JPH06243398A - Preventive vehicle safety device - Google Patents

Abstract

PURPOSE:To speedily detect an obstacle that a driver is likely to recognize late by detecting a direction in which the driver pays attention and controlling the detecting function of a peripheral body detecting means so that an area different from the attention direction is detected. CONSTITUTION:When a driver's own vehicle 7 travels straightly through an intersection where no signal is installed, the driver turns the sight to the right so as to pay attention to an obstacle from the right direction in approaching the intersection. At this time, a driver's attention direction detecting means 6 detects the direction 9 of the sight and the visual field 10. A body detecting function control means 5 turns a detection direction 11 of the peripheral body detecting means 1 to the left different from the sight direction 9 of the driver according to the detection results. Consequently, an obstacle 8 coming from the left direction can be detected early and the recognition delay of the driver can be prevented.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a vehicle preventive safety device used for detecting objects around a vehicle.

[0002]

2. Description of the Related Art In a conventional vehicle preventive safety device, for example, Japanese Patent Laid-Open No. 62-27347 is used to detect an object around the vehicle.
Some of them, such as the one described in Japanese Patent Publication No. 7, change the detection area based on the traveling condition of the vehicle such as the vehicle speed and the steering angle. Further, in Japanese Patent Laid-Open No. 4-43500,
There is an example in which the detection area is changed by monitoring the curved state of the road. FIG. 16 is a block diagram showing an outline of such a conventional vehicle preventive safety device. In FIG. 16, reference numeral 1 is a vehicle peripheral object detection means for detecting a vehicle peripheral object, 2 is a transmission means for transmitting the detection result to a driver by an alarm or display, and 3 is a driving operation status or a vehicle operation status. For detecting the traveling environment, 4 is a traveling environment detecting means for knowing road conditions, weather, etc. 5 is an traveling state detecting means or an object detecting function control means for controlling an object detecting function based on the traveling environment detecting means. .

Next, the operation will be described with reference to the drawings. The peripheral object detection means 1 detects the presence, distance, etc. of an object around the vehicle using radio waves, ultrasonic waves, light, or the like. The detection output is notified to the driver by the transmission means 2 such as an alarm and a display.
The traveling condition detection means 3 detects the traveling condition based on the vehicle speed, the steering angle, the shift lever position, the state of the turn signal indicator, and the like.
The traveling environment detection means 4 detects road conditions, weather, and the like. The object detection function control means 5 performs control such that the detection area of the peripheral object detection means is changed based on the traveling situation or the traveling environment.

[0004]

The conventional vehicle preventive safety device is constructed as described above, and is capable of detecting the peripheral object detection function in an area that is determined only in accordance with the running condition or running environment of the vehicle. Had set. For example, when turning right, a detection area is set in the right direction, and in a curve, a detection area is set according to the curvature. Then, regardless of the state of the driver's attention, the detection is performed and a transmission means such as an alarm and a display is provided to the driver. However, when the driver is paying attention to the right direction when making a right turn, an obstacle from the left direction is actually very dangerous and an accident occurs. Also, even if the driver's attention is attenuated due to drowsiness or fatigue, the driver's reaction becomes slower, so cognitive delay etc. occur and it is very dangerous,
An accident is likely to occur. Therefore, when considering the actual danger, the driver's state cannot be ignored. As described above, in the conventional device, when the driver is looking in a direction different from the direction of the obstacle, when looking aside, when the driver's attention is insufficient, etc. There is a problem that it is very dangerous because the cognitive delay of the person occurs.

The present invention has been made in order to solve the above problems, and controls a detection function for detecting a peripheral object of a vehicle according to a driver's attention direction and a degree of attention,
The purpose is to obtain a device that can quickly detect a truly dangerous obstacle according to the scene of the accident. In particular, when the driver is looking in a direction different from the direction of the obstacle or when the attention is diminished, the object is to be able to detect the obstacle early so that there is no cognitive delay.

[0006]

A vehicle preventive safety device according to the present invention comprises a peripheral object detecting means for detecting peripheral objects of a vehicle, a driver attention direction detecting means for detecting a direction in which a driver is paying attention, and this driving method. An object detection function control means for controlling the detection function of the peripheral object detection means based on the human attention direction detection means so as to detect an area different from the attention direction, and transmitting the detection result by the peripheral object detection means to the driver. It is provided with a transmission means.

The object detection function control means detects a detection direction or a detection area different from the attention direction.

The object detection function control means sets a plurality of detection areas including areas different from the attention direction and changes the detection frequency of each area.

The driver's attention direction detecting means detects the direction in which the driver is looking or the visual field to detect the attention direction.

Further, the driver's attention direction detecting means detects the driver's attention direction by detecting the driving operation state of the driver.

Further, another vehicle preventive safety device of the present invention is
Peripheral object detection means for detecting peripheral objects of the vehicle, driver attention direction detection means for detecting the driver's attention direction from both the driver's viewing direction or visual field and the driver's driving operation state, The detection function of the peripheral object detection means
When the two directions of attention are substantially the same, the control is performed so as to detect an area different from the direction of attention. When the directions of attention are not substantially the same, the area of the direction of attention obtained from the driving operation state is set. An object detection function control means for controlling so as to detect and a transmission means for transmitting a detection result by the peripheral object detection means to a driver.

Still another vehicle preventive safety device according to the present invention is a peripheral object detecting means for detecting peripheral objects of a vehicle, a driver caution detecting means for detecting a degree of driver's attention, and this driver caution degree. An object detection function control means for controlling the detection area of the peripheral object detection means based on the detection means, and a transmission means for transmitting the detection result of the peripheral object detection means to the driver.

Still another vehicle preventive safety device of the present invention is, in addition to the above vehicle preventive safety devices, further provided with a traveling environment detecting means for detecting a traveling environment of the vehicle, and the object detecting function control means is the traveling environment. In consideration of the above, the detection function of the peripheral object detection means is controlled.

[0014]

In the vehicle preventive safety device constructed as described in claims 1 to 6, the driver's attention direction detection means detects the direction in which the driver is paying attention, and the peripheral object detection means sets the detection function to the attention direction. Since the control is performed so as to detect different areas, it is possible to speed up the detection even for an obstacle that normally delays the driver's recognition.

Further, in the vehicle preventive safety device according to the seventh aspect of the present invention, when the driver's attention level is attenuated by the driver's attention level detection unit, the detection area of the peripheral object detection unit is expanded to accelerate the operation. Since the obstacle is detected, it is possible to speed up the detection even for an obstacle that normally delays the driver's recognition.

Further, in the vehicle preventive safety device according to the present invention, a traveling environment detecting means for detecting the traveling environment of the vehicle is installed, and the detecting function of the peripheral object detecting means is controlled in consideration of the traveling environment. As a result, it becomes possible to detect obstacles in an area where an accident easily occurs according to the traveling environment, and it is possible to prevent driver's delay in recognition.

[0017]

【Example】

Example 1. An embodiment of the present invention will be described below with reference to the drawings. In FIG. 1, 1 and 2 are the same as conventional ones. Reference numeral 5 is an object detection function control means, and 6 is a driver attention direction detection means.

In FIG. 1, the peripheral object detecting means 1 detects the presence, distance, etc. of an object around the vehicle using radio waves, ultrasonic waves, light or the like. The detection output is a transmission means 2 such as an alarm and a display.
Informs the driver. The driver's attention direction detection means 6 detects the direction in which the driver is paying attention from the driver's line of sight, head direction, visual field, and the like. The object detection function control means 5 performs control such that the detection area of the peripheral object detection means 1 is changed based on the direction the driver is paying attention to.

FIG. 2 is a diagram for explaining the detection area of the object detection function control means 5 in the first embodiment of the present invention. 7 is the own vehicle, 8 is an obstacle, 9 is the direction of the driver's line of sight, 10 is the driver's visual field, and in this case, the direction of the line of sight 9 is the driver's attention direction. Reference numeral 11 is a detection direction of the peripheral object detection means 1, and 12 is a detection area of the peripheral object detection means 1. Figure 2
Indicates a case where the host vehicle 7 goes straight through an intersection without a traffic light. When the host vehicle 7 approaches an intersection, the driver turns his or her line of sight to the right in order to be careful of obstacles from the right. At this time, the driver's attention direction detection means 6 detects the direction 9 of the line of sight and the visual field 10. Based on this detection result, the object detection function control means 5 directs the detection direction 11 of the peripheral object detection means 1 to the left direction different from the driver's line-of-sight direction 9. As a result, the obstacle 8 coming from the left direction can be detected earlier, and the driver's cognitive delay can be prevented. Further, since the detection area of the peripheral object detection means 1 is only the direction different from the attention direction, the peripheral object detection means 1
The output power of can be used efficiently.

Example 2. FIG. 3 shows another example of the detection area, and 13 is the detection area of the peripheral object detection means 1 controlled by the object detection function control means 5, and includes both the direction different from the attention direction and the attention direction. I'm out. Even in this case, similarly to the above embodiment, the obstacle 8 coming from the left direction can be quickly detected, and the driver's cognitive delay can be prevented. In addition, obstacles can be detected in a wide range.

Example 3. FIG. 4 shows still another example of the detection area. Reference numeral 14 denotes the detection area of the peripheral object detection means 1 controlled by the object detection function control means 5, and the output power of the peripheral object detection means 1 is increased. Extend the detection distance,
It is designed to detect even more distant objects quickly.

Example 4. FIG. 5 shows a diagram for explaining the fourth embodiment of the present invention. 7 to 10 are the same as those in FIG.
15 f (15 when collectively referred to) indicates a detection region divided into a plurality of regions. As in the case of FIG. 2, when the driver's vehicle 7 is approaching an intersection and the driver's eyes are directed to the right, the driver's attention direction detection means 6 detects it. Based on this detection result, the object detection function control means 5
Sets the detection area of the peripheral object detection means 1 to a plurality of detection areas 15a to 15f including an area different from the attention direction, and further increases the detection frequency in the detection area to the left. For example, when performing detection such as repeatedly transmitting a transmission pulse and detecting a reception pulse, the number of detections within a certain period of time may be set to increase in the detection area in the left direction, or from the detection area overlapping the driver's visual field. The number of detections is set to be larger in the other detection areas. This makes it possible to detect obstacles faster and prevent driver's cognitive delay.

Example 5. In each of the above examples,
Although the driver attention direction detection means 6 has shown the one that detects the direction in which the driver is looking or the visual field, and detects the attention direction, the driver's attention direction is detected to detect the driver's attention direction. It may be one that does. FIG. 6 shows a diagram for explaining the fifth embodiment of the present invention. In the figure, reference numeral 7 is a vehicle that is about to turn right at an intersection, and detects that the driver's attention direction 90 is in the front right by illuminating the right turn indicator. Based on the detection result, the object detection function control means controls the detection direction of the peripheral object detection means to the left direction opposite to the attention direction. As a result, the obstacle 8 coming from the left direction can be detected quickly, and the driver's cognitive delay can be prevented.

Example 6. Further, FIG. 7 shows a state in which a right turn at the intersection is started. Reference numeral 7 denotes a host vehicle that makes a right turn at an intersection, and detects that the driver's attention direction 90 is to the right front by turning the right steering wheel. Based on this detection result, the object detection function control means controls the detection direction of the peripheral object detection means to the left direction opposite to the attention direction. As a result,
When making a right turn, the obstacle 8 coming from the left direction such as an oncoming vehicle can be detected quickly, and the driver's cognitive delay can be prevented.

Example 7. Further, FIG. 8 shows a case where the vehicle invades the branch road while retreating backward, and 7 is the own vehicle retreating. The fact that the driver's attention direction 90 is backward is detected in the state of the shift gear position. Based on the detection result, the object detection function control means controls the detection direction of the peripheral object detection means to a side different from the attention direction. As a result, the obstacle 8 coming from the side can be detected quickly, and the driver's cognitive delay can be prevented.

In the case where the driver's attention direction is detected from the driver's viewing direction or the visual field, the driver's attention direction can be accurately known and can be detected even while looking aside. The above-mentioned Example 5
7 to 7 that detect the driving operation state of the driver and detect the driver's attention direction, the moving direction of the vehicle can be more accurately known, and each of the This has the effect of reliably detecting a truly dangerous obstacle in the scene.

Example 8. In each of the above embodiments, the driver's attention direction detection means detects the driver's attention direction from the driver's viewing direction or visual field, or detects the driver's attention direction from the driver's driving operation state. I was doing
In this embodiment, the directions of attention of the driver are detected from both of them, and the detection direction or the detection area of the peripheral object detection means is controlled depending on whether or not the directions of attention are the same.
FIG. 9 illustrates the operation of the eighth embodiment of the present invention, taking as an example the case of turning right at an intersection.
(A) shows the time when the driver's line-of-sight direction and the attention direction obtained from the lighting state of the turn indicator are in agreement. Further, FIG. 9B shows a case where the driver's line-of-sight direction does not match the attention direction obtained from the lighting state of the turn signal indicator. FIG. 10 is a flowchart showing the operation of FIG. 9 according to the eighth embodiment.

In FIG. 10, in step S1, the driver's line-of-sight direction is first detected to detect the driver's attention direction 9. In step S2, the driver's attention direction 90 is detected from the driving operation state. That is, it is detected from the lighting state of the turn indicator that the attention direction is to the right. In step S3, it is determined whether or not the attention directions obtained in the above steps are the same. If they match, in step S4,
As shown in FIG. 9A, the detection direction 11 of the peripheral object detection means is directed to the side opposite to the attention directions 9 and 90, that is, to the left. When the two directions of attention do not substantially match, in step S5, as shown in FIG. 9B, the area of the direction of attention 90 obtained from the driving operation state is detected, that is, the peripheral object is detected in the right direction. The detection direction 11 of the means is turned.
By doing so, obstacles such as oncoming vehicles can be detected quickly, and cognitive delay can be prevented. In addition, obstacles can be detected quickly even when looking aside, and cognitive delay can be prevented.

Example 9. In each of the above-mentioned embodiments, the case where the driver detects the direction in which the driver is paying attention and controls the object detection function control means has been described, but the driver does not often look around due to drowsiness, etc. It is also possible to monitor the state in which the reaction of the driving operation is sluggish even while watching, and perform control such that the detection area of the peripheral object detection means is widened or the detection distance is extended. FIG. 11 is a block diagram showing a ninth embodiment of the present invention. In this embodiment, the degree of caution of the driver is detected, and the detection area of the peripheral object detection means is controlled based on this result. In FIG.
Reference numeral 16 is a driver attention level detecting means, for example, for detecting the driver's arousal level from the degree of opening of the pupil or the frequency of closing the eyelids, or for detecting the degree of fatigue from the steering wheel operation pattern. is there.

The operation will be described with reference to FIGS. 11 and 12. FIG. 12 shows a case where the host vehicle 7 goes straight on a straight single road. When the driver's attention level detection means 16 detects that the driver is in a state of low awakening and high fatigue level due to drowsiness, tiredness, etc., the object detection function control means 5 raises the output of the peripheral object detection means 1. , The detection distance is extended, and the detection area 12 is changed to the detection area 14 as shown in FIG. As a result, the obstacle 8 such as a human being crossing can be detected quickly, and delay in recognizing the obstacle can be prevented even when the attention level is low.

Example 10. FIG. 13 is a tenth embodiment of the present invention.
FIG. 2 is a block configuration diagram showing the present invention. In the present embodiment, a driver attention direction detecting means or a driver attention degree detecting means and a traveling environment detecting means for detecting a traveling environment of the vehicle are provided, and the object detecting function control means is a driver. In addition to the detection result of the attention direction detection means or the driver attention level detection means, the detection function of the peripheral object detection means is controlled in consideration of the traveling environment.
In FIG. 13, reference numeral 4 denotes a traveling environment detecting means, which is composed of an imaging device, a navigation device, a road-vehicle communication device, and the like.

Next, the operation will be described with reference to FIGS. 13 and 14. FIG. 14 shows a case where the vehicle 7 travels on a curved road. When the vehicle 7 is approaching a curved road and the driver is looking forward, the driver's attention direction detecting means 6 detects it. At this time, the traveling environment detecting means 4 obtains a curved road curvature and the like, and the object detecting function control means 5 sets peripheral object detecting areas 17a to 17f (generally referred to as 17) according to the shape of the traveling path from the curvature. To do. This makes it possible to prevent detection of objects other than obstacles such as guardrails. Then, based on the detection result by the driver attention direction detecting means 6, the detection areas 17d to 17f in the curving direction of the curved road are preferentially detected. This makes it possible to detect obstacles faster and prevent driver's cognitive delay.

In the above embodiment, the case where the vehicle travels on a curved road is described, but the present invention is not limited to this and can be widely applied to general traveling conditions.

FIG. 15 is a diagram for explaining the operation when the object detection function control means is controlled by the driver attention direction detection means, the driver attention level detection means and the traveling environment detection means.
When the driver's attention level detecting means detects that the driver is in a low awakening level due to drowsiness, tiredness, or the like and is in a high fatigue level, the object detection function control means detects the curve in a curved direction in the detection area 18d. Extend 18f to detect area 18g
Change to 18i. As a result, it is possible to prevent a delay in recognizing an obstacle even when the attention level is low.

[0035]

As described above, according to the present invention, the driver's attention direction detecting means detects the direction in which the driver is paying attention, and the object detecting function control means controls the detecting function of the peripheral object detecting means. Since it is configured to detect a region different from the detected attention direction, it is possible to speed up detection even for an obstacle that normally delays driver's recognition, and prevent recognition delay.

Further, by the object detection function control means,
Output power can be used efficiently by detecting a detection direction different from the attention direction, and a wide area can be detected by detecting a detection area different from the attention direction.

Further, by the object detection function control means,
Set multiple detection areas including areas different from the attention direction,
By changing the detection frequency of each area, it becomes possible to detect an obstacle in an area that is easily overlooked quickly and reliably, and it is possible to prevent a driver from delaying recognition.

If the driver's attention direction detecting means is configured to detect the direction in which the driver is looking or the direction of sight to detect the attention direction, the driver's attention direction can be accurately known and the driver can look aside. It can be detected even while doing, and has the effect of preventing delay in recognizing obstacles.

Further, if the driver's attention direction detecting means is configured to detect the driving operation state of the driver to detect the driver's attention direction, the traveling direction of the vehicle can be known more accurately, and the actual direction This has the effect of reliably detecting a truly dangerous obstacle in each scene, as predicted in an accident example.

Also, the driver's attention direction is detected from both the driver's viewing direction or visual field and the driver's driving operation state, and when the two attention directions are substantially the same, the above-mentioned attention is noted. To detect the area different from the direction,
By controlling the detection function of the peripheral object detection means, and when the two directions of attention do not substantially match, by controlling so as to detect the area of the direction of attention obtained from the driving operation state,
Obstacles can be detected quickly even when looking aside, and cognitive delay can be prevented.

Further, if the driver's attention level detecting means detects the degree of the driver's attention and the detection area of the peripheral object detecting means is changed based on the detection result, when the driver's attention level is low. However, it is possible to prevent the recognition delay of obstacles.

In addition, if each vehicle preventive safety device is further provided with a traveling environment detecting means for detecting the traveling environment of the vehicle and the detecting function of the peripheral object detecting means is controlled in consideration of the traveling environment, the traveling environment will be improved. Accordingly, it becomes possible to detect an obstacle in an area where an accident easily occurs, and to prevent a driver from delaying recognition.

[Brief description of drawings]

FIG. 1 is a block diagram showing a vehicle preventive safety device according to a first embodiment of the present invention.

FIG. 2 is an explanatory diagram illustrating a detection area according to the first embodiment of the present invention.

FIG. 3 is an explanatory diagram illustrating a detection area according to the second embodiment of the present invention.

FIG. 4 is an explanatory diagram illustrating a detection area according to a third embodiment of the present invention.

FIG. 5 is an explanatory diagram illustrating a detection area according to a fourth embodiment of the present invention.

FIG. 6 is an explanatory diagram illustrating an operation of the fifth embodiment of the present invention.

FIG. 7 is an explanatory diagram illustrating an operation of the sixth embodiment of the present invention.

FIG. 8 is an explanatory diagram illustrating an operation of the seventh embodiment of the present invention.

FIG. 9 is an explanatory diagram illustrating an operation of the eighth embodiment of the present invention.

FIG. 10 is a flowchart showing the operation of the eighth embodiment of the present invention.

FIG. 11 is a block diagram showing a vehicle preventive safety device according to a ninth embodiment of the present invention.

FIG. 12 is an explanatory diagram illustrating an operation of the ninth embodiment of the present invention.

FIG. 13 is a block diagram showing a vehicle preventive safety device according to a tenth embodiment of the present invention.

FIG. 14 is an explanatory diagram illustrating an operation of the tenth embodiment of the present invention.

FIG. 15 is an explanatory diagram illustrating an operation according to another example of the tenth embodiment of the present invention.

FIG. 16 is a block diagram showing a conventional vehicle preventive safety device.

[Explanation of symbols]

 1 Peripheral Object Detecting Means 2 Transmission Means 4 Running Environment Detecting Means 5 Object Detecting Function Control Means 6 Driver Attention Direction Detecting Means 7 Own Vehicle 8 Obstacles 9 Gaze Direction 10 Driver's Field of View 11 Detecting Direction 12 Detecting Area 13 Detecting Area 14 Detection area 15 Detection area 16 Driver attention level detection means 17 Detection area 18 Detection area 90 Attention direction

Claims (8)

[Claims] 1. A peripheral object detecting means for detecting a peripheral object of a vehicle, a driver attention direction detecting means for detecting a direction in which the driver is paying attention, and the peripheral object detecting means based on the driver attention direction detecting means. A vehicle preventive safety device comprising an object detection function control means for controlling the detection function of 1. to detect an area different from the attention direction, and a transmission means for transmitting the detection result of the peripheral object detection means to the driver. 2. The vehicle preventive safety device according to claim 1, wherein the object detection function control means controls so as to detect a detection direction or a detection area different from the attention direction. 3. The vehicle preventive safety device according to claim 1, wherein the object detection function control means sets a plurality of detection regions including a region different from the attention direction and changes the detection frequency of each region. 4. The vehicle preventive safety device according to claim 1, wherein the driver attention direction detection means detects the direction in which the driver is looking or the visual field to detect the attention direction. . 5. The vehicle preventive safety device according to claim 1, wherein the driver attention direction detection means detects a driver's driving operation state to detect the driver's attention direction. 6. A peripheral object detection means for detecting peripheral objects of a vehicle, a driver's attention for detecting the driver's attention direction from both the driver's viewing direction or visual field and the driver's driving operation state. The direction detection means, the detection function of the peripheral object detection means, when the two attention directions are substantially the same, control to detect an area different from the attention direction,
When the two directions of attention do not substantially match, the object detection function control means for controlling so as to detect the area of the attention direction obtained from the driving operation state, and the detection result of the peripheral object detection means are transmitted to the driver. A vehicle preventive safety device having a transmission means. 7. A peripheral object detecting means for detecting a peripheral object of a vehicle, a driver caution detecting means for detecting a degree of attention of a driver, and detection of the peripheral object detecting means based on the driver caution detecting means. A vehicle preventive safety device comprising: an object detection function control means for controlling an area; and a transmission means for transmitting a detection result of the peripheral object detection means to a driver. 8. A traveling environment detection means for detecting a traveling environment of the vehicle, wherein the object detection function control means controls the detection function of the peripheral object detection means in consideration of the detected traveling environment. The vehicle preventive safety device according to any one of 1.