JP7105985B2 - Driving support device - Google Patents

Description

The present invention relates to a driving assistance device.

Patent Literature 1 discloses a technique for calculating the degree of visibility of an object for safety confirmation by the driver based on the distance of the object for safety confirmation with respect to the line-of-sight direction of the driver. As a result, not only is the visibility of the safety confirmation object that the driver is gazing at is calculated, but also the visibility of the safety confirmation object that is included in the so-called "peripheral vision" range is calculated.

WO2008/029802

2. Description of the Related Art Conventionally, signs, display boards, billboards, etc. (hereinafter collectively referred to as "road information displays") indicating various information about roads have been installed in various places. In addition, signs, display boards, billboards, etc. (hereinafter collectively referred to as "traffic information displays") showing various information about traffic are installed in various places. Hereinafter, road information display and traffic information display are collectively referred to as "road traffic information display".

As described above, the technique described in Patent Document 1 calculates the degree of visibility of the object for safety confirmation by the driver. By diverting the technology described in Patent Literature 1, instead of calculating the visibility of the object for safety confirmation by the driver, the degree of recognition of the road traffic information display by the driver (hereinafter referred to as "recognition degree"). (hereinafter referred to as "diversion technology").

Here, the degree of recognition of the road traffic information display by the driver has a different value depending on the distance of the road traffic information display from the line-of-sight direction, as well as a different value depending on the content of the road traffic information display. . Therefore, when calculating the degree of recognition of the road traffic information display by the driver, it is preferable to consider not only the distance of the road traffic information display from the line of sight but also the content of the road traffic information display. be.

The technology described in Patent Document 1 considers the distance of the safety confirmation object with respect to the line of sight when calculating the visibility of the safety confirmation object by the driver, but does not consider the details of the safety confirmation object. . Therefore, the diversion technique does not consider the content of the road traffic information display when calculating the recognition degree of the road traffic information display by the driver. As a result, there is a problem that the accuracy of determining whether or not the road traffic information display has been recognized by the driver is low.

SUMMARY OF THE INVENTION An object of the present invention is to improve the accuracy of determining whether or not a road traffic information display has been recognized by a driver.

A driving assistance device of the present invention detects an area corresponding to road traffic information display in a front image, and uses a road traffic information detection unit that detects the content of the road traffic information display, and an image inside the vehicle to detect driving in the front image. A viewpoint detection unit that detects a position corresponding to a person's viewpoint, a viewpoint distance coefficient calculation unit that calculates a viewpoint distance coefficient, which is a value that gradually decreases as the distance of the region with respect to the position increases, and a road traffic information display content. A visual point distance coefficient correcting unit that corrects the visual point distance coefficient based on the above, and a recognition degree calculating unit that calculates the degree of recognition of the road traffic information display by the driver by integrating the corrected visual point distance coefficient. be.

According to the present invention, since it is configured as described above, it is possible to improve the accuracy of determining whether or not the road traffic information display has been recognized by the driver.

1 is a block diagram showing a main part of a driving assistance system including a driving assistance device according to Embodiment 1; FIG. FIG. 4 is an explanatory diagram showing an example of a forward image; FIG. 2B is an explanatory diagram showing a region corresponding to road traffic information display in the forward image shown in FIG. 2A; FIG. 2B is an explanatory diagram showing a position corresponding to a driver's viewpoint in the forward image shown in FIG. 2A; 2B is an explanatory diagram showing the distance of the area with respect to the position in the front image shown in FIG. 2A; FIG. FIG. 11 is an explanatory diagram showing another example of a forward image; FIG. 3B is an explanatory diagram showing a region corresponding to road traffic information display in the forward image shown in FIG. 3A; 3B is an explanatory diagram showing a position corresponding to a driver's viewpoint in the forward image shown in FIG. 3A; FIG. 3B is an explanatory diagram showing the distance of the area with respect to the position in the front image shown in FIG. 3A; FIG. FIG. 2 is an explanatory diagram showing the hardware configuration of the driving assistance device according to Embodiment 1; FIG. 4 is an explanatory diagram showing another hardware configuration of the driving assistance device according to Embodiment 1; FIG. 4 is a flow chart showing the operation of the driving assistance device according to Embodiment 1; 4 is a flow chart showing another operation of the driving support device according to Embodiment 1; FIG. 11 is an explanatory diagram showing another example of a forward image; FIG. 7B is an explanatory diagram showing a region corresponding to road traffic information display in the forward image shown in FIG. 7A; 7B is an explanatory diagram showing a position corresponding to the driver's viewpoint in the forward image shown in FIG. 7A; FIG. 7B is an explanatory diagram showing the distance of the area with respect to the position in the front image shown in FIG. 7A; FIG. FIG. 2 is a block diagram showing main parts of a driving assistance system including another driving assistance device according to Embodiment 1; FIG. FIG. 4 is a block diagram showing the essential parts of a driving assistance system including a driving assistance device according to Embodiment 2; 8 is a flow chart showing the operation of the driving assistance device according to Embodiment 2; FIG. 10 is a block diagram showing a main part of a driving assistance system including another driving assistance device according to Embodiment 2; FIG. 10 is a block diagram showing a main part of a driving assistance system including another driving assistance device according to Embodiment 2; FIG. 11 is a block diagram showing the essential parts of a driving assistance system including a driving assistance device according to Embodiment 3; 10 is a flow chart showing the operation of a driving assistance device according to Embodiment 3; FIG. 11 is a block diagram showing the essential parts of a driving support system including a driving support device according to Embodiment 4; FIG. 11 is a block diagram showing the essential parts of a driving assistance system including another driving assistance device according to Embodiment 4;

DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, in order to describe the present invention in more detail, embodiments for carrying out the present invention will be described with reference to the accompanying drawings.

Embodiment 1.
FIG. 1 is a block diagram showing essential parts of a driving support system including a driving support device according to Embodiment 1. FIG. A driving support device 100 according to Embodiment 1 will be described with reference to FIG. Also, a driving support system 200 including the driving support device 100 will be described.

As shown in FIG. 1 , a vehicle 1 is provided with a control device 2 , a first imaging device 3 , a second imaging device 4 and a display device 5 . The control device 2 , the first imaging device 3 , the second imaging device 4 and the display device 5 constitute a main part of the driving support system 200 .

The first imaging device 3 captures an image in front of the vehicle 1 at predetermined time intervals, and outputs an image signal indicating the captured image (hereinafter referred to as "front image") I1. The first imaging device 3 is configured by, for example, an infrared camera or a visible light camera. The first imaging device 3 is provided, for example, on the front end of the vehicle 1 , on the dashboard of the vehicle 1 , or on the ceiling in the front part of the interior of the vehicle 1 .

The second image capturing device 4 captures an image of the interior of the vehicle 1 at predetermined time intervals, and outputs an image signal indicating the captured image (hereinafter referred to as "in-vehicle image") I2. The second imaging device 4 is composed of, for example, an infrared camera or a visible light camera. The 2nd imaging device 4 is provided in the dashboard of the vehicle 1, for example.

The display device 5 is configured by, for example, a liquid crystal display or an organic EL (Electro Luminescence) display, and is provided on the dashboard of the vehicle 1 . Alternatively, for example, the display device 5 is configured by a HUD (Head-Up Display).

The control device 2 is configured by, for example, an ECU (Electronic Control Unit). The driving assistance device 100 is provided in the control device 2 . The driving support device 100 will be described below.

The road traffic information detection section 21 acquires the image signal output by the first imaging device 3 . The road traffic information detection unit 21 detects the road traffic information display S included in the forward image I1 by executing image recognition processing on the forward image I1 using the acquired image signal. More specifically, the road traffic information detection unit 21 detects the area A corresponding to the road traffic information display S in the forward image I1, and also detects the content of the road traffic information display S. As shown in FIG. Hereinafter, the process in which the road traffic information detection unit 21 detects the contents of the area A and the road traffic information display S is referred to as "road traffic information detection process".

The viewpoint detection unit 22 acquires the image signal output by the second imaging device 4 . The viewpoint detection unit 22 uses the acquired image signal to perform image recognition processing on the in-vehicle image I2, thereby detecting a position corresponding to the driver's viewpoint in the forward image I1 (hereinafter referred to as "viewpoint position"). P is detected. Hereinafter, the process of detecting the viewpoint position P by the viewpoint detection unit 22 will be referred to as "viewpoint detection process".

For example, the viewpoint detection unit 22 detects the position of the driver's head (more specifically, the position of the driver's eyes) by executing image recognition processing on the in-vehicle image I2, and detects the driver's line of sight. Detect vectors. The viewpoint detection unit 22 stores in advance a table showing the correspondence between the driver's eye position, the driver's line-of-sight vector, and the viewpoint position P in the forward image I1. The viewpoint detection unit 22 detects the viewpoint position P in the front image I1 using the stored table.

The viewpoint distance coefficient calculation unit 23 acquires the detection result by the road traffic information detection unit 21 and the detection result by the viewpoint detection unit 22 . The viewpoint distance coefficient calculation unit 23 calculates the distance L of the area A with respect to the viewpoint position P using the obtained detection result. Also, the viewpoint distance coefficient calculation unit 23 calculates a coefficient (hereinafter referred to as “viewpoint distance coefficient”) C corresponding to the calculated distance L. FIG. That is, the viewpoint distance coefficient C is a value that gradually decreases as the distance L increases. In other words, the viewpoint distance coefficient C is a value that gradually increases as the distance L decreases.

For example, the viewpoint distance coefficient calculation unit 23 calculates a coordinate value indicating the viewpoint position P in the front image I1 (hereinafter referred to as "first coordinate value") and a predetermined portion (for example, the center or upper left) of the region A in the front image I1. The distance L in units of pixels is calculated based on the difference value from the coordinate value (hereinafter referred to as the “second coordinate value”) indicating the position of the edge). The viewpoint distance coefficient calculator 23 calculates a viewpoint distance coefficient C corresponding to the calculated distance L in units of pixels.

Alternatively, for example, the viewpoint distance coefficient calculator 23 calculates the distance L in units of pixels based on the difference value between the first coordinate value and the second coordinate value. The viewpoint distance coefficient calculation unit 23 stores in advance a table showing the correspondence relationship between the first coordinate value, the second coordinate value, and the coefficient for converting the distance L in units of pixels to the distance L in units of meters. there is The viewpoint distance coefficient calculation unit 23 calculates the distance L in meters by converting the calculated distance L in pixels into the distance L in meters using the stored table. The viewpoint distance coefficient calculation unit 23 calculates a viewpoint distance coefficient C corresponding to the calculated distance L in units of meters.

FIG. 2A shows an example of the forward image I1. A forward image I1 shown in FIG. 2A includes a road sign (more specifically, a regulatory sign) meaning "vehicle entry prohibited", that is, a road traffic information display S. As shown in FIG. The regulatory sign consists of one symbol (hereinafter referred to as "mark") and does not contain a character string.

In this case, the road traffic information detection unit 21 detects the area A corresponding to the road traffic information display S (see FIG. 2B). Moreover, the road traffic information detection unit 21 detects the content of the road traffic information display S. FIG. More specifically, the road traffic information detection unit 21 detects that the road traffic information display S is a regulatory sign meaning "vehicle entry prohibited". At this time, it is also detected that the road traffic information display S is composed of one mark and that the road traffic information display S does not contain a character string. Next, the viewpoint detection unit 22 detects the viewpoint position P in the forward image I1 (see FIG. 2C). Next, the viewpoint distance coefficient calculator 23 calculates the distance L of the area A with respect to the viewpoint position P (see FIG. 2D), and calculates the viewpoint distance coefficient C corresponding to the calculated distance L. FIG.

FIG. 3A shows another example of the forward image I1. A front image I1 shown in FIG. 3A includes a signboard, that is, a road traffic information display S, including a character string "this ahead/closed to traffic".

In this case, the road traffic information detection unit 21 detects the area A corresponding to the road traffic information display S (see FIG. 3B). Moreover, the road traffic information detection unit 21 detects the content of the road traffic information display S. FIG. More specifically, the road traffic information detection unit 21 detects that the road traffic information display S is a signboard that includes a character string "this ahead/closed to traffic". Next, the viewpoint detection unit 22 detects the viewpoint position P in the forward image I1 (see FIG. 3C). Next, the viewpoint distance coefficient calculator 23 calculates the distance L of the area A from the viewpoint position P (see FIG. 3D), and calculates the viewpoint distance coefficient C corresponding to the calculated distance L. FIG.

The viewpoint distance coefficient correction unit 24 acquires the viewpoint distance coefficient C calculated by the viewpoint distance coefficient calculation unit 23 . Also, the viewpoint distance coefficient correction unit 24 acquires the detection result by the road traffic information detection unit 21 . The viewpoint distance coefficient correction unit 24 corrects the obtained viewpoint distance coefficient C based on the content of the road traffic information display S using the obtained detection result.

That is, based on the number of marks included in the road traffic information display S, the presence or absence of character strings in the road traffic information display S, the number of characters in the character strings included in the road traffic information display S, and the like, the viewpoint distance coefficient correction unit 24 A degree of difficulty D1 for recognizing the road traffic information display S is calculated. The difficulty level D1 is also an index indicating the complexity of the road traffic information display S.

For example, the road traffic information display S in the forward image I1 shown in FIG. 2 is composed of one mark and does not contain a character string. On the other hand, the road traffic information display S in the forward image I1 shown in FIG. 3 includes character strings. In this case, the difficulty level D1 of the former (FIG. 2) is calculated to be smaller than the difficulty level D1 of the latter (FIG. 3). In other words, the difficulty level D1 of the latter (FIG. 3) is calculated to be a larger value than the difficulty level D1 of the former (FIG. 2).

The viewpoint distance coefficient correction unit 24 corrects the viewpoint distance coefficient C so that when the difficulty level D1 is high, the value is smaller than when the difficulty level D1 is low. In other words, the viewpoint distance coefficient correction unit 24 corrects the viewpoint distance coefficient C so that when the difficulty level D1 is small, the value becomes larger than when the difficulty level D1 is large.

As described above, the forward image I1 is captured at predetermined time intervals. On the other hand, the road traffic information detection unit 21 executes road traffic information detection processing at predetermined time intervals. Therefore, when the road traffic information display S is included in the front image I1, the viewpoint distance coefficient C is calculated at predetermined time intervals, and the calculated viewpoint distance coefficient C is sequentially corrected. The recognition level calculation unit 25 calculates the recognition level D2 of the road traffic information display S by the driver by temporally integrating the corrected viewpoint distance coefficient C'. That is, the recognition degree D2 is updated each time the viewpoint distance coefficient C is calculated and the calculated viewpoint distance coefficient C is corrected.

The recognition degree determination unit 26 acquires the detection result by the road traffic information detection unit 21 . In FIG. 1, the connection line between the road traffic information detection unit 21 and the recognition degree determination unit 26 is omitted. Normally, the road traffic information display S in the front image I1 comes out of the front image I1 as the vehicle 1 travels (that is, as time elapses during travel). The degree-of-recognition determination unit 26 determines whether or not the road traffic information display S is outside the front image I1 using the acquired detection result.

The recognition level determination unit 26 acquires the recognition level D2 calculated by the recognition level calculation unit 25 when it is determined that the road traffic information display S is out of the forward image I1. The recognition degree determination unit 26 determines whether or not the road traffic information display S has been recognized by the driver by determining whether or not the acquired recognition degree D2 is equal to or greater than a predetermined threshold value Dth. be. That is, the threshold value Dth is set to a value that enables determination as to whether or not the road traffic information display S has been recognized by the driver.

When the recognition degree determination unit 26 determines that the recognition degree D2 is less than the threshold value Dth, the display control unit 27 controls the display device 5 to display an image I3 corresponding to the road traffic information display S (hereinafter referred to as “first (referred to as "display control"). By visually recognizing the image I3, the driver can confirm the road traffic information display S that he has overlooked.

The road traffic information detection unit 21 , the viewpoint detection unit 22 , the viewpoint distance coefficient calculation unit 23 , the viewpoint distance coefficient correction unit 24 , the recognition level calculation unit 25 , the recognition level determination unit 26 and the display control unit 27 determine the requirements of the driving support device 100 . part is constructed.

Next, with reference to FIG. 4, the hardware configuration of main parts of the driving assistance device 100 will be described.

As shown in FIG. 4A, the driving assistance device 100 has a processor 51 and a memory 52. As shown in FIG. The functions of the road traffic information detection unit 21, the viewpoint detection unit 22, the viewpoint distance coefficient calculation unit 23, the viewpoint distance coefficient correction unit 24, the recognition degree calculation unit 25, the recognition degree determination unit 26, and the display control unit 27 are stored in the memory 52. A program for implementation is stored. The processor 51 reads out and executes the stored programs, whereby the road traffic information detection unit 21, the viewpoint detection unit 22, the viewpoint distance coefficient calculation unit 23, the viewpoint distance coefficient correction unit 24, the recognition degree calculation unit 25, the recognition The functions of the degree determination unit 26 and the display control unit 27 are realized.

Alternatively, the driving assistance device 100 has a processing circuit 53 as shown in FIG. 4B. In this case, the functions of the road traffic information detection unit 21, the viewpoint detection unit 22, the viewpoint distance coefficient calculation unit 23, the viewpoint distance coefficient correction unit 24, the recognition degree calculation unit 25, the recognition degree determination unit 26, and the display control unit 27 are dedicated. It is realized by the processing circuit 53 .

Alternatively, the driving assistance device 100 has a processor 51, a memory 52 and a processing circuit 53 (not shown). In this case, among the functions of the road traffic information detection unit 21, the viewpoint detection unit 22, the viewpoint distance coefficient calculation unit 23, the viewpoint distance coefficient correction unit 24, the recognition degree calculation unit 25, the recognition degree determination unit 26, and the display control unit 27, Some functions are implemented by processor 51 and memory 52 , and the remaining functions are implemented by dedicated processing circuitry 53 .

The processor 51 uses at least one of, for example, a CPU (Central Processing Unit), a GPU (Graphics Processing Unit), a microprocessor, a microcontroller, or a DSP (Digital Signal Processor).

The memory 52 is composed of non-volatile memory or non-volatile memory and volatile memory. The volatile memory in the memory 52 uses, for example, RAM (Random Access Memory). The non-volatile memory of the memory 52 is, for example, ROM (Read Only Memory), flash memory, EPROM (Erasable Programmable Read Only Memory), EEPROM (Electrically Erasable Programmable Read-Only Memory), SSD (Solid Drive) or SSD (Solid Drive). (Hard Disk Drive).

The processing circuit 53 is composed of a digital circuit or a digital circuit and an analog circuit. The processing circuit 53 is, for example, ASIC (Application Specific Integrated Circuit), PLD (Programmable Logic Device), FPGA (Field-Programmable Gate Array), SoC (System-on-a-Chip) or system LSI (Large-Scale). at least one of

Next, referring to the flowchart of FIG. 5, regarding the operation of the driving support device 100, the road traffic information detection unit 21, the viewpoint detection unit 22, the viewpoint distance coefficient calculation unit 23, the viewpoint distance coefficient correction unit 24, and the recognition degree calculation unit 25 will be mainly described.

It is assumed that a power supply for the driving support system 200 (for example, an accessory power supply or an ignition power supply in the vehicle 1) is turned on. The first image capturing device 3 captures an image of the front of the vehicle 1 at predetermined time intervals, and continuously performs a process of outputting an image signal representing the front image I1. The second imaging device 4 continuously performs the process of capturing an image of the vehicle interior of the vehicle 1 at predetermined time intervals and outputting an image signal representing the vehicle interior image I2.

First, in step ST1, the road traffic information detection unit 21 executes road traffic information detection processing. If the forward image I1 includes the road traffic information display S ("YES" in step ST2), the viewpoint detection unit 22 executes viewpoint detection processing in step ST3. Next, in step ST4, the viewpoint distance coefficient calculator 23 calculates a viewpoint distance coefficient C. FIG. Next, in step ST5, the viewpoint distance coefficient correction unit 24 corrects the viewpoint distance coefficient C. FIG. Next, in step ST6, the recognition degree calculator 25 calculates the recognition degree D2.

If the forward image I1 does not include the road traffic information display S (step ST2 "NO"), the processing of the driving support device 100 returns to step ST1. After step ST6, the processing of the driving assistance device 100 returns to step ST1. That is, as described above, the road traffic information detection process is executed at predetermined time intervals.

Next, with reference to the flowchart of FIG. 6, the operation of the driving support device 100 will be described, centering on the operations of the recognition degree determination unit 26 and the display control unit 27. FIG.

As described above, the recognition level determination unit 26 uses the detection result of the road traffic information detection unit 21 to determine whether or not the road traffic information display S is outside the forward image I1. When it is determined that the road traffic information display S is out of the front image I1, the recognition degree determination unit 26 executes the process of step ST11.

First, in step ST11, the recognition level determination unit 26 acquires the recognition level D2 calculated by the recognition level calculation unit 25, and determines whether or not the acquired recognition level D2 is equal to or greater than the threshold value Dth. . When it is determined that the recognition degree D2 is less than the threshold value Dth (“NO” in step ST11), the display control section 27 executes the first display control in step ST12. On the other hand, if it is determined that the recognition degree D2 is equal to or greater than the threshold value Dth ("YES" in step ST11), the process of step ST12 is skipped.

As described above, the driving support device 100 includes the viewpoint distance coefficient correction unit 24 that corrects the viewpoint distance coefficient C based on the content of the road traffic information display S. FIG. By using the viewpoint distance coefficient C′ after correction for calculating the recognition level D2, compared to the case where the viewpoint distance coefficient C before correction is used for calculating the recognition level D2 (that is, compared to the conventional driving support device ), it is possible to improve the accuracy of determining whether or not the road traffic information display S has been recognized by the driver.

Next, a modified example of the driving assistance device 100 will be described with reference to FIG. 7 .

When the front image I1 includes a plurality of road traffic information displays S, the driving support device 100 may execute the processes of ST4 to ST6 for each of the plurality of road traffic information displays S. (See FIG. 7). Further, in this case, the driving support device 100 may perform the processing of steps ST11 and ST12 for each of the plurality of road traffic information displays S.

Next, another modified example of the driving assistance device 100 will be described with reference to FIG.

As shown in FIG. 8 , the recognition degree determination unit 26 and the display control unit 27 may be provided outside the driving support device 100 . That is, the road traffic information detection unit 21, the viewpoint detection unit 22, the viewpoint distance coefficient calculation unit 23, the viewpoint distance coefficient correction unit 24, and the recognition level calculation unit 25 constitute the main part of the driving support device 100. can be

As described above, the driving support device 100 of Embodiment 1 detects the area A corresponding to the road traffic information display S in the front image I1, and the road traffic information detection unit that detects the content of the road traffic information display S. 21, a viewpoint detection unit 22 that detects a position P corresponding to the driver's viewpoint in the front image I1 using the in-vehicle image I2, and a viewpoint distance coefficient C that corresponds to the distance L of the area A from the position P. A viewpoint distance coefficient calculation unit 23, a viewpoint distance coefficient correction unit 24 that corrects the viewpoint distance coefficient C based on the content of the road traffic information display S, and the corrected viewpoint distance coefficient C′ are integrated to obtain a distance calculated by the driver. and a recognition degree calculation unit 25 for calculating a recognition degree D2 of the road traffic information display S. By using the corrected viewpoint distance coefficient C' for calculating the degree of recognition D2, it is possible to improve the accuracy of determining whether or not the road traffic information display S has been recognized by the driver.

The driving support device 100 also includes a recognition degree determination unit 26 that determines whether or not the road traffic information display S has been recognized by the driver by determining whether or not the recognition degree D2 is equal to or greater than the threshold value Dth; a display control unit 27 that executes control (first display control) to display an image I3 corresponding to the road traffic information display S on the display device 5 when the recognition degree D2 is determined to be less than the threshold value Dth. . This allows the driver to check the road traffic information display S that he/she has overlooked.

Further, the recognition degree determination unit 26 determines whether or not the recognition degree D2 is equal to or greater than the threshold value Dth when the road traffic information display S is out of the forward image I1. Accordingly, when the vehicle 1 passes the installation position of the road traffic information display S, it is possible to determine whether or not the recognition degree D2 is equal to or greater than the threshold value Dth. That is, it is possible to determine whether or not the degree of recognition D2 of the road traffic information display S that the driver may have overlooked is equal to or greater than the threshold value Dth.

Embodiment 2.
FIG. 9 is a block diagram showing essential parts of a driving assistance system including a driving assistance device according to Embodiment 2. FIG. A driving support device 100a according to the second embodiment will be described with reference to FIG. Also, a driving support system 200a including the driving support device 100a will be described. In FIG. 9, blocks similar to those shown in FIG. 1 are denoted by the same reference numerals, and descriptions thereof are omitted.

As shown in FIG. 9, a vehicle 1 is provided with a control device 2a. The control device 2a is configured by an ECU, for example.

Further, the vehicle 1 is provided with sensors 6 . The sensors 6 include various sensors. For example, the sensors 6 include wheel speed sensors, acceleration sensors, gyro sensors, steering sensors and wiper sensors.

Also, the vehicle 1 is provided with a wireless communication device 7 . The wireless communication device 7 is composed of a transmitter and a receiver for wireless communication. The wireless communication device 7 can freely communicate with a server device 8 outside the vehicle 1 .

A storage device 9 is also provided in the vehicle 1 . The storage device 9 is composed of a non-volatile memory. Note that the storage device 9 may be configured integrally with the memory (that is, the memory 52) of the control device 2a.

Further, the vehicle 1 is provided with an operation input device 10 . The operation input device 10 is composed of, for example, at least one of a touch panel, hardware keys, and a microphone for voice input. The operation input device 10 is provided on the dashboard of the vehicle 1, for example. The operation input device 10 may be provided integrally with the display device 5 or may be provided adjacent to the display device 5 .

The control device 2a, the first imaging device 3, the second imaging device 4, the display device 5, the sensors 6, the wireless communication device 7, the storage device 9, and the operation input device 10 constitute main parts of the driving support system 200a. there is The driving support device 100a is provided in the control device 2a.

The vehicle information acquisition unit 31 acquires information indicating the running state of the vehicle 1 (hereinafter referred to as "vehicle information"). The vehicle information includes, for example, information indicating the traveling speed of the vehicle 1 and information indicating the turning amount of the vehicle 1 .

For example, the vehicle information acquisition unit 31 calculates the travel speed of the vehicle 1 using the output signal from the wheel speed sensor of the sensors 6 . As a result, information indicating the running speed of the vehicle 1 is obtained.

Further, for example, the vehicle information acquisition unit 31 calculates the amount of turning of the vehicle 1 using an output signal from an acceleration sensor, a gyro sensor, or a steering sensor among the sensors 6 . As a result, information indicating the amount of turning of the vehicle 1 is acquired.

The environmental information acquisition unit 32 acquires information indicating the environment outside the vehicle 1 (hereinafter referred to as "environmental information"). The environment information includes, for example, information indicating brightness around the vehicle 1 and information indicating weather around the vehicle 1 .

For example, the environment information acquisition unit 32 detects the brightness around the vehicle 1 by performing image recognition processing on the forward image I1. As a result, information indicating the brightness around the vehicle 1 is obtained.

Further, for example, the environment information acquisition unit 32 determines the weather around the vehicle 1 by executing image recognition processing on the forward image I1. As a result, information indicating the weather around the vehicle 1 is obtained.

Alternatively, for example, the environment information acquisition unit 32 uses the output signal from the wiper sensor of the sensors 6 to determine whether the wipers of the vehicle 1 are in operation. The environment information acquisition unit 32 determines that the weather around the vehicle 1 is rain or snow when the wipers of the vehicle 1 are in operation. Further, when the wipers of the vehicle 1 are stopped, the environment information acquisition unit 32 determines that the weather around the vehicle 1 is fine or cloudy. As a result, information indicating the weather around the vehicle 1 is obtained.

Alternatively, for example, information indicating the weather in each region is stored in the server device 8 . The wireless communication device 7 receives information indicating the weather in the area including the current position of the vehicle 1 by communicating with the server device 8 . The environment information acquisition unit 32 acquires the received information. As a result, information indicating the weather around the vehicle 1 is acquired.

The driver information acquisition unit 33 acquires information about the driver of the vehicle 1 (hereinafter referred to as “driver information”). Driver information includes, for example, information indicating the driver's eyesight.

For example, the vehicle 1 is used by multiple users. The storage device 9 stores a database in which information indicating eyesight of each user and information indicating face images of each user are associated with each other. Information indicating the visual acuity of each user is input in advance by each user using the operation input device 10, for example. Each user's face image is captured in advance by the second imaging device 4, for example.

The driver information acquisition unit 33 acquires the facial image of the driver of the vehicle 1 by performing image recognition processing on the in-vehicle image I2. The driver information acquisition unit 33 determines which of the plurality of users the driver of the vehicle 1 is by matching the acquired face image with the face images in the database. The driver information acquisition unit 33 acquires information indicating the user's visual acuity corresponding to the result of the determination from the database. As a result, information indicating the visual acuity of the driver of the vehicle 1 is acquired.

Alternatively, for example, the storage device 9 stores the following learned models. That is, a learned model is stored such that when a value indicating the result of image recognition processing for the in-vehicle image I2 is input, a value indicating the visual acuity of the driver is output. The learned model is generated in advance by machine learning. The driver information acquisition unit 33 executes image recognition processing on the in-vehicle image I2, and inputs a value indicating the result of the image recognition processing to the learned model. Thereby, information indicating the driver's eyesight is acquired.

Hereinafter, vehicle information, environment information and driver information are collectively referred to as "correction information". A correction information acquisition unit 34 is configured by the vehicle information acquisition unit 31 , the environment information acquisition unit 32 , and the driver information acquisition unit 33 .

The viewpoint distance coefficient correction unit 24a corrects the viewpoint distance coefficient C based on the content of the road traffic information display S. FIG. In other words, the viewpoint distance coefficient correction unit 24a performs the same correction processing as the viewpoint distance coefficient correction unit 24 does. In addition to this, the viewpoint distance coefficient correction unit 24a executes at least one of the following correction processes (1) to (6).

(1) Correction processing based on size of region A The viewpoint distance coefficient correction unit 24a corrects the viewpoint distance coefficient C so that when the size of the region A is large, the value becomes larger than when the size of the region A is small. do. In other words, the viewpoint distance coefficient correction unit 24a corrects the viewpoint distance coefficient C so that when the size of the region A is small, the value becomes smaller than when the size of the region A is large. The detection result by the road traffic information detection unit 21 is used for such correction processing.

Normally, when the size of the area A is large, the size of the road traffic information display S is large, or the distance of the road traffic information display S from the vehicle 1 is small. In such a case, it is considered unlikely that the driver will miss the road traffic information display S. Therefore, correction is made so that the viewpoint distance coefficient C becomes a larger value.

(2) Correction processing based on traveling speed of vehicle 1 The viewpoint distance coefficient correction unit 24a corrects the viewpoint distance coefficient so that when the traveling speed of the vehicle 1 is high, the value is smaller than when the traveling speed of the vehicle 1 is low. Correct C. In other words, the viewpoint distance coefficient correction unit 24a corrects the viewpoint distance coefficient C so that when the vehicle 1 travels at a low speed, the value becomes larger than when the vehicle 1 travels at a high speed. The vehicle information acquired by the vehicle information acquisition unit 31 is used for such correction processing.

Normally, when the traveling speed of the vehicle 1 is high, the time during which the road traffic information display S can be visually recognized by the driver is short. In such a case, it is highly likely that the driver will miss the road traffic information display S. Therefore, correction is made so that the viewpoint distance coefficient C becomes a smaller value.

(3) Correction processing based on the amount of turning of the vehicle 1 The viewpoint distance coefficient correction unit 24a corrects the viewpoint distance coefficient so that when the amount of turning of the vehicle 1 is large, the value is smaller than when the amount of turning of the vehicle 1 is small. Correct C. In other words, the viewpoint distance coefficient correction unit 24a corrects the viewpoint distance coefficient C so that when the turning amount of the vehicle 1 is large, the value becomes smaller than when the turning amount of the vehicle 1 is small. The vehicle information acquired by the vehicle information acquisition unit 31 is used for such correction processing.

Normally, when the vehicle 1 turns to the left with a large turning amount and the road traffic information display S is arranged on the right side of the vehicle 1, the visual recognition time of the road traffic information display S by the driver is short. Similarly, when the vehicle 1 makes a large right turn and the road traffic information display S is arranged on the left side of the vehicle 1, the driver can recognize the road traffic information display S for a short time. In such a case, it is highly likely that the driver will miss the road traffic information display S. Therefore, correction is made so that the viewpoint distance coefficient C becomes a smaller value.

(4) Correction Processing Based on Brightness of Surroundings of Vehicle 1 The viewpoint distance coefficient correction unit 24a sets the viewpoint distance coefficient so that when the surroundings of the vehicle 1 are dark, the value is smaller than when the surroundings of the vehicle 1 are bright. Correct C. In other words, the viewpoint distance coefficient correction unit 24a corrects the viewpoint distance coefficient C so that the value becomes larger when the surroundings of the vehicle 1 are brighter than when the surroundings of the vehicle 1 are dark. The environment information acquired by the environment information acquisition unit 32 is used for the correction process.

Normally, when the surroundings of the vehicle 1 are dark, the driver's visibility of the road traffic information display S is reduced. In such a case, it is highly likely that the driver will miss the road traffic information display S. Therefore, correction is made so that the viewpoint distance coefficient C becomes a smaller value.

(5) Correction processing based on the weather around the vehicle 1 The viewpoint distance coefficient correction unit 24a compares when the weather around the vehicle 1 is rain or snow and when the weather around the vehicle 1 is sunny or cloudy. Then, the viewpoint distance coefficient C is corrected so that it becomes a small value. In other words, when the weather around the vehicle 1 is sunny or cloudy, the viewpoint distance coefficient correction unit 24a adjusts the viewpoint distance factor to a larger value than when the weather around the vehicle 1 is raining or snowing. Correct the distance factor C. The environment information acquired by the environment information acquisition unit 32 is used for the correction process.

Normally, when the weather around the vehicle 1 is rain or snow, the driver's visibility of the road traffic information display S is reduced. In such a case, it is highly likely that the driver will miss the road traffic information display S. Therefore, correction is made so that the viewpoint distance coefficient C becomes a smaller value.

(6) Correction processing based on driver's visual acuity The visual point distance coefficient correction unit 24a corrects the visual point distance coefficient C so that when the driver's visual acuity is low, the value becomes smaller than when the driver's visual acuity is high. do. In other words, the viewpoint distance coefficient correction unit 24a corrects the viewpoint distance coefficient C so that the value becomes larger when the driver's eyesight is high than when the driver's eyesight is low. The driver information acquired by the driver information acquisition unit 33 is used for such correction processing.

Normally, when the driver has poor eyesight, it is highly likely that the driver will miss the road traffic information display S. Therefore, correction is made so that the viewpoint distance coefficient C becomes a smaller value.

By the road traffic information detection unit 21, the viewpoint detection unit 22, the viewpoint distance coefficient calculation unit 23, the viewpoint distance coefficient correction unit 24a, the recognition level calculation unit 25, the recognition level determination unit 26, the display control unit 27, and the correction information acquisition unit 34 , constitute a main part of the driving support device 100a.

Since the hardware configuration of the main part of the driving support device 100a is the same as that described with reference to FIG. 4 in the first embodiment, illustration and description thereof are omitted. That is, the road traffic information detection unit 21, the viewpoint detection unit 22, the viewpoint distance coefficient calculation unit 23, the viewpoint distance coefficient correction unit 24a, the recognition degree calculation unit 25, the recognition degree determination unit 26, the display control unit 27, and the correction information acquisition unit Each function of 34 may be implemented by a processor 51 and memory 52, or may be implemented by a dedicated processing circuit 53. FIG.

Next, referring to the flowchart of FIG. 10, regarding the operation of the driving support device 100a, the road traffic information detection unit 21, the viewpoint detection unit 22, the viewpoint distance coefficient calculation unit 23, the correction information acquisition unit 34, the viewpoint distance coefficient correction The operation of the unit 24a and the recognition degree calculation unit 25 will be mainly described. 10, steps similar to those shown in FIG. 5 are denoted by the same reference numerals, and descriptions thereof are omitted.

First, in step ST1, the road traffic information detection unit 21 executes road traffic information detection processing. If the forward image I1 includes the road traffic information display S ("YES" in step ST2), the viewpoint detection unit 22 executes viewpoint detection processing in step ST3. Next, in step ST4, the viewpoint distance coefficient calculator 23 calculates a viewpoint distance coefficient C. FIG.

Next, in step ST7, the correction information acquisition section 34 acquires correction information. Next, the viewpoint distance coefficient correction unit 24a corrects the viewpoint distance coefficient C in step ST5a. At this time, in addition to the correction processing based on the content of the road traffic information display S, the viewpoint distance coefficient correction unit 24a executes at least one of the above correction processing (1) to (6). When the viewpoint distance coefficient correction unit 24a executes only the correction process (1) among the correction processes (1) to (6), the correction information is unnecessary. In this case, the process of step ST7 may be skipped.

Next, in step ST6, the recognition degree calculator 25 calculates the recognition degree D2.

In this manner, the viewpoint distance coefficient correction unit 24a executes at least one of the above correction processes (1) to (6) in addition to the correction process based on the content of the road traffic information display S. By using the corrected viewpoint distance coefficient C' for calculating the degree of recognition D2, it is possible to further improve the accuracy of determining whether or not the road traffic information display S has been recognized by the driver.

Next, a modified example of the driving assistance device 100a will be described with reference to FIG.

As shown in FIG. 11, the correction information acquisition unit 34 may be provided outside the driving support device 100a. That is, the road traffic information detection unit 21, the viewpoint detection unit 22, the viewpoint distance coefficient calculation unit 23, the viewpoint distance coefficient correction unit 24a, the recognition level calculation unit 25, the recognition level determination unit 26, and the display control unit 27 operate the driving support device 100a. The main part of may be configured.

Next, another modified example of the driving assistance device 100a will be described with reference to FIG.

As shown in FIG. 12, the recognition degree determination unit 26 and the display control unit 27 may be provided outside the driving support device 100a. That is, the road traffic information detection unit 21, the viewpoint detection unit 22, the viewpoint distance coefficient calculation unit 23, the viewpoint distance coefficient correction unit 24a, and the recognition level calculation unit 25 constitute the main part of the driving support device 100a. can be

In addition, the driving assistance device 100a can adopt various modifications similar to those described in the first embodiment.

As described above, in the driving support device 100a according to the second embodiment, the viewpoint distance coefficient correction unit 24a corrects the viewpoint distance coefficient C based on the content of the road traffic information display S, and the viewpoint distance coefficient C based on the size of the area A. Correct the coefficient C. As a result, it is possible to further improve the accuracy of determining whether or not the road traffic information display S has been recognized by the driver.

In addition, the viewpoint distance coefficient correction unit 24a corrects the viewpoint distance coefficient C based on the content of the road traffic information display S, and corrects the viewpoint distance coefficient C based on the running state of the vehicle 1. FIG. More specifically, the viewpoint distance coefficient correction unit 24a corrects the viewpoint distance coefficient C based on the traveling speed of the vehicle 1 or the turning amount of the vehicle 1 . As a result, it is possible to further improve the accuracy of determining whether or not the road traffic information display S has been recognized by the driver.

In addition, the viewpoint distance coefficient correction unit 24a corrects the viewpoint distance coefficient C based on the content of the road traffic information display S, and corrects the viewpoint distance coefficient C based on the environment outside the vehicle 1 . More specifically, the viewpoint distance coefficient correction unit 24 a corrects the viewpoint distance coefficient C based on the brightness around the vehicle 1 or the weather around the vehicle 1 . As a result, it is possible to further improve the accuracy of determining whether or not the road traffic information display S has been recognized by the driver.

Further, the viewpoint distance coefficient correction unit 24a corrects the viewpoint distance coefficient C based on the content of the road traffic information display S, and corrects the viewpoint distance coefficient C based on the driver's eyesight. As a result, it is possible to further improve the accuracy of determining whether or not the road traffic information display S has been recognized by the driver.

Embodiment 3.
FIG. 13 is a block diagram showing essential parts of a driving support system including a driving support device according to Embodiment 3. FIG. A driving support device 100b according to the third embodiment will be described with reference to FIG. Also, a driving support system 200b including the driving support device 100b will be described. 13, the same reference numerals are given to the same blocks as those shown in FIG. 1, and the description thereof will be omitted.

As shown in FIG. 13, a vehicle 1 is provided with a control device 2b. The control device 2b is configured by an ECU, for example.

Also, the vehicle 1 is provided with an audio output device 11 . The audio output device 11 is composed of, for example, a speaker.

The control device 2b, the first imaging device 3, the second imaging device 4, the display device 5, and the audio output device 11 constitute a main part of the driving support system 200b. The driving support device 100b is provided in the control device 2b.

The importance determination unit 41 acquires the detection result by the road traffic information detection unit 21 . The importance determination unit 41 determines the importance D3 of the road traffic information display S based on the content of the road traffic information display S using the acquired detection result.

The degree of importance D3 is, for example, one of three values (first value, second value and third value) according to the degree of influence of the content of the road traffic information display S on the driving of the vehicle 1. It is determined to be one of the values. The greater the value of the degree of importance D3, the greater the influence of the content of the road traffic information display S on the driving of the vehicle 1. FIG.

For example, when the content of the road traffic information display S is to request the vehicle 1 to stop (for example, the road traffic information display S is a regulatory sign meaning "closed" or "vehicles closed"). ), it is determined that the importance D3 is the third value. Further, when the content of the road traffic information display S requests the vehicle 1 to decelerate or change lanes, the importance determination unit 41 determines that the importance D3 is the second value. In other cases, the importance determination unit 41 determines that the importance D3 is the first value.

When the recognition level determination unit 26 determines that the recognition level D2 is less than the threshold value Dth, the voice output control unit 42 sets the importance level D3 to a predetermined reference value Dref (for example, a second value) by the importance level determination unit 41. When it is determined that the above is the case, control for outputting a sound corresponding to the road traffic information display S to the sound output device 11 (hereinafter referred to as "sound output control") is executed. The voice is, for example, voice for reading a sentence corresponding to the content of the road traffic information display S. FIG.

An output control unit 43 is configured by the display control unit 27 and the audio output control unit 42 . In addition, road traffic information detection unit 21, viewpoint detection unit 22, viewpoint distance coefficient calculation unit 23, viewpoint distance coefficient correction unit 24, recognition level calculation unit 25, recognition level determination unit 26, display control unit 27, importance determination unit 41 and the voice output control unit 42 constitute a main part of the driving support device 100b.

Since the hardware configuration of the main part of the driving support device 100b is the same as that described with reference to FIG. 4 in the first embodiment, illustration and description thereof are omitted. That is, road traffic information detection unit 21 , viewpoint detection unit 22 , viewpoint distance coefficient calculation unit 23 , viewpoint distance coefficient correction unit 24 , recognition level calculation unit 25 , recognition level determination unit 26 , display control unit 27 , importance determination unit 41 and the audio output control unit 42 may be implemented by the processor 51 and the memory 52, or may be implemented by the dedicated processing circuit 53. FIG.

Next, with reference to the flowchart of FIG. 14, the operation of the driving support device 100b will be described, centering on the operations of the recognition level determination section 26, the importance level determination section 41, and the output control section 43. FIG. 14, steps similar to those shown in FIG. 6 are denoted by the same reference numerals, and descriptions thereof are omitted.

First, in step ST11, the recognition level determination unit 26 acquires the recognition level D2 calculated by the recognition level calculation unit 25, and determines whether or not the acquired recognition level D2 is equal to or greater than the threshold value Dth. . When it is determined that the recognition level D2 is less than the threshold value Dth (step ST11 "NO"), the importance level determination unit 41 determines the importance level D3 of the road traffic information display S in step ST13. When it is determined that the degree of importance D3 is less than the reference value Dref ("NO" in step ST13), the output control section 43 executes the first display control in step ST12. On the other hand, when it is determined that the degree of importance D3 is greater than or equal to the reference value Dref ("YES" in step ST13), the output control section 43 executes first display control and audio output control in step ST14.

In this way, when it is determined that the degree of recognition D2 is less than the threshold value Dth, and the degree of importance D3 is determined to be equal to or greater than the reference value Dref, the display control unit 27 performs the first display control. In addition, the audio output control unit 42 executes audio output control. As a result, the driver can more reliably check the important road traffic information displays S among the road traffic information displays S that he has overlooked.

Next, a modified example of the driving support device 100b will be described.

The driving support device 100b may have a viewpoint distance coefficient correction unit 24a similar to that of the driving support device 100a instead of the viewpoint distance coefficient correction unit 24. FIG. Also, the control device 2b may have a correction information acquisition section 34 similar to that of the control device 2a. In this case, the driving support system 200b may include the same sensors 6, wireless communication device 7, storage device 9, and operation input device 10 as in the driving support system 200a.

In addition, various modifications similar to those described in the first and second embodiments can be adopted for the driving support device 100b.

As described above, the driving assistance device 100b of the third embodiment determines whether or not the importance D3 of the road traffic information display S is equal to or greater than the reference value Dref based on the content of the road traffic information display S. When the determination unit 41 determines that the recognition degree D2 is less than the threshold value Dth, and determines that the importance degree D3 is equal to or greater than the reference value Dref, the audio output device outputs a sound corresponding to the road traffic information display S. and an audio output control unit 42 that controls output to 11 . As a result, the driver can more reliably check the important road traffic information displays S among the road traffic information displays S that he has overlooked.

Embodiment 4.
FIG. 15 is a block diagram showing essential parts of a driving support system including a driving support device according to Embodiment 4. FIG. The driving assistance device 100c of the fourth embodiment will be described by calculating FIG. Also, a driving support system 200c including the driving support device 100c will be described. 15, the same reference numerals are given to the same blocks as those shown in FIG. 1, and the description thereof will be omitted. Also, in FIG. 15, blocks similar to those shown in FIG. 9 are assigned the same reference numerals, and descriptions thereof are omitted.

As shown in FIG. 15, a vehicle 1 is provided with a control device 2c. The control device 2c is configured by an ECU, for example.

The control device 2c, the first imaging device 3, the second imaging device 4, the display device 5, the storage device 9, and the operation input device 10 constitute the main part of the driving support system 200c. The driving support device 100c is provided in the control device 2c.

The road traffic information detection section 21a performs the same road traffic information detection processing as the road traffic information detection section 21 does. The road traffic information detection unit 21a causes the storage device 9 to store data representing the road traffic information display S detected by the road traffic information detection process. The storage device 9 holds the stored data for a predetermined period of time.

The display control section 27a executes the same first display control as the display control section 27 does. In addition, when the operation input device 10 receives an instruction to display an image I3 corresponding to the road traffic information display S indicated by the data stored in the storage device 9, the display control unit 27a This is to execute control (hereinafter referred to as "second display control") for causing the display device 5 to display an image I3 corresponding to the road traffic information display S indicated by the stored data.

With the second display control, the driver can check the content of the road traffic information display S that the vehicle 1 has passed by at an arbitrary timing, regardless of whether the driver has overlooked it.

The road traffic information detection unit 21a, the viewpoint detection unit 22, the viewpoint distance coefficient calculation unit 23, the viewpoint distance coefficient correction unit 24, the recognition level calculation unit 25, the recognition level determination unit 26, and the display control unit 27a determine the requirements of the driving support device 100c. part is constructed.

The hardware configuration of the main part of the driving support device 100c is the same as that described with reference to FIG. 4 in the first embodiment, so illustration and description are omitted. That is, the functions of the road traffic information detection unit 21a, the viewpoint detection unit 22, the viewpoint distance coefficient calculation unit 23, the viewpoint distance coefficient correction unit 24, the recognition level calculation unit 25, the recognition level determination unit 26, and the display control unit 27a are It may be implemented by a processor 51 and memory 52, or may be implemented by a dedicated processing circuit 53. FIG.

Next, a modified example of the driving support device 100c will be described with reference to FIG.

As shown in FIG. 16, the recognition degree determination unit 26 may be provided outside the driving support device 100c. That is, the road traffic information detection unit 21a, the viewpoint detection unit 22, the viewpoint distance coefficient calculation unit 23, the viewpoint distance coefficient correction unit 24, and the recognition level calculation unit 25 constitute the main part of the driving support device 100c. can be

Next, another modified example of the driving support device 100c will be described.

The driving support device 100c may have a viewpoint distance coefficient correction unit 24a similar to that of the driving support device 100a instead of the viewpoint distance coefficient correction unit 24. FIG. Further, the control device 2c may have a correction information acquisition section 34 similar to that of the control device 2a. In this case, the driving support system 200c may include the same sensors 6 and wireless communication device 7 as the driving support system 200a.

Further, the driving support device 100c may have the importance determination unit 41 and the voice output control unit 42 similar to those of the driving support device 100b. In this case, the driving assistance system 200c may include the same voice output device 11 as the driving assistance system 200b.

In addition, the driving assistance device 100c can adopt various modifications similar to those described in the first to third embodiments.

As described above, the driving support device 100c according to the fourth embodiment controls the display device 5 to display the image I3 corresponding to the road traffic information display S (second display control) according to the operation input to the operation input device 10. ) is provided. Thereby, the driver can check the content of the road traffic information display S that the vehicle 1 has passed by at an arbitrary timing regardless of whether the driver has overlooked it.

In addition, within the scope of the present invention, it is possible to freely combine each embodiment, modify any component of each embodiment, or omit any component in each embodiment. .

The driving assistance device of the present invention can be used for driving assistance of a vehicle.

1 vehicle 2, 2a, 2b, 2c control device 3 first imaging device 4 second imaging device 5 display device 6 sensors 7 wireless communication device 8 server device 9 storage device 10 operation input device , 11 audio output device, 21, 21a road traffic information detection unit, 22 viewpoint detection unit, 23 viewpoint distance coefficient calculation unit, 24, 24a viewpoint distance coefficient correction unit, 25 recognition degree calculation unit, 26 recognition degree determination unit, 27, 27a display control unit 31 vehicle information acquisition unit 32 environment information acquisition unit 33 driver information acquisition unit 34 correction information acquisition unit 41 importance determination unit 42 audio output control unit 43 output control unit 51 processor , 52 memory, 53 processing circuit, 100, 100a, 100b, 100c driving support device, 200, 200a, 200b, 200c driving support system.

Claims (9)

a road traffic information detection unit that detects an area corresponding to road traffic information display in a forward image and detects the content of the road traffic information display;
A viewpoint detection unit that detects a position corresponding to the driver's viewpoint in the front image using the in-vehicle image;
a viewpoint distance coefficient calculation unit that calculates a viewpoint distance coefficient, which is a value that gradually decreases as the distance of the region with respect to the position increases ;
a viewpoint distance coefficient correction unit that corrects the viewpoint distance coefficient based on the content;
a recognition level calculation unit that calculates a recognition level of the road traffic information display by the driver by accumulating the corrected viewpoint distance coefficient;
A driving support device for a vehicle. a recognition degree determination unit that determines whether or not the road traffic information display has been recognized by the driver by determining whether or not the recognition degree is equal to or greater than a threshold;
a display control unit that executes control to display an image corresponding to the road traffic information display on a display device when the recognition level is determined to be less than the threshold;
The driving assistance device according to claim 1, comprising: 3. The driving support device according to claim 2, wherein the recognition level determination unit determines whether or not the recognition level is equal to or greater than the threshold value when the road traffic information display is out of the forward image. . 4. The viewpoint distance coefficient correction unit corrects the viewpoint distance coefficient based on the content, and corrects the viewpoint distance coefficient based on the size of the region. 1. The driving support device according to claim 1. 4. The viewpoint distance coefficient correction unit corrects the viewpoint distance coefficient based on the content, and corrects the viewpoint distance coefficient based on the running state of the vehicle. The driving support device according to any one of claims 1 to 3. 4. The viewpoint distance coefficient correction unit corrects the viewpoint distance coefficient based on the content, and corrects the viewpoint distance coefficient based on an environment outside the vehicle. The driving support device according to any one of claims 1 to 3. 4. The viewpoint distance coefficient correction unit corrects the viewpoint distance coefficient based on the content, and corrects the viewpoint distance coefficient based on the visual acuity of the driver. The driving support device according to any one of claims 1 to 3. an importance determination unit that determines whether or not the importance of the road traffic information display is equal to or greater than a reference value based on the content;
when the degree of recognition is determined to be less than the threshold value and the degree of importance is determined to be equal to or greater than the reference value, control is performed to cause an audio output device to output a sound corresponding to the road traffic information display. an audio output control unit that executes
4. The driving support device according to claim 2 or 3, comprising: 2. The driving support device according to claim 1, further comprising a display control unit that controls a display device to display an image corresponding to the road traffic information display in accordance with an operation input to the operation input device.

Images