JPH09223299A - Unsteady driving detection method - Google Patents

Abstract

PROBLEM TO BE SOLVED: To perform judgement based on the sensation of a driver by estimating unsteady driving by using fuzzy inference based on a distance between an automobile to which a traffic lane recognition device is mounted and either left or right traffic lane boundary line. SOLUTION: A distance calculation means 02 calculates the distance between the present automobile and the left and right traffic lane boundary lines from the position information of the traffic lane boundary line which is the output of the traffic lane recognition device 01 and outputs it to an unsteady driving judgement means 03 and a memory 04. The memory 04 records the distance between the automobile and the traffic lane boundary line which is the output of the distance calculation means 02 in a time sequential order and the time sequential change amount of the recorded distance amount is calculated in a distance change amount calculation means 05 and outputted to the unsteady driving judgement means 03. The unsteady driving judgement means 03 estimates the unsteady driving by the output of the detectors 06-08 of a direction instruction, a steering angle and a car speed by using the fuzzy inference based on the calculation of the distance change amount calculation means 05. Thus, the judgement based on the sensation of the driver is performed.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a staggered driving detection method for detecting staggered driving caused by a driver's sleep and the like by using the result of recognizing the lane in which an automobile is traveling. In particular, the present invention relates to a safety device for a vehicle that issues a warning to a driver and controls the vehicle.

[0002]

2. Description of the Related Art As a conventional technique, Japanese Patent Laid-Open No. 6-274
As disclosed in Japanese Patent Publication No. 797, there is a method of determining that the vehicle is in a staggered operation when the distance between the vehicle and the lane boundary line is a fixed value or less and the steering angle is a fixed value or less. Considering that the steering angle is large when the driver departs from the lane for the purpose of avoiding obstacles, etc. ahead of the road, etc., consider staggered driving and lane departure due to the driver's intention. It is made to be able to distinguish.

[0003]

In the above-mentioned conventional technique, it is determined whether or not the vehicle is a staggered driving depending on whether the distance between the vehicle and the lane boundary line is larger or smaller than a certain value. this is,
When it is slightly smaller than this fixed value, it is wobbled. When it exceeds the same difference, it is not wobbled. It is judged as either 0 (not wobbled) or 1 (wobbled). However, in the sense of the driver or human being,
It is determined that the degree of sway increases as the vehicle approaches the lane boundary. Further, there are various habits depending on the driver. Some people run in the center of the lane, and some run on the left side of the lane. If an alarm device or an automatic control device used as a driver's assistance operates with a judgment different from the driver's feeling, the driver may be irritated or the unexpected automatic control may cause a panic. On the contrary, there is a problem that safety is impaired.

It is an object of the present invention to solve the above-mentioned problems and to make a judgment in accordance with the driver's feeling.

[0005]

In order to achieve the above object, fuzzy inference is used to determine whether or not the distance between the automobile and the lane boundary is small. Based on the distance between the car and the lane boundary,
The fuzzy driving is judged by using fuzzy reasoning.
In addition to this, when the time-series change amount of the distance between the vehicle and the lane boundary line is larger than a certain value, it is determined that the driver is changing the course. Alternatively, based on the time-series change amount, fuzzy inference is used to infer whether or not the driver is changing the course. In addition, the operating state of the turn signal is detected and used to determine the driver's intention to change course. Further, the steering angle of the steering wheel and the vehicle speed are detected and used to determine whether or not the driver is consciously operating the steering wheel.

By using fuzzy inference to determine the distance between the automobile and the lane boundary line, it has become possible to determine the sway that is close to the driver's sense. Since the results of fuzzy inference using the magnitude of the time-series change in the distance between the vehicle and the lane boundary line are combined and used for judgment of light-headed driving, whether the lane is deviating by the driver's intention or not. You can now tell. This is because when the vehicle departs from the lane due to the driver's intention, the vehicle approaches the boundary line of the lane more rapidly than when the vehicle is drowsy such as dozing. Also,
It has become possible to detect the operating state of the turn signal and determine that the vehicle is not in the staggered driving when the direction indicated by the turn signal and the direction in which the vehicle is moving are the same. By detecting the steering angle and the vehicle speed, it is possible to know whether or not the driver is operating the steering wheel, and it is now possible to determine whether the driver intends to depart from the lane. The reason why the vehicle speed is detected is that the driver may change the steering angle depending on the vehicle speed because the vehicle bends differently depending on the vehicle speed even at the same steering angle.

[0007]

BEST MODE FOR CARRYING OUT THE INVENTION The present invention will be described in detail below.

FIG. 1 is a block diagram of an apparatus for realizing the staggering operation detection method of the present invention. The staggered driving detection device includes a lane recognition device 01, a distance calculation means 02, a staggered driving determination means 03, a memory 04, and a distance change amount calculation means 0.
5, a direction instruction detection device 06, a steering angle detection device 07, and a vehicle speed detection device 08. Of these, the memory 04, the distance change amount calculation means 05, the direction instruction detection device 06, the steering angle detection device 07, and the vehicle speed detection device 08 are three sets of constituent elements for estimating the intention of the driver. There should be more than one pair. In the case of 0 sets, the wandering driving determination means 03 determines the wandering driving based only on the distance d between the vehicle and the lane boundary line which is the output of the distance calculation means 02. If the number of sets of components of the driver's intention estimation is large, the accuracy of the staggered driving determination increases accordingly.

The lane recognition device 01 is a device for recognizing the boundary line of the lane on the road and outputting the position of the boundary line. As a lane boundary recognition method, a camera takes an image of a road, performs image processing to extract the lane boundary line, and detects a marker installed on the lane boundary line from a car using radar. , A method of calculating the distance from the lane marked on the map by measuring the absolute position of the vehicle from a vehicle-mounted navigation system or a beacon on the road.

The distance calculating means 02 calculates the distance between the own vehicle and the left and right lane boundary lines from the position information of the lane boundary lines which is the output of the lane recognizing device 01, and the staggered driving judging means 03.
To the memory 04.

In the memory 04, the distance d between the automobile and the lane boundary line, which is the output of the distance calculating means 02, is recorded in chronological order. The distance change amount calculating means 05 calculates the time series change amount Δd of the distance amount d recorded in the memory 04, and outputs it to the staggering operation determining means 03. Δd is calculated by the following formula.

[0012]

[Equation 1]

However, Δt is the difference between the times when the distance amounts d1 and d2 are measured.

The direction indicator detection device 06 detects whether or not the switch of the direction indicator is turned on, and when it is turned on, detects the direction indicated by the switch, that is, left or right, and outputs the result to the staggering operation determination means 03. To do.

The steering angle detecting device 07 detects the steering angle of the steering wheel and outputs the result to the staggering operation judging means 03. Further, the vehicle speed detection device 08 detects the vehicle speed,
It outputs to the staggered driving determination means 03.

FIG. 2 shows a processing flow of the staggering operation judging means 01. First, when the distance d is input from the distance calculation means 02 (101), it is determined whether or not it is close to the lane boundary line by using fuzzy inference (102). At this time, the membership function used for fuzzy inference is as shown in FIG. Here, the horizontal axis represents the distance d between the automobile and the lane boundary line, and the vertical axis represents the closeness. If this closeness exceeds a certain value, it is determined to be "close". The constant value may be set by the driver to suit his or her feeling. If it is determined that they are not close to each other, the process ends. If it is determined that the vehicle is close, it is checked whether there is an input from the turn signal device (103), and if there is, it is determined whether the turn signal is in the direction of the approaching lane (1).
04). When it is out, it ends. If there is no input from the direction indicator, or if the direction indicator is not in the direction of the lane, it is determined whether there is an input from the steering angle detection device (105). If there is an input, it is combined with the input from the vehicle speed detection device, and it is determined whether the driver is willing to change course (106). Here, the determination method is shown in FIG. The horizontal axis represents vehicle speed and the vertical axis represents steering angle. If it is in the shaded area, it is determined that the driver intends to change course. This is because even if the steering angle is constant,
This is because when the vehicle speed changes, the direction in which the vehicle travels differs, and it is considered that the driver turns the steering according to the vehicle speed. When it is determined in FIG. 2 that the driver has changed the course, the process ends. If it is determined that it is not the driver's intention or if there is no input from the steering angle detection device, it is checked whether there is an input from the distance change amount calculation means (107). When there is an input, it is judged whether or not Δd is smaller than a certain value (108), and when it is not smaller, the process ends. When it is small or when there is no input from the distance change amount calculation means, it is determined that the vehicle is in a staggered operation (10
9), and outputs the result. To determine the magnitude of Δd,
There is also a method using fuzzy reasoning. The membership function shown in FIG. 3B is used for fuzzy inference. here,
The horizontal axis represents Δd and the vertical axis represents size.

As described above, the three kinds of determinations as to whether or not the driver's intention is made are processed in the order in which the direction indicating device, the steering angle detecting device, the distance change amount, and the reflection of the driver's intention are clear. By doing so, it is possible to more quickly determine that the driver intends to change course.

The output result of the stagger operation judging means 03 is
Either staggering or non-staggering. In the case of wandering, as an alarm device, a voice is emitted, a lamp is turned on to let a driver, or a steering of an automobile is controlled. There is also a method of numerically outputting the degree of wandering operation as the output result of the wandering operation determination means. For example,
The range is from 0 to 100. When the value is 0, it means that the degree of wobbling is large as the numerical value increases, not the wobbling operation. You can display this number with an indicator,
It can be used as a steering control parameter.

In the case of outputting the degree of staggering operation, when there is no output from the distance change amount calculating means 05, the operation shown in FIG.
The fuzzy number in (a) is output as a numerical value. When the numerical value in the above example is represented by 0 to 100, it is 0 when it is far, and approaches 100 as it gets closer. However, when there is an output from the direction indicating device 06 or the steering angle detecting device 07 and it is considered that the course is changed by the driver's intention, the degree of the staggered driving becomes zero. When there is an output from the distance change amount calculation means 05, the sum of the fuzzy numbers in (a) and (b) of FIG. 3 is output as the fluctuation degree.

[0020]

As described above, the proximity between the automobile and the lane boundary line is determined by using the fuzzy inference, so that it becomes possible to determine the stagger which is closer to the driver's sense. A method of determining whether or not the vehicle is approaching the lane quickly by the amount of change in the distance between the vehicle and the lane boundary, a method of determining whether a direction is indicated by the direction detection device, and a method of driving by the steering angle detection device and the vehicle speed detection device. The driver's intention is used to judge whether the driver is trying to change the course by three methods, namely, the method of judging whether the driver is operating the steering wheel. I can do it now. In addition, among these three methods, since it is possible to configure any combination of 0 or more, even if there are restrictions such as the structure of the automobile to be attached, the price, etc., it is possible to select the one that is possible according to it. , Has a high degree of freedom.

[Brief description of drawings]

FIG. 1 is a configuration diagram of an apparatus that realizes a staggering operation detection method of the present invention.

FIG. 2 is a diagram showing a processing flow of a staggering operation determination means.

FIG. 3 is a graph showing membership functions d and Δd.

FIG. 4 is a diagram showing a relationship between a steering angle and a vehicle speed.

[Explanation of symbols]

 d ... Distance between car and lane boundary, Δd ... Time series change amount of d.

Claims (5)

[Claims] 1. A method for detecting a staggered driving using a recognition result of a lane recognition device mounted on an automobile, based on a distance between the vehicle on which the lane recognition device is mounted and a left or right lane boundary line, A staggered driving detection method characterized by estimating staggered driving using fuzzy inference. 2. The staggered driving detection method according to claim 1, wherein the staggered driving is performed based on a result of fuzzy inference based on a distance between the vehicle and a lane boundary line on either side, and a time series change amount of the distance. A method for detecting staggered driving, characterized by estimating. 3. The staggered driving detection method according to claim 1, wherein the staggered driving is estimated by using fuzzy inference based on a distance between the vehicle and a left or right lane boundary line and a time series change amount of the distance. A method for detecting staggered driving characterized by. 4. The method for detecting staggered driving according to claim 1, wherein the staggered driving is estimated from the distance between the vehicle and either the left or right lane boundary line, and a direction instruction in the lane direction is issued. When there is no steering angle, or when it is determined that the steering angle is small based on the output of the vehicle speed detecting device attached to the vehicle as well as the output of the steering angle detecting device attached to the vehicle, it means that the vehicle is in a staggered operation. A staggered driving detection method characterized by making a judgment. 5. The staggered driving detection method according to claim 2 or 3, wherein the staggered driving is estimated from the distance between the vehicle and the left or right lane boundary line and the time-series change amount of the distance, and It is determined that the steering angle is small when there is no direction indication in the lane direction, or from the output of the vehicle speed detection device attached to the vehicle, which is the output of the steering angle detection device attached to the vehicle. The method for detecting staggered driving is characterized by determining that the staggered driving is being performed.