JP6686327B2 - Driving support device - Google Patents

Description

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

  A GPS device, a vehicle speed sensor, an acceleration sensor, a steering angle sensor, and the like are provided as detection means for acquiring the running state of the vehicle. Various sensors such as a millimeter wave radar and a camera for capturing the outside of the vehicle are provided as sensors for acquiring the vehicle surroundings. There is known a vehicle that includes vehicle-to-vehicle communication means and that an automatic driving vehicle control device performs automatic driving using information from these sensors (see Patent Document 1 below).

  These sensors cannot always perform accurate sensing, and depending on the situation, information cannot be acquired or a detection error increases, resulting in a decrease in detection accuracy. When the accuracy of the information obtained from the sensor decreases, it is not possible to safely perform automatic driving. Therefore, when the detection accuracy of the detection means becomes lower than a predetermined standard, the autonomous vehicle control device determines that the conditions for performing autonomous driving are not satisfied, and cancels automatic driving to ensure safety. is doing.

JP, 2014-106854, A

  According to the technique described in Patent Document 1, the detection accuracy of the detection unit is lower than a predetermined reference, and when it is determined that the conditions for performing the automatic driving are not satisfied, the automatic driving is forcibly released. Will end up. Although it is an excellent control in terms of ensuring safety, it may actually be safe even if the detection system deteriorates. In such a case, although it is safe, a situation may occur in which the automatic driving is forcibly released.

  However, when the vehicle is running, depending on the type of sensor, it may not be possible to perform appropriate sensing in a predetermined case, and it may not be possible to accurately grasp the surrounding conditions of the vehicle.

  For example, in the case of a safety system that uses an ultrasonic sensor to warn a blind spot behind a vehicle, there is a possibility that rain may be caught as an obstacle during rainfall. Further, for example, in the case of a safety system that reduces the damage at the time of a collision by performing traveling control based on a radio wave radar, if the inner wall of the tunnel is regarded as an obstacle when passing through the tunnel, for example, There is a possibility that snow or mud adhering to the radar radiating part of the radio wave radar may be caught as an obstacle. In such cases, if the technique described in Patent Document 1 is used, the safety system operates despite the safe state, and as a result, the safety system malfunctions.

  In order to prevent such malfunctions, a method of solving the problem by providing a plurality of sensors or a plurality of radars may be considered, but this is not realistic because the vehicle manufacturing cost increases and the control configuration becomes complicated.

  The present invention has been made in view of the above circumstances, and in a situation where the surrounding situation cannot be determined based on the output from the sensor, the surrounding situation is accurately determined with a simple configuration, and the safety system is appropriately controlled. It is an object of the present invention to provide a driving support device capable of performing.

The driving assistance device is a driving assistance device that assists a driver who drives a vehicle in driving, and includes a sensor that detects a situation of a blind spot of the driver behind the vehicle and a periphery of the vehicle when the vehicle is traveling. An acquisition unit that acquires surrounding condition information indicating a condition, and a control unit that controls the safety system of the vehicle based on the surrounding condition of the vehicle acquired by the acquisition unit are provided. The control means inquires the driver about the surrounding situation based on the surrounding situation information acquired by the obtaining means, and the operation or stop of the safety system based on the inquiry result by the inquiry means. System control means for controlling the. The safety system is a rear blind spot warning system that issues a warning to the driver, the acquisition unit acquires a situation behind the vehicle based on the detection of the sensor, and the inquiry unit determines whether the weather is bad. The system control means stops the rear blind spot warning system when the driver gives an instruction that the weather is bad based on the inquiry result.

The driving support device is a driving support device that assists a driver who drives a vehicle in driving, and a sensor that detects a situation in front of the vehicle and a surrounding area that indicates a situation around the vehicle when the vehicle is traveling. An acquisition unit that acquires status information and a control unit that controls the safety system of the vehicle based on the surrounding condition of the vehicle acquired by the acquisition unit are provided. The control means inquires the driver about the surrounding situation based on the surrounding situation information acquired by the obtaining means, and the operation or stop of the safety system based on the inquiry result by the inquiry means. System control means for controlling the. The safety system is a collision damage reduction system that reduces collision damage when the vehicle collides with the obstacle in front of the vehicle, and the acquisition unit acquires the situation in front of the vehicle based on detection by the sensor, When it is determined that the sensor has an adhered substance, the inquiry unit inquires whether or not the sensor is passing through the tunnel, and the system control unit causes the driver to drive in the tunnel based on the inquiry result. If not, the operation of the collision damage reduction system is stopped.

  ADVANTAGE OF THE INVENTION According to the driving assistance device of this invention, in a situation where the surrounding situation cannot be determined based on the output from the sensor, the surrounding situation can be accurately determined with a simple configuration, and the safety system can be controlled appropriately. Support device can be provided.

It is a figure which shows an example of a schematic control structure of the driving assistance device which concerns on the 1st Embodiment of this invention. FIG. 3 is a diagram showing an example of a state in which ultrasonic waves are being emitted from a vehicle traveling on the road according to the first embodiment. It is a figure which shows an example of the message displayed on the display and input part which concerns on the same 1st Embodiment. It is a figure which shows an example of the message displayed on the display and input part which concerns on the same 1st Embodiment. It is a flow chart which shows an example of control of a safety system (back blind spot warning system) concerning the 1st embodiment. It is a figure which shows an example of a schematic control structure of the driving assistance device which concerns on the 2nd Embodiment of this invention. It is a figure which shows an example of the state which the electromagnetic wave radar is radiating from the vehicle running on the road which concerns on the 2nd Embodiment. It is a figure which shows an example of the message displayed on the display / input part which concerns on the same 2nd Embodiment. It is a figure which shows an example of the message displayed on the display / input part which concerns on the same 2nd Embodiment. It is a flow chart which shows an example of control of a safety system (collision damage mitigation system) concerning the 2nd embodiment.

Hereinafter, each embodiment of the present invention will be described with reference to the drawings.
(First embodiment)
FIG. 1 is a diagram showing an example of a schematic control configuration of a driving support device according to the first embodiment. In each embodiment, the case where the driving support device is applied to the vehicle 1 will be described.

  As shown in FIG. 1, the vehicle 1 includes a vehicle ECU (control means) 11, an ultrasonic sensor 12, a display / input unit 13, and a voice output unit 14. The vehicle 1 has a general configuration as a vehicle in addition to these configurations, but since it is not directly related to the present invention, illustration and description thereof will be omitted.

  The vehicle ECU 11 controls a rear blind spot warning system (safety system) of the vehicle based on each device of the vehicle 1 and the surrounding conditions of the vehicle 1. In the first embodiment, a case where the vehicle ECU 11 controls the display / input unit 13 and the voice output unit 14 based on the input from the ultrasonic sensor 12 will be described.

  The ultrasonic sensor 12 is provided on the rear side of the vehicle 1 and acquires information (surrounding condition information) indicating a condition (surrounding condition) behind the vehicle 1 during traveling (acquisition unit). More specifically, the ultrasonic sensor 12 is arranged at a position where it is possible to output ultrasonic waves to a blind spot from a driver located in the driver's seat. The ultrasonic sensor 12 also receives a reflected wave of the output ultrasonic wave. Note that FIG. 2 is a diagram showing an example of a state in which ultrasonic waves are being emitted from the vehicle 1 running on the road R.

  The display / input unit 13 displays information (message) to the driver and receives an input from the driver, for example, when the driver is located in the driver's seat. For this reason, the display / input unit 13 is configured by a touch panel, and can receive an answer to the displayed message to the driver. Therefore, it is desirable that the display / input unit 13 is arranged at a position where the driver can easily see and operate it.

  The voice output unit 14 outputs a predetermined voice under the control of the vehicle ECU 11. The voice output unit 14 outputs, for example, a message having the same content as the message displayed on the display / input unit 13 as voice. Further, under the control of the vehicle ECU 11, an alarm is sounded to the driver when a predetermined condition is met.

  The rear blind spot warning system (safety system) includes a vehicle ECU 11, an ultrasonic sensor 12, and a sound output unit 14. The rear blind spot warning system determines that there is an obstacle behind the vehicle 1 by the vehicle ECU 11 when the received wave (reflected wave) received from the ultrasonic sensor 12 exceeds a predetermined reference value, and outputs a voice. It is a system that sounds the section 14 to give a warning to the driver.

  For example, when the ultrasonic wave output from the ultrasonic sensor 12 is radiated to a pedestrian while the vehicle 1 is traveling, the reflected wave is received by the ultrasonic sensor 12. The level of this received wave becomes a large value as compared with the level when there is no pedestrian. Therefore, when the predetermined reference value is exceeded, the vehicle ECU 11 determines that a pedestrian (obstacle) exists behind the vehicle 1, issues a predetermined alarm from the voice output unit 14, and notifies the driver of the vehicle. Encourage you to be alert behind 1.

  Next, the contents displayed on the display / input unit 13 when inquiring of the driver about bad weather will be described. FIG. 3 is a diagram showing an example of a message displayed on the display / input unit 13 at the time of this inquiry.

  As shown in FIG. 3, in the display / input unit 13a, a "YES" button 21 and a "NO" button 22 for receiving an answer from the driver are displayed together with a message "is it raining now?". Is displayed. The “YES” button 21 and the “NO” button 22 correspond to the touch sensor, and the driver can input an answer by touching either the “YES” button 21 or the “NO” button 22 with a fingertip or the like. It is like this. In the first embodiment, “rain” is cited as an example of the type of weather, but the type of weather is not limited to “rain”, and for example, snow can be cited.

  Next, the contents displayed on the display / input unit 13 when the stopped rear blind spot warning system is restored will be described. FIG. 4 is a diagram showing an example of a message displayed on the display / input unit 13 at the time of this return.

  As shown in Fig. 4, the display / input section 13b has a message "The rear blind spot warning system is currently stopped. Are you sure you want to cancel it?" And a "YES" button to accept the response from the driver. 23 is displayed. The “YES” button 23 corresponds to the touch sensor as in the case of FIG. 3, and the driver can instruct to release the stop by touching the “YES” button 23 with a fingertip or the like. .

  Next, control of stop / operation of the rear blind spot warning system executed by the vehicle ECU 11 during traveling will be described. FIG. 5 is a flowchart showing an example of control of the rear blind spot warning system.

  As shown in FIG. 5, first, the vehicle ECU 11 operates the ultrasonic sensor 12 when the vehicle 1 starts traveling, and determines whether or not external noise is generated in the received wave received by the ultrasonic sensor 12. (ST101). Whether or not the external noise is generated is determined, for example, based on whether or not the level of the received wave exceeds a predetermined reference value.

  When it is determined that no external noise is generated (ST101: NO), vehicle ECU 11 activates the rear blind spot warning system (ST102). Then, the process returns.

  On the other hand, when it is determined that external noise is generated (ST101: YES), the vehicle ECU 11 displays a selection message on the display / input unit 13 (ST103: inquiry means). In the first embodiment, the selection message is the message described with reference to FIG. 3 (is it raining now?).

  Next, the vehicle ECU 11 determines whether or not the weather is bad (ST104). More specifically, when the “YES” button 21 is input on the screen displayed as the selection message, it is determined that the weather is bad (rainy), and the “NO” button 22 is input. Judges that the weather is not bad (it is not raining).

  When it is determined that the weather is not bad (ST104: NO), the vehicle ECU 11 activates the rear blind spot warning system (ST102).

  When it is determined that the weather is bad (ST104: YES), the vehicle ECU 11 displays the unavailable message on the display / input unit 13 (ST105). The unusable message is the message described with reference to FIG. 4 in the first embodiment (the rear blind spot warning system is currently stopped. Do you want to cancel it?).

  After displaying the unusable message in this way, the vehicle ECU 11 stops the rear blind spot warning system (ST106). Stop the rear blind spot warning system because of bad weather and the rear blind spot warning system may not work properly. Further, by displaying the unavailable message, the rear blind spot warning system is stopped, so that the driver can be reminded that caution is required in the rear.

  Next, the vehicle ECU 11 determines whether or not the "YES" button 23 displayed near the message "Do you want to cancel?" Is pressed (ST107). When determining that the “YES” button 23 has not been input (ST107: NO), the vehicle ECU 11 continues the process of displaying the unavailable message on the display / input unit 13.

  Further, when it is determined that the "YES" button 23 has been input (ST107: YES), the vehicle ECU 11 cancels the stop of the rear support warning system and starts the operation (ST102). The system control means is constituted by steps ST104, ST105, ST106, ST107, and ST102.

  According to the vehicle 1 configured as described above, the selection message is provided to the driver in a situation where the situation (surrounding situation) behind the vehicle 1 cannot be determined based on the output from the ultrasonic sensor 12 (see: 3), the driver is inquired whether or not the weather is bad, and the activation / stop of the rear blind spot warning system is controlled based on the inquiry result. Therefore, the situation behind the vehicle 1 is accurately determined by a simple configuration, and the rear blind spot is detected. The alarm system can be properly controlled.

  Further, the vehicle ECU 11 can execute the above-described control without providing any sensor other than the ultrasonic sensor 12, and thus can provide an inexpensive rear blind spot warning system.

  Further, since the driver gives an instruction as to whether or not the weather is bad, in other words, it is left to the driver to determine whether or not the weather is bad, so that the driver's dissatisfaction with the malfunction of the rear blind spot warning system can be reduced.

(Second embodiment)
Next, a second embodiment will be described.
FIG. 6 is a diagram showing an example of a schematic control configuration of a vehicle (driving support device) 1 according to the second embodiment. It differs from the vehicle 1 described with reference to FIG. 1 in that the ultrasonic sensor 12 is changed to a radio wave radar 15 and a brake system 16 is added. The points different from the first embodiment will be described in detail below.

  The radio wave radar 15 is provided, for example, on the front side of the vehicle 1 and acquires information (surrounding condition information) indicating a condition (surrounding condition) in front of the vehicle 1 during traveling (acquiring means). For example, the radio wave radar 15 radiates a radar in front of the vehicle 1 and receives a reflected wave for the radiated radar. A millimeter wave radar is used as the radio wave radar, but infrared rays may be used or both millimeter wave radar and infrared rays may be used in combination. Note that FIG. 7 is a diagram showing an example of a state in which the radio wave radar is radiated from the vehicle 1 traveling on the road R and in the tunnel T.

  The brake system 16 controls the driving of wheels (not shown) under the instruction of the vehicle ECU 11 to control the traveling speed of the vehicle 1, for example.

  The collision damage reduction system (safety system) includes a vehicle ECU 11, a radio wave radar 15, a brake system 16, and a voice output unit 14. In the collision damage reduction system, when the received wave (reflected wave) received from the radio wave radar 15 exceeds a predetermined reference value, the vehicle ECU 11 determines that there is an obstacle in front of the vehicle 1, and the voice output unit 14 To warn the driver and activate the brake system 16 to reduce (or stop) the traveling speed of the vehicle 1. This is a system that reduces damage when the vehicle 1 collides.

  Next, the contents displayed on the display / input unit 13 when inquiring the driver whether or not the vehicle is passing through the tunnel will be described. FIG. 8 is a diagram showing an example of a message displayed on the display / input unit 13 at the time of this inquiry.

  As shown in FIG. 8, a "YES" button 24 and a "NO" button 25 for accepting an answer from the driver are displayed on the display / input unit 13c along with a message "Is the tunnel currently passing?" To be done. The “YES” button 24 and the “NO” button 25 correspond to the touch sensor, and the driver can input an answer by touching either the “YES” button 24 or the “NO” button 25 with a fingertip or the like. This is the same as the case of the first embodiment (see FIG. 3).

  Next, the contents displayed on the display / input unit 13 when the stopped collision damage reduction system is restored will be described. FIG. 9 is a diagram showing an example of a message displayed on the display / input unit 13 at the time of this return.

  As shown in FIG. 9, the display / input unit 13d has a message "The collision damage reduction system is currently stopped. Are you sure you want to cancel it?" Along with a "YES" button to accept the response from the driver. 26 is displayed. The “YES” button 26 corresponds to the touch sensor as in the case of FIG. 8, and the driver can instruct to release the touch by touching the “YES” button 26 with a fingertip or the like.

  Next, control of stop / operation of the collision damage reduction system executed by the vehicle ECU 11 during traveling will be described. FIG. 10 is a flowchart showing an example of control of the collision damage reduction system.

  As shown in FIG. 10, the vehicle ECU 11 first activates the radio wave radar 15 when the vehicle 1 starts traveling, and determines whether there is a possibility of snow / mud adhesion from the received wave received by the radio wave radar 15. A judgment is made (ST201). Whether snow or mud adheres to the radiating portion of the radio wave radar 15 is determined based on, for example, whether the level of the received wave exceeds a predetermined reference value.

  When determining that there is no possibility of snow / mud adhesion (ST201: NO), the vehicle ECU 11 operates the collision damage reduction system (ST202). Then, the process returns.

  On the other hand, when determining that there is a possibility that snow / mud is attached (ST201: YES), the vehicle ECU 11 displays a selection message on the display / input unit 13 (ST203: inquiry means). In the second embodiment, the selection message is the message described with reference to FIG. 8 (is it currently passing through a tunnel, etc.).

  Next, the vehicle ECU 11 determines whether or not the vehicle is passing through a tunnel (ST204). More specifically, in the screen displayed as the selection message, when the “YES” button 24 is input, it is determined that the tunnel is being passed, and when the “NO” button 25 is input, the tunnel is being passed. Determine not.

  When it is determined that the vehicle is passing through the tunnel (ST204: YES), the vehicle ECU 11 operates the collision damage reduction system (ST202). That is, the vehicle ECU 11 continues the operation of the collision damage reduction system.

  When it is determined that the vehicle is not passing through the tunnel (ST204: NO), the vehicle ECU 11 displays the unavailable message on the display / input unit 13 (ST205). In the second embodiment, the unavailable message is the message described with reference to FIG. 9 (currently, the collision damage reduction system is stopped. Are you sure you want to cancel?).

  After displaying the unavailable message in this way, the vehicle ECU 11 stops the collision damage reduction system (ST206). Stop the collision damage mitigation system because snow / mud may be attached and the collision damage mitigation system may not operate properly. Further, by displaying the unavailable message, the driver can be reminded that the collision damage mitigation system is stopped and attention is required in the front.

  Next, the vehicle ECU 11 determines whether or not the “YES” button 26 displayed near the message “Do you want to cancel?” Is pressed (ST207). When determining that the “YES” button 26 has not been input (ST207: NO), the vehicle ECU 11 continues the process of displaying the unavailable message.

  When determining that the “YES” button 26 has been input (ST207: YES), the vehicle ECU 11 cancels the stop of the collision damage reduction system and starts the operation (ST202). In addition, the system control means is constituted by steps ST204, ST205, ST206, ST207, and ST202.

  According to the vehicle 1 configured as described above, the selection message is provided to the driver in a situation where the situation in the front of the vehicle 1 (environmental situation) cannot be determined based on the output from the radio wave radar 15 (refer to FIG. 8) Inquires the driver whether or not the vehicle is passing through a tunnel, and controls the operation / stop of the collision damage mitigation system based on the inquiry result. Therefore, the situation in front of the vehicle 1 is accurately determined with a simple configuration, and a collision occurs. The damage reduction system can be controlled appropriately.

  Further, the vehicle ECU 11 can execute the above-described control without providing any sensor other than the radio wave radar 15, and thus can provide an inexpensive collision damage reduction system.

  Further, since the driver gives an instruction as to whether or not the vehicle is passing through a tunnel, in other words, it is left to the driver to judge whether or not the vehicle is passing through a tunnel, so that the driver's dissatisfaction with the malfunction of the collision damage reduction system is reduced. be able to.

  Although the ultrasonic sensor 12 is used as the sensor in the first embodiment and the radio wave radar 15 is used as the sensor in the second embodiment, the sensor is not limited thereto. For example, a camera may be used as a sensor. In this case, the vehicle ECU 11 may determine the state of external noise (ST101) and the possibility of snow / mud adhesion (ST201) by analyzing the image captured by the camera.

  Also, the case has been described in which the answer to the selection message is made by inputting the “YES” buttons 21, 24, “NO” buttons 22, 25, and the cancellation instruction for the unavailable message is made by inputting the “YES” button 23, 26. It is not limited to. When the device for identifying the driver's voice is installed in the vehicle 1, the driver may give a reply by speaking. In this case, there is an advantage that the driving operation of the driver is not affected.

  The present invention is not limited to the above-described embodiments as they are, and can be embodied by modifying the constituent elements within a range not departing from the gist of the invention in an implementation stage. Further, various inventions can be formed by appropriately combining a plurality of constituent elements disclosed in the above-described embodiments. For example, some constituent elements may be deleted from all the constituent elements shown in the above-described embodiment. Furthermore, the configurations of different embodiments may be combined.

DESCRIPTION OF SYMBOLS 1 ... Vehicle, 11 ... Vehicle ECU, 12 ... Ultrasonic sensor, 13 ... Display / input part, 13a-13d ... Display screen example, 14 ... Audio output part, 15 ... Radio wave radar, 16 ... Brake system, T ... Tunnel, R ... Road, 21, 23, 24, 26 ... YES button, 22, 25 ... NO button

Claims (2)

A driving support device for supporting driving of a driver driving a vehicle,
A sensor that detects the situation of the blind spot of the driver behind the vehicle,
Acquisition means for acquiring surrounding condition information indicating a surrounding condition of the vehicle when the vehicle is traveling,
Based on the surrounding situation of the vehicle acquired by the acquisition means, control means for controlling the safety system of the vehicle,
Equipped with
The control means is
An inquiring unit for inquiring the driver of the peripheral condition based on the peripheral condition information acquired by the acquiring unit;
System control means for controlling the operation or stop of the safety system based on the result of the inquiry by the inquiry means;
Equipped with
The safety system is a rear blind spot warning system that warns the driver,
The acquisition means acquires the situation behind the vehicle based on the detection of the sensor,
The inquiry means inquires whether the weather is bad,
The system control means stops the rear blind spot warning system when the driver gives an instruction that the weather is bad, based on the inquiry result.
A driving support device characterized by the above. A driving support device for supporting driving of a driver driving a vehicle,
A sensor for detecting the situation in front of the vehicle,
Acquisition means for acquiring surrounding condition information indicating a surrounding condition of the vehicle when the vehicle is traveling,
Based on the surrounding situation of the vehicle acquired by the acquisition means, control means for controlling the safety system of the vehicle,
Equipped with
The control means is
An inquiring unit for inquiring the driver of the peripheral condition based on the peripheral condition information acquired by the acquiring unit;
System control means for controlling the operation or stop of the safety system based on the result of the inquiry by the inquiry means;
Equipped with
The safety system is a collision damage mitigation system that reduces collision damage when the vehicle collides with the front obstacle,
The acquisition unit acquires the situation in front of the vehicle based on the detection of the sensor,
The inquiring means inquires whether or not the vehicle is passing through a tunnel when it is determined that adhered matter is attached to the sensor,
The system control means stops the operation of the collision damage reduction system when the driver instructs that the vehicle is not traveling in a tunnel based on the inquiry result.
A driving support device characterized by the above.

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