of the positional information on an unidentified obstacle. Thereby, the collision risk can be predicted in advance. In addition, when the sensor information of the three-axis acceleration sensor is used, it is possible to quickly detect the movement of an unidentified obstacle and to warn in real time of the danger of a collision such as a sudden jump.

  Further, according to the second embodiment, when there is a collision risk between the own vehicle and an unidentified obstacle, the control unit 60 collides with the mobile terminal held by the unidentified obstacle as the external device 200 ′. Since it is configured to notify the danger, it is configured to notify the collision risk, so that the unconfirmed obstacle itself can take a risk avoidance action. Thereby, the collision probability can be further reduced.

  Further, according to the second embodiment, when there is a collision risk between the host vehicle and an unidentified obstacle, the control unit 60 causes the external device 200 'to detect a collision risk outside the vehicle via a headlight or a horn. Since it is configured to notify, an unconfirmed obstacle earthquake can take a risk avoidance action in accordance with a change in the situation such as the headlight is turned on with a high beam or a horn is sounded. Thereby, the collision probability can be further reduced.

Embodiment 3 FIG.
In the third embodiment, in addition to the configuration of the second embodiment, a configuration that suppresses accidents caused by excessive gaze of the driver such as side-view driving, and accidents caused by distraction of the driver's attention, etc. Indicates.
FIG. 8 is a block diagram showing the configuration of the driving support apparatus according to Embodiment 3 of the present invention. The components of the driving support device 100 ″ of the third embodiment are the same as those of the driving support device 100 ′ of the second embodiment, but the output of the visual information from the visual information generating unit 30 to the control unit 60 is added. Yes. As in the second embodiment, in the third embodiment, the driving support device 100 ″ is mounted on the own vehicle that is a moving body, and the driving assistance is provided to the driver of the own vehicle. Do.

In addition to the configuration of the second embodiment, when the visual information is input from the visual information generation unit 30, the control unit 60 refers to the cumulative visual time of the visual information, and the visual target whose cumulative visual time is equal to or greater than the threshold value It is determined whether or not there is an object (hereinafter referred to as an object to be watched), and a trend in which the driver gazes at an obstacle excessively such as a side driving is detected. Further, the control unit 60 refers to the accumulated visual recognition time of the visual information, determines whether or not the cumulative time of all visual objects is “0”, and the driver cannot recognize any visual object. Detect trends. When there is a visual recognition object whose cumulative visual recognition time is equal to or greater than the threshold, or when the cumulative visual recognition time of all visual recognition objects is “0”, the control unit 60 is dangerous via the notification unit 70 and the external device 200 ′. Control to notify sex. The person to be notified is usually a driver of the own vehicle, but may be a pedestrian outside the own vehicle, a driver of a two-wheeled vehicle, a bicycle, or the like depending on the situation.
Similarly to the second embodiment, the control unit 60 may be configured to perform brake control of the host vehicle that is the external device 200 ′ when there is a risk of collision.

Next, the operation of the driving support device 100 '' will be described.
First, an operation for detecting a trend in which the driver is excessively gazing at an obstacle such as a side-view driving will be described.
FIG. 9 is a flowchart showing the operation of the driving support apparatus according to Embodiment 3 of the present invention. In the following, the same steps as those of the driving support devices 100 and 100 ′ according to the first and second embodiments are denoted by the same reference numerals as those used in FIGS. 5 and 7, and the description thereof is omitted or simplified. Turn into.
When the visual information update unit 32 of the visual information generation unit 30 performs a process of updating the visual information generated in step ST5 in the visual information storage unit 33 (step ST6), the visual information generation unit 30 performs an unconfirmed fault identification unit 40. And visual recognition information is output with respect to the control part 60 (step ST7 ''). As one process, the process from step ST11 to step ST15 shown in the second embodiment is performed.

  As the other process, the control unit 60 refers to the cumulative visual recognition time of the visual information input in step ST7 ″, and determines whether or not there is a gaze target whose cumulative visual recognition time is equal to or greater than the threshold ( Step ST21). If there is no gaze target (step ST21; NO), the process is terminated. On the other hand, when there is a gaze target (step ST21; YES), the control unit 60 notifies the driver that there is a danger such as a side-view driving through the notification unit 70 (step ST22), and ends the process. To do.

Next, an operation for detecting a trend in which the driver cannot recognize any object to be visually recognized will be described.
FIG. 10 is a flowchart showing another operation of the driving support apparatus according to Embodiment 3 of the present invention. In the following description, the same steps as those of the driving support apparatus according to Embodiment 1 and Embodiment 2 are denoted by the same reference numerals as those used in FIGS. 5 and 7, and description thereof is omitted or simplified.
When the visual information update unit 32 of the visual information generation unit 30 performs a process of updating the visual information generated in step ST5 in the visual information storage unit 33 (step ST6), the visual information generation unit 30 performs an unconfirmed fault identification unit 40. And visual recognition information is output with respect to the control part 60 (step ST7 ''). As one process, the process from step ST11 to step ST15 shown in the second embodiment is performed.

  As the other process, the control unit 60 refers to the accumulated visual recognition time of the visual information input in step ST7 ″ and determines whether or not the cumulative visual recognition time of all the visual objects is “0” ( Step ST31). When the cumulative visual recognition time of all visual objects is not “0” (step ST31; NO), the process is terminated. On the other hand, when the cumulative visual recognition time of all visual objects is “0” (step ST31; YES), the control unit 60 is in a dangerous driving state in which no obstacles can be recognized by the driver via the notification unit 70. Is notified (step ST32), and the process is terminated. In addition, in step ST32, you may comprise so that it may alert | report outside via external apparatus 200 'besides alert | reporting to a driver | operator.

  In addition, the determination process as to whether or not the gaze target object shown in the flowchart of FIG. 9 exists, and the determination process as to whether the cumulative visual recognition time of all the visual objects shown in the flowchart of FIG. You may comprise so that it may carry out in parallel simultaneously.

  As described above, according to the third embodiment, when it is determined that there is a visual target for which the cumulative visual recognition time of the visual information is equal to or greater than the threshold, there is a risk that the driver has a risk such as a side driving. Since it comprised so that the control part 60 which alert | reports might be provided, the accident resulting from a driver | operator's excessive gaze, such as a side driving, can be suppressed.

  Further, according to the third embodiment, when it is determined that the cumulative visual recognition time of all visual recognition objects in the visual recognition information is “0”, the control unit that notifies the driver or the outside of the host vehicle of the dangerous driving state. Since it comprises so that 60 may be provided, the accident resulting from a driver's distraction can be suppressed.

  In the present invention, within the scope of the invention, any combination of the embodiments, or any modification of any component in each embodiment, or omission of any component in each embodiment is possible. .

  DESCRIPTION OF SYMBOLS 10 Obstacle detection part, 11 Sensor information acquisition part, 12 Communication part, 20 Eye-gaze specific part, 30 Visual information generation part, 31 Visual recognition judgment part, 32 Visual information update part, 33 Visual information storage part, 40 Unconfirmed obstacle specific part , 50 Collision risk determination unit, 60 control unit, 70 notification unit, 100, 100 ′, 100 ″ driving support device, 200, 200 ′ external device.

Claims (9)

In a driving support device that is mounted on a moving body and presents information indicating the risk of collision between the moving body and an obstacle,
An obstacle detection unit for detecting the obstacle located around the moving body;
A line-of-sight specifying unit for specifying a line-of-sight vector indicating the line-of-sight direction of both eyes of the driver of the moving body;
Based on the obstacle detected by the obstacle detection unit and the line-of-sight vector of both eyes of the driver specified by the line-of-sight specifying unit, the obstacle located at the intersection of the line-of-sight vector of the driver's eyes It is determined that the driver is visually recognizing the obstacle, the obstacle that the driver is visually recognizing the obstacle, and the obstacle that is detected by the obstacle detector. A visual information generating unit that generates visual information including cumulative visual time that is a cumulative value, and updates the cumulative value by adding the time that the driver viewed and interrupted within a predetermined time ;
An obstacle whose cumulative visual time is equal to or less than a threshold among obstacles determined by the visual information generation unit as being viewed by the driver with reference to the cumulative visual time generated by the visual information generation unit A driving assistance apparatus comprising: an unidentified obstacle identifying unit that identifies an object as an unidentified obstacle. A risk determination unit for determining a collision risk between the moving body and the unidentified obstacle based on the positional information of the unconfirmed obstacle specified by the unidentified obstacle specifying unit and the traveling direction of the moving body; ,
The driving support device according to claim 1, further comprising a control unit that performs driving support control based on the collision risk determined by the risk determination unit.   The risk determination unit detects the traveling direction and speed of the unconfirmed obstacle using the GPS position information of the unconfirmed obstacle, and the traveling direction and speed of the detected unconfirmed obstacle and the traveling direction of the moving body The driving support device according to claim 2, wherein the collision risk is determined based on the following.   The risk determination unit detects the traveling direction and speed of the unidentified obstacle using the triaxial acceleration information of the unidentified obstacle, and the traveling direction and speed of the detected unidentified obstacle and the traveling of the moving body The driving assistance device according to claim 2, wherein the collision risk is determined based on a direction.   The said control part notifies the said collision risk with respect to the portable terminal which the said unidentified obstacle possesses, when it is judged by the said risk judgment part that there exists a collision risk. The driving support device according to claim 3 or claim 4.   2. The control unit according to claim 1, wherein when the danger determination unit determines that there is a collision risk, the control unit notifies the unconfirmed obstacle of the collision risk via an external device. The driving support device according to claim 3 or claim 4.   And a notification unit that notifies the driver of the moving body of the collision risk in accordance with the control of the control unit when the risk determination unit determines that there is a collision risk. The driving support apparatus according to claim 2, wherein:   The control unit refers to the visual information generated by the visual information generation unit, and determines that the cumulative visual time is equal to or greater than a threshold set larger than the threshold, and that there is an obstacle to be watched by the driver. 8. The driving support device according to claim 2, wherein control for notifying a danger caused by the driver gazing at the obstacle is performed.   The control unit refers to the visual information generated by the visual information generation unit, and when the driver determines that the obstacle is not visually recognized, notifies the danger due to the obstacle not being visually recognized. The driving support device according to claim 2 or 7, wherein control to perform is performed.

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