JPWO2020110217A1 - Driving support device and driving support method - Google Patents

Abstract

The driving support device (10) includes a driving operation detection unit (11) that detects a driving operation performed by the driver of the own vehicle, and a driving operation detection unit (11) when the own vehicle is traveling in the round about. The driving environment judgment unit (12) that detects the deterioration or improvement of the driving environment of the own vehicle resulting from the driving operation detected by) and the driving environment judgment unit (12) that detects the deterioration or improvement of the driving environment. It is provided with a notification processing unit (13) for notifying the driver of the own vehicle or another vehicle.

Description

The present invention relates to a vehicle driving support device and a driving support method, and more particularly to a driving support when the vehicle travels at a roundabout.

From the viewpoint of vehicle traffic safety and alleviation of traffic congestion, there is a possibility that the number of road networks in which roundabouts have been introduced will increase in the future. For example, Patent Document 1 below proposes a navigation device that outputs an alarm that calls attention to the driver when the traveling environment of the vehicle in the roundabout corresponds to a predetermined condition.

Japanese Unexamined Patent Publication No. 2016-157403

Since roundabouts have different traffic rules from general roads, such as lane priority, driving operations of vehicles by drivers unfamiliar with roundabouts may cause deterioration of the traffic environment. In preparation for such a case, a technique for making the driver of the vehicle that caused the deterioration of the traffic environment or other vehicles around the vehicle aware of the deterioration of the traffic environment is desired.

The present invention has been made to solve the above problems, and provides a driving support device that notifies the driver of the own vehicle or another vehicle of changes in the traffic environment of the round about caused by the driving operation of the driver. The purpose is to provide.

The driving support device according to the present invention includes a driving operation detection unit that detects a driving operation performed by the driver of the own vehicle, and the own vehicle generated as a result of the driving operation when the own vehicle is traveling in the round about. It is provided with a driving environment determination unit for detecting the deterioration or improvement of the driving environment of the vehicle, and a notification processing unit for notifying the driver of the own vehicle or another vehicle of the deterioration or improvement of the driving environment.

According to the present invention, when the own vehicle is traveling around the roundabout, the driver of the own vehicle or another vehicle is notified of the deterioration or improvement of the driving environment of the own vehicle caused by the driving operation of the driver. To. By notifying the driver of the own vehicle of the deterioration or improvement of the driving environment, the driver can objectively judge the validity of the driving operation performed by the driver. In addition, by notifying other vehicles of the deterioration or improvement of the driving environment, it is possible to contribute to the smoothness of traffic in the roundabout.

Objectives, features, aspects, and advantages of the present invention will be made more apparent with the following detailed description and accompanying drawings.

It is a block diagram which shows the structure of the driving support system which concerns on Embodiment 1. FIG. It is a figure which shows the example of the screen which notifies the deterioration of a traffic environment. It is a figure which shows the example of the screen which notifies the deterioration of a traffic environment. It is a figure which shows the example of the screen which notifies the deterioration of a traffic environment. It is a figure which shows the example of the screen which notifies the deterioration of a traffic environment. It is a figure which shows the example of the screen which notifies the deterioration of a traffic environment. It is a figure which shows the example of the screen which notifies the deterioration of a traffic environment. It is a figure which shows the example of the screen which notifies the improvement of a traffic environment. It is a figure which shows the example of the screen which notifies the improvement of a traffic environment. It is a figure which shows the example of the screen which notifies the improvement of a traffic environment. It is a figure which shows the example of the screen which notifies the improvement of a traffic environment. It is a flowchart which shows the operation of the driving support apparatus which concerns on Embodiment 1. FIG. It is a figure which shows the hardware configuration example of the driving support device. It is a figure which shows the hardware configuration example of the driving support device. It is a flowchart which shows the operation of the driving support apparatus which concerns on Embodiment 2. It is a flowchart which shows the operation of the driving operation detection part in Embodiment 2.

<Embodiment 1>
FIG. 1 is a block diagram showing a configuration of a driving support system according to the first embodiment. The driving support system is mounted on the vehicle, and is equipped with a driving support device 10, a driving operation device 21 connected to the driving support device 21, a map database 22, a current position calculation device 23, a peripheral sensor 24, a driving control system 25, and a communication device 26. , A display device 27, a speaker 28, and a vibrator 29. Hereinafter, the vehicle equipped with the driving support system is referred to as "own vehicle".

The driving operation device 21 is a device for the driver of the own vehicle to perform a driving operation, and includes, for example, a steering wheel, an accelerator pedal, a brake pedal, a shift lever, a lever of a direction indicator, and the like.

The map database 22 is a storage medium in which map information is stored. The map information stored in the map database 22 includes information on the position of each lane of the road including the roundabout and traffic rules of each road (for example, speed limit, lane changeability, traffic classification for each lane, etc.). Information is included.

The current position calculation device 23 is based on the absolute position (latitude, longitude) of the own vehicle calculated from the positioning signal from the GNSS (Global Navigation Satellite System) satellite and the map information stored in the map database 22. Calculate the current position of the vehicle. Here, the position of the own vehicle calculated by the current position calculation device 23 is assumed to have an accuracy (for example, an accuracy on the order of several centimeters) capable of identifying in which lane of the road the own vehicle is located. To do. Alternatively, the current position calculation device 23 collates the position of the lane boundary line of the road detected by the peripheral sensor 24 with the position of the lane included in the map information of the map database 22, and thereby collates the position of the lane in which the own vehicle is located. May be specified.

As the current position calculation device 23 and the map database 22, those provided in the navigation system of the own vehicle may be used. Further, the map database 22 may be installed outside the own vehicle, and may be, for example, a server that distributes map information to the driving support device 10 by communication.

The peripheral sensor 24 is a sensor that detects the position of a feature (position relative to the own vehicle) existing around the own vehicle, and can be configured by, for example, LiDAR (Light Detection and Ranging), radar, sonar, or the like. .. The features detected by the peripheral sensor 24 include moving objects such as other vehicles and pedestrians, and flat objects such as road markings such as lane boundaries and stop lines drawn on the road surface.

The travel control system 25 includes driving operations (operations of the driving operation device 21) performed by the driver and in-vehicle sensors (for example, speed sensor, acceleration sensor, orientation sensor, etc.) of the own vehicle, but includes peripheral sensors 24. It is an ECU (Electronic Control Unit) that controls the running of the own vehicle based on the information acquired from (may be). The driving support device 10 is a vehicle such as the traveling direction of the own vehicle, the traveling speed, the steering angle, and the operating status of the driving operation device 21 (for example, the turning angle of the steering wheel, the usage status of the direction indicator, etc.) from the traveling control system 25. It is possible to acquire vehicle information indicating the operating state of. Further, the driving support device 10 may acquire a part of the vehicle information directly from the vehicle-mounted sensor without going through the traveling control system 25.

The communication device 26 is a means for the driving support device 10 to communicate with the outside. The driving support device 10 can use the communication device 26 to perform communication with another vehicle (vehicle-to-vehicle communication) and communication with a roadside unit installed on the road (road-to-vehicle communication). In the present embodiment, the roadside that distributes information on the traffic conditions in the roundabout (for example, the position of each vehicle traveling in the roundabout, the traveling direction and the traveling speed, the number of vehicles in each lane, etc.) to the roundabout. The aircraft is installed, and the driving support device 10 can acquire information on the traffic conditions in the roundabout from the roadside aircraft. Further, in the present embodiment, it is assumed that the information delivered from the roadside aircraft includes information on traffic violations committed by each vehicle in the roundabout in the past.

The display device 27 is a means for the driving support device 10 to visually notify the driver of the own vehicle of various information, and is composed of, for example, a liquid crystal display device. The speaker 28 is a means for the driving support device 10 to aurally notify the driver of various types of information. The vibrator 29 is a means for the driving support device 10 to tactilely notify the driver of various types of information, and is installed, for example, on the steering wheel or seat of the own vehicle. Hereinafter, the display device 27, the speaker 28, and the vibrator 29 may be collectively referred to as an “in-vehicle notification device”.

As shown in FIG. 1, the driving support device 10 includes a driving operation detection unit 11, a driving environment determination unit 12, and a notification processing unit 13.

The driving operation detection unit 11 detects the driving operation performed by the driver of the own vehicle using the driving operation detecting unit 11. For example, the driving operation detection unit 11 detects the driving operation by detecting the turning angle of the steering wheel, the amount of depression of the accelerator pedal, the amount of depression of the brake pedal, the position of the shift lever, the position of the lever of the direction indicator, and the like. .. Further, the driving operation detection unit 11 may detect the driving operation by detecting a change in the traveling speed of the own vehicle, a change in the traveling direction, or the like from the vehicle information acquired from the traveling control system 25.

When the own vehicle is traveling in the roundabout, the driving environment determination unit 12 includes the current position of the own vehicle calculated by the current position calculation device 23, the map information around the own vehicle acquired from the map database 22, and the map information around the own vehicle. Based on the position of the feature around the own vehicle acquired by the peripheral sensor 24, the vehicle information of the own vehicle acquired from the travel control system 25, and the traffic condition information around the own vehicle acquired from the communication device 26. Determine the state of the vehicle's driving environment. In particular, when the driver performs a driving operation using the driving operation detection unit 11 while the own vehicle is traveling in the roundabout, the driving environment determination unit 12 of the own vehicle generated as a result of the driving operation. Detect changes (deterioration or improvement) in the driving environment.

The notification processing unit 13 notifies the driver of the own vehicle or another vehicle of the deterioration or improvement of the driving environment detected by the driving environment determination unit 12. Notification to the driver of the own vehicle is performed using the in-vehicle notification device (display device 27, speaker 28 or vibrator 29), and notification to other vehicles is performed using the communication device 26.

Here, a specific example of the operation of the driving environment determination unit 12 and the notification processing unit 13 will be described. In the present embodiment, the driving environment determination unit 12 considers the deterioration of the driving environment of the own vehicle in the roundabout.
(A1) The own vehicle has changed lanes or tried to change lanes in the lane change prohibited section in the round about due to the driver's driving operation (A2) The number of own vehicles is predetermined by the driver's driving operation. The lane was changed to a lane that exceeded the specified threshold, or the number of vehicles in the lane to which the lane was changed exceeded the threshold as a result of the driver's driving operation changing the lane of the own vehicle (A3). As a result of the lane change or acceleration / deceleration of the own vehicle due to the driving operation, the distance between the own vehicle and another vehicle in front or behind has fallen below a predetermined threshold (A4) The own vehicle has changed lanes due to the driver's driving operation. Alternatively, as a result of acceleration / deceleration, the speed difference between the own vehicle and another vehicle in front or behind exceeds a predetermined threshold (A5) As a result of the own vehicle changing lanes or accelerating / decelerating due to the driver's driving operation, in the past The distance between the other vehicle that committed the traffic violation in the round about and the own vehicle has fallen below a predetermined threshold (A6) In the situation where the other vehicle exists within a certain range from the own vehicle, the driver Detects six types of lane change or attempt to change lanes from a low priority lane to a high priority lane by the driving operation of. However, the deterioration of the traveling environment detected by the traveling environment determination unit 12 may be one or more of the above six types, and may include other than the above six types.

In addition, the driving environment judgment unit 12 improves the driving environment of the own vehicle in the roundabout.
(B1) As a result of changing lanes from a lane in which the number of vehicles exceeds a predetermined threshold to another lane by the driver's driving operation, the number of vehicles in the lane before the lane change has fallen below the threshold (B1). B2) As a result of the driver changing lanes or accelerating or decelerating due to the driver's driving operation, the distance between the own vehicle and another vehicle in front or behind exceeds a predetermined threshold (B3) By the driver's driving operation. As a result of the own vehicle changing lanes or accelerating / decelerating, the speed difference between the own vehicle and other vehicles in front or behind has fallen below a predetermined threshold (B4). As a result of deceleration, four types are detected in which the distance between the own vehicle and another vehicle that has committed a traffic violation in the round about in the past exceeds a predetermined threshold. However, the improvement of the traveling environment detected by the traveling environment determination unit 12 may be one or more of the above four types, and may include other than the above four types.

The inter-vehicle distance and speed difference between the own vehicle and another vehicle may be detected based on the position of the other vehicle detected by the peripheral sensor 24 and its change, or inter-vehicle communication using the communication device 26 or It may be detected based on the position and speed information of other vehicles acquired by road-to-vehicle communication. The lane change may be detected based on the position of the lane boundary line detected by the peripheral sensor 24, or may be detected based on the information on the position of the own vehicle acquired by the road-to-vehicle communication using the communication device 26. May be good. Further, regarding the "number of vehicles" in the above types A2 and B1, one large vehicle may be counted as two vehicles.

First, an example of the operation of the driving environment determination unit 12 and the notification processing unit 13 when the driving environment deterioration of types A1 to A6 is detected by the driving environment determination unit 12 will be described.

When the driver operates the driving operation device 21 while the own vehicle is traveling in the roundabout and the driving environment determination unit 12 detects the deterioration of the driving environment of type A1, the notification processing unit 13 may, for example, , An image as shown in FIG. 2 is displayed on the display device 27, a voice announcement "The lane cannot be changed in this roundabout" is output from the speaker 28, and the vibrator 29 is vibrated for 1 second to give the driver a driving environment. Notify the deterioration of. In the image of FIG. 2, the own vehicle image 100, which is an image showing the position of the own vehicle, and the other vehicle image 110, which is an image showing the position of the other vehicle, are superimposed on the map of the roundabout, and further, the roundabout The entire map is displayed in a color that represents a danger or warning. For example, JIS (Japanese Industrial Standards) defines red, orange, yellow, etc. as colors indicating danger or warning.

Further, when the driver operates the driving operation device 21 while the own vehicle is traveling in the roundabout and the driving environment determination unit 12 detects the deterioration of the driving environment of type A2, the notification processing unit 13 will perform the notification processing unit 13. For example, by displaying an image as shown in FIG. 3 on the display device 27 and outputting a voice announcement "Please note that there are many cars" from the speaker 28, the driver is notified of the deterioration of the driving environment. To do. In the image of FIG. 3, the own vehicle image 100 showing the position of the own vehicle and the other vehicle image 110 showing the position of the other vehicle are superimposed on the roundabout map, and the lane to which the lane is changed is dangerous or warned. It is displayed in a color that represents.

In this case, it is also effective for the notification processing unit 13 to notify the deterioration of the traveling environment to other vehicles traveling in the lane to which the lane is changed by using the communication device 26. The operation of the other vehicle that has received the notification is not particularly specified, but for example, it is conceivable to display an image or make a voice announcement to alert the driver of the other vehicle.

Further, when the driver operates the driving operation device 21 while the own vehicle is traveling in the roundabout and the driving environment determination unit 12 detects the deterioration of the driving environment of type A3, the notification processing unit 13 will perform the notification processing unit 13. For example, an image as shown in FIG. 4 is displayed on the display device 27, and the speaker 28 "Please note that the distance between the vehicle behind (front) is short" and "With the vehicle behind (front)". By outputting a voice announcement such as "The distance between vehicles is only XX meters", the driver is notified of the deterioration of the driving environment. In the image of FIG. 4, the own vehicle image 100 showing the position of the own vehicle and the other vehicle image 110 showing the position of the other vehicle are superimposed on the roundabout map, and the own vehicle image 100 and the own vehicle approach each other. The area between the image 110 and the other vehicle image 110 corresponding to the other vehicle is displayed in a color indicating danger or warning, and the value of the inter-vehicle distance is displayed.

In this case, it is also effective for the notification processing unit 13 to notify the deterioration of the traveling environment to other vehicles approached by the own vehicle by using the communication device 26. The operation of the other vehicle that has received the notification is not particularly specified, but for example, it is conceivable to display an image or make a voice announcement to alert the driver of the other vehicle. Further, if the other vehicle receiving the notification is in automatic driving, automatic driving control may be performed in the other vehicle to control the traveling speed so as to widen the distance from the own vehicle.

Further, when the driver operates the driving operation device 21 while the own vehicle is traveling in the roundabout and the driving environment determination unit 12 detects the deterioration of the driving environment of type A4, the notification processing unit 13 will perform the notification processing unit 13. For example, by displaying an image as shown in FIG. 5 on the display device 27 and outputting a voice announcement such as "Please note that the speed of the car behind (front) is fast (slow)" from the speaker 28. , Notify the driver of the deterioration of the driving environment. In the image of FIG. 5, the own vehicle image 100 showing the position of the own vehicle and the other vehicle image 110 showing the position of the other vehicle are superimposed on the roundabout map, and the own vehicle image 100 and the own vehicle are further superimposed. The area between the image 110 of the other vehicle corresponding to the other vehicle having a large speed difference is displayed in a color indicating danger or warning.

In this case, it is also effective for the notification processing unit 13 to notify the deterioration of the traveling environment to another vehicle having a large speed difference from the own vehicle by using the communication device 26. The operation of the other vehicle that received the notification is not specified, but for example, it is possible to display an image that calls attention to the driver of the other vehicle or make a voice announcement such as "accelerate (decelerate)". .. Further, if the other vehicle that has received the notification is in automatic driving, automatic driving control may be performed in the other vehicle to control the traveling speed so as to reduce the speed difference from the own vehicle.

Further, when the driver operates the driving operation device 21 while the own vehicle is traveling in the roundabout and the driving environment determination unit 12 detects the deterioration of the driving environment of the type A5, the notification processing unit 13 causes the notification processing unit 13. For example, by displaying an image as shown in FIG. 6 on the display device 27 and outputting a voice announcement such as "Be careful of vehicles that have violated the rules in the past" from the speaker 28, the driving environment is output to the driver. Notify the deterioration of. The image of FIG. 6 superimposes the own vehicle image 100 showing the position of the own vehicle and the other vehicle image 110 showing the position of the other vehicle on the map of the roundabout, and further causes a traffic violation in the roundabout in the past. The surroundings of the other vehicle image 110 (indicated by the reference numeral "110a") corresponding to the violated other vehicle are displayed in a color indicating danger or warning, and the vibrator 29 is vibrated for 1 second. For example, when a plurality of vibrators 29 are installed in the steering wheel of the own vehicle, it is preferable to vibrate the portion of the steering wheel corresponding to the direction in which another vehicle that has committed a traffic violation in the past in the roundabout exists.

Further, when the driver operates the driving operation device 21 while the own vehicle is traveling in the roundabout and the driving environment determination unit 12 detects the deterioration of the driving environment of type A6, the notification processing unit 13 will perform the notification processing unit 13. For example, by displaying an image as shown in FIG. 7 on the display device 27 and outputting a voice announcement such as "Please note that the lane to which the lane is changed has a high priority" from the speaker 28, the driver is informed. Notify the deterioration of the driving environment. The images of FIG. 7 are a round-about 3D map (three-dimensional map) expressing the priority of each lane in height, the own vehicle image 100 showing the position of the own vehicle, and the other vehicle image 110 showing the position of the other vehicle. And are superimposed, and the lane with high priority is displayed in a color indicating danger or warning, and an arrow indicating the direction of lane change of the own vehicle and a cross mark attached to it are displayed.

In this case, it is also effective that the notification processing unit 13 uses the communication device 26 to notify other vehicles around the own vehicle traveling in the lane to which the lane is changed of the deterioration of the traveling environment. The operation of the other vehicle that has received the notification is not particularly specified, but for example, it is conceivable to display an image or make a voice announcement to alert the driver of the other vehicle.

Next, an example of the operation of the driving environment determination unit 12 and the notification processing unit 13 when the driving environment improvement of types B1 to B4 is detected by the driving environment determination unit 12 will be described.

When the driver operates the driving operation device 21 while the own vehicle is traveling in the roundabout and the driving environment determination unit 12 detects that the driving environment of the type B1 is improved, the notification processing unit 13 sets the notification processing unit 13. For example, by displaying an image as shown in FIG. 8 on the display device 27 and outputting a voice announcement that "the number of vehicles has decreased" from the speaker 28, the driver is notified of the improvement of the driving environment. The image of FIG. 8 superimposes the own vehicle image 100 showing the position of the own vehicle and the other vehicle image 110 showing the position of the other vehicle on the roundabout map, and further represents the safety of the lane before the lane change. It is displayed in color. For example, JIS (Japanese Industrial Standards) defines green, blue, etc. as colors indicating safety.

In this case, it is also effective that the notification processing unit 13 uses the communication device 26 to notify other vehicles traveling in the lane before the lane change of the improvement of the traveling environment. The operation of the other vehicle that has received the notification is not particularly specified, but for example, it is conceivable to display an image or make a voice announcement to inform the driver of the other vehicle that the driving environment has improved.

Further, when the driver operates the driving operation device 21 while the own vehicle is traveling in the roundabout and the driving environment determination unit 12 detects that the driving environment of the type B2 is improved, the notification processing unit 13 For example, displays an image as shown in FIG. 9 on the display device 27, and from the speaker 28, "the distance between the vehicle behind (front) has become sufficiently long" and "with the vehicle behind (front)". By outputting a voice announcement such as "The distance between vehicles is XX meters", the driver is notified of the improvement of the driving environment. In the image of FIG. 9, the own vehicle image 100 showing the position of the own vehicle and the other vehicle image 110 showing the position of the other vehicle are superimposed on the roundabout map, and the own vehicle image 100 and the own vehicle are further superimposed. The area between the image 110 of the other vehicle corresponding to the other vehicle with a gap is displayed in a color indicating safety.

In this case, it is also effective for the notification processing unit 13 to notify the improvement of the traveling environment to other vehicles that are separated from each other by using the communication device 26. The operation of the other vehicle that has received the notification is not particularly specified, but for example, it is conceivable to display an image or make a voice announcement to inform the driver of the other vehicle that the driving environment has improved.

Further, when the driver operates the driving operation device 21 while the own vehicle is traveling in the roundabout and the driving environment determination unit 12 detects that the driving environment of the type B3 is improved, the notification processing unit 13 For example, by displaying an image as shown in FIG. 10 on the display device 27 and outputting a voice announcement such as "It has become as fast as the (front) car behind" from the speaker 28, the driver drives. Notify the person of the improvement of the driving environment. In the image of FIG. 10, the own vehicle image 100 showing the position of the own vehicle and the other vehicle image 110 showing the position of the other vehicle are superimposed on the roundabout map, and the own vehicle image 100 and the own vehicle are further superimposed. The area between the image 110 and the other vehicle image 110 corresponding to the other vehicle having a small speed difference is displayed in a color indicating safety.

In this case, it is also effective that the notification processing unit 13 uses the communication device 26 to notify another vehicle whose speed difference from the own vehicle is small that the traveling environment has improved. The operation of the other vehicle that has received the notification is not particularly specified, but for example, it is conceivable to display an image or make a voice announcement to inform the driver of the other vehicle that the driving environment has improved.

Further, when the driver operates the driving operation device 21 while the own vehicle is traveling in the roundabout and the driving environment determination unit 12 detects that the driving environment of the type B4 is improved, the notification processing unit 13 For example, displays an image as shown in FIG. 11 on the display device 27, and outputs a voice announcement such as "a nearby vehicle is safe" from the speaker 28 to notify the driver of the improvement of the driving environment. .. The image of FIG. 11 superimposes the own vehicle image 100 showing the position of the own vehicle and the other vehicle image 110 showing the position of the other vehicle on the map of the roundabout, and further causes a traffic violation in the roundabout in the past. The surroundings of the other vehicle image 110 (indicated by the reference numeral "110a") corresponding to the violated other vehicle are displayed in a color indicating safety.

The images shown in FIGS. 2 to 11 are merely examples, and the images displayed on the display device 27 by the notification processing unit 13 are not limited to these. For example, the other vehicle image 110 may be color-coded so that the other vehicle image 110 corresponding to the other vehicle during manual driving and the other vehicle image 110 corresponding to the other vehicle during automatic driving can be distinguished.

In addition, the notification processing unit 13 is a HUD (head-up display) that displays an image directly in the driver's field of view by using a transparent object (for example, a windshield (windshield)) that the driver can see as a screen. There may be. Further, the notification processing unit 13 is provided with both a normal display device such as a liquid crystal display device and a HUD, and performs a notification by a map display as shown in FIGS. 2 to 11 on the HUD, and a notification other than the map display (for example, characters). A plurality of display devices may be combined, such as performing a message or the like on a normal display device.

Next, the operation of the driving support device 10 will be described with reference to the flowchart of FIG. When the driving support device 10 is activated, the driving environment determination unit 12 first refers to the current position of the own vehicle calculated by the current position calculation device 23, and confirms whether or not the own vehicle is traveling in the roundabout ( Step S101). If the own vehicle is not traveling in the roundabout (NO in step S101), step S101 is repeated.

If the own vehicle is traveling in the roundabout (YES in step S101), the driving environment determination unit 12 determines whether or not the driving operation (operation of the driving operation device 21) by the driver is detected by the driving operation detection unit 11. Is confirmed (step S102). If the driving operation by the driver is not detected (NO in step S102), the process returns to step S101.

When the driving operation by the driver is detected (YES in step S102), the driving environment determination unit 12 determines the content of the driving operation (for example, lane change, acceleration) based on the vehicle information acquired from the driving control system 25. , Principle, etc.) (step S103).

Subsequently, the driving environment determination unit 12 determines the current position of the own vehicle calculated by the current position calculation device 23, the map information around the own vehicle acquired from the map database 22, and the location around the own vehicle acquired by the peripheral sensor 24. Based on the position of the object, the vehicle information of the own vehicle acquired from the travel control system 25, and the traffic condition information around the own vehicle acquired from the communication device 26, the state of the traveling environment of the own vehicle is determined (step). S104).

Then, based on the determination result in step S104, the traveling environment determination unit 12 deteriorates the traveling environment corresponding to any of the above types A1 to A6, or travels corresponding to any of the above types B1 to B4. It is confirmed whether or not the improvement of the environment has occurred (step S105). If the running environment has not deteriorated or improved (NO in step S105), the process returns to step S101.

If the driving environment has deteriorated or improved (YES in step S105), the driving environment determination unit 12 notifies the deterioration or improvement (own vehicle) according to the type of deterioration or improvement of the driving environment. (Driver or other vehicle) and notification content (content of image or voice message used for notification) are determined (step S106).

When the notification destination is only the driver of the own vehicle (“driver of the own vehicle” in step S107), the notification processing unit 13 uses the in-vehicle notification device (display device 27, speaker 28, and vibrator 29) to drive the driver. (Step S108), and then returns to step S101.

When the notification destination is only another vehicle (“other vehicle” in step S107), the notification processing unit 13 is subject to notification based on the position information of the other vehicle acquired from the peripheral sensor 24 or the communication device 26. It is confirmed whether or not the vehicle exists (step S109). If there is another vehicle to be notified (YES in step S109), the notification processing unit 13 notifies the other vehicle using the communication device 26 (step S110), and then returns to step S101. If there is no other vehicle to be notified (NO in step S109), step S110 is skipped.

When the notification destination is both the driver of the own vehicle and the other vehicle (“driver of the own vehicle and other vehicle” in step S107), the notification processing unit 13 first uses the in-vehicle notification device to notify the driver. Notification is performed (step S111). Subsequently, the notification processing unit 13 confirms whether or not there is another vehicle to be notified based on the position information of the other vehicle acquired from the peripheral sensor 24 or the communication device 26 (step S112). If there is another vehicle to be notified (YES in step S112), the notification processing unit 13 notifies the other vehicle using the communication device 26 (step S113), and then returns to step S101. If there is no other vehicle to be notified (NO in step S112), step S113 is skipped.

As described above, according to the driving support device 10 according to the present embodiment, when the own vehicle is traveling in the round about, the deterioration of the driving environment of the own vehicle caused by the driving operation of the driver of the own vehicle occurs. Alternatively, the improvement is notified to the driver of the own vehicle or another vehicle. By notifying the driver of the own vehicle of the deterioration or improvement of the driving environment, the driver can objectively judge the validity of the driving operation performed by the driver. In addition, by notifying other vehicles of the deterioration or improvement of the driving environment, it is possible to contribute to the smoothness of traffic in the roundabout.

13 and 14 are diagrams showing an example of the hardware configuration of the driving support device 10, respectively. Each function of the component of the driving support device 10 shown in FIG. 1 is realized by, for example, the processing circuit 50 shown in FIG. That is, the driving support device 10 detects the driving operation performed by the driver of the own vehicle, and when the own vehicle is traveling in the round about, the deterioration of the driving environment of the own vehicle resulting from the driving operation or The processing circuit 50 for detecting the improvement and notifying the driver of the own vehicle or another vehicle of the deterioration or improvement of the driving environment is provided. The processing circuit 50 may be dedicated hardware, or may be a processor (Central Processing Unit (CPU), processing unit, arithmetic unit, microprocessor, microprocessor, etc.) that executes a program stored in the memory. It may be configured by using a DSP (also called a Digital Signal Processor).

When the processing circuit 50 is dedicated hardware, the processing circuit 50 may be, for example, a single circuit, a composite circuit, a programmed processor, a parallel programmed processor, an ASIC (Application Specific Integrated Circuit), or an FPGA (Field-Programmable). Gate Array), or a combination of these. The functions of the components of the driving support device 10 may be realized by individual processing circuits, or these functions may be collectively realized by one processing circuit.

FIG. 14 shows an example of the hardware configuration of the driving support device 10 when the processing circuit 50 is configured by using the processor 51 that executes the program. In this case, the functions of the components of the driving support device 10 are realized by software (software, firmware, or a combination of software and firmware). The software or the like is described as a program and stored in the memory 52. The processor 51 realizes the functions of each part by reading and executing the program stored in the memory 52. That is, the driving support device 10 performs a process of detecting a driving operation performed by the driver of the own vehicle when executed by the processor 51, and a driving operation when the own vehicle is traveling in the round about. As a result, the process of detecting the deterioration or improvement of the driving environment of the own vehicle as a result and the process of notifying the driver of the own vehicle or another vehicle of the deterioration or improvement of the driving environment are executed. A memory 52 for storing a program is provided. In other words, it can be said that this program causes the computer to execute the procedure and method of operation of the components of the driving support device 10.

Here, the memory 52 is a non-volatile or non-volatile memory such as a RAM (Random Access Memory), a ROM (Read Only Memory), a flash memory, an EPROM (Erasable Programmable Read Only Memory), and an EEPROM (Electrically Erasable Programmable Read Only Memory). Volatile semiconductor memory, HDD (Hard Disk Drive), magnetic disk, flexible disk, optical disk, compact disk, mini disk, DVD (Digital Versatile Disc) and its drive device, etc., or any storage medium used in the future. You may.

The configuration in which the functions of the components of the driving support device 10 are realized by either hardware, software, or the like has been described above. However, the present invention is not limited to this, and a configuration in which a part of the components of the driving support device 10 is realized by dedicated hardware and another part of the components is realized by software or the like may be used. For example, for some components, the function is realized by the processing circuit 50 as dedicated hardware, and for some other components, the processing circuit 50 as the processor 51 is stored in the memory 52. It is possible to realize the function by reading and executing it.

As described above, the driving support device 10 can realize each of the above-mentioned functions by hardware, software, or a combination thereof.

<Embodiment 2>
In the second embodiment, the driving operation detection unit 11 determines whether or not the driving operation (operation of the driving operation detection unit 11) is intentionally performed by the driver, and the driver intentionally performs the driving operation. Only the determined driving operation (hereinafter, simply referred to as "intentional driving operation") is detected. Other than that, the configuration of the driving support device 10 is the same as that of the first embodiment.

Here, the driver's intentional driving operation means a driving operation performed by the driver with a purpose and not reflexively but by his / her own will. The method of determining whether or not the driving operation is performed by the driver's will shall be determined by whether or not the driving operation is performed in a safe driving environment, and the driving operation performed in the safe driving environment shall be driving. It is judged that the driving operation is performed by the person himself / herself, and the driving operation performed in an unsafe driving environment is judged to be the driving operation performed reflexively by the driver. In this embodiment, a safe driving environment is provided.
(A) There are no other vehicles within a certain range from the own vehicle (the distance between vehicles is sufficient).
(B) The traveling speed is lower than a predetermined threshold value (c) The driver's physical condition and mental state are normal (d) The own vehicle has not failed (e) Traffic around the own vehicle Define a situation in which everything that the situation is not having problems is satisfied.

The determination of the conditions (a) and (b) can be made based on the detection result of the other vehicle by the peripheral sensor 24 or the information of the other vehicle obtained by the vehicle-to-vehicle communication or the road-to-vehicle communication using the communication device 26. .. The judgment of the condition (c) is to detect the driver's brain wave, heart rate, blood pressure, etc. by a biosensor (not shown) mounted on the own vehicle, and determine whether or not these values are within the normal range. It can be done by checking. The condition (d) can be determined by confirming whether or not an abnormal signal is output from the travel control system 25. The "problem of traffic condition" of the condition (e) means a state in which it is difficult to drive the own vehicle normally due to an accident or a disaster, and the judgment is made by the traffic obtained by the road-to-vehicle communication using the communication device 26. It can be done based on information and disaster information.

FIG. 15 is a flowchart showing the operation of the driving support device 10 according to the second embodiment. Compared with the flow of FIG. 12, the flow of FIG. 15 is different in that the presence or absence of the driver's "intentional driving operation" is determined in step S102. Except for this, the flow of FIG. 15 is the same as the flow of FIG. 12, and therefore detailed description of the flow of FIG. 15 will be omitted.

FIG. 16 is a flowchart showing the operation of the driving operation detection unit 11 according to the second embodiment. The process of FIG. 16 is a process for the driving operation detection unit 11 to detect an intentional driving operation of the driver, and the processing result is reflected in step S102 of the flow of FIG.

The driving operation detection unit 11 first determines the safety of the traveling environment by confirming whether or not all the above conditions (a) to (e) are satisfied (step S201). If it is determined that the driving environment is safe (YES in step S202), the driving operation detection unit 11 confirms whether or not the driving operation has been performed by the driver by confirming the operation status of the driving operation device 21. (Step S203). If a driving operation is performed at this time (YES in step S203), the driving operation detection unit 11 detects it as an intentional driving operation (step S204).

When it is determined in step S202 that the driving environment is not safe (NO in step S202), and when it is determined in step S203 that the driving operation is not performed by the driver (NO in step S203). Return to step S101. Therefore, even if the driving operation is performed when the driving environment is not safe, it is not detected as an intentional driving operation. That is, the driving operation detection unit 11 of the present embodiment operates so as to detect only an intentional driving operation.

In the second embodiment, the driving operation detection unit 11 detects only the driver's intentional driving operation, and for example, the driving operation performed by the driver reflexively to avoid danger is the driving operation detecting unit 11. Is not detected. The driving operations performed by the driver in a reflexive manner are often unavoidably performed by the driver, and it is considered that there is little need to judge the validity of the driving operation again. Therefore, according to the driving support device 10 according to the second embodiment, it is expected that the driver or another vehicle can be prevented from being notified unnecessarily.

In the present invention, each embodiment can be freely combined, and each embodiment can be appropriately modified or omitted within the scope of the invention.

Although the present invention has been described in detail, the above description is exemplary in all embodiments and the invention is not limited thereto. It is understood that innumerable variations not illustrated can be assumed without departing from the scope of the present invention.

10 Driving support device, 11 Driving operation detection unit, 12 Driving environment judgment unit, 13 Notification processing unit, 21 Driving operation equipment, 22 Map database, 23 Current position calculation device, 24 Peripheral sensor, 25 Driving control system, 26 Communication device, 27 display device, 28 speakers, 29 vibrators, 100 own vehicle image, 110 other vehicle image, 50 processing circuit, 51 processor, 52 memory.

Claims (13)

A driving operation detection unit that detects the driving operation performed by the driver of the own vehicle,
A driving environment determination unit that detects deterioration or improvement of the driving environment of the own vehicle resulting from the driving operation while the own vehicle is traveling in the roundabout.
A notification processing unit that notifies the driver of the own vehicle or another vehicle of the deterioration or improvement of the driving environment.
A driving support device equipped with. The driving operation detection unit determines whether or not the driving operation is intentionally performed by the driver, and detects only the driving operation determined to be intentionally performed by the driver.
The driving support device according to claim 1. A claim that the driving environment determination unit detects that the own vehicle has changed lanes or tried to change lanes in a lane change prohibited section in the roundabout due to the driving operation as a deterioration of the driving environment. The driving support device according to 1. As a deterioration of the driving environment, the driving environment determination unit has changed the lane of the own vehicle to a lane in which the number of vehicles exceeds a predetermined threshold by the driving operation, or the driving operation has caused the own vehicle to change lanes. The driving support device according to claim 1, which detects that the number of vehicles in the lane to be changed exceeds the threshold value as a result of changing lanes. As a result of the driving operation causing the own vehicle to change lanes or accelerate / decelerate as a result of the deterioration of the driving environment, the driving environment determination unit sets a threshold value in which the distance between the own vehicle and another vehicle in front or behind is predetermined. The driving support device according to claim 1, which detects that the vehicle has fallen below the limit. As a result of the deterioration of the driving environment, the driving environment determination unit changes the lane or accelerates / decelerates the vehicle due to the driving operation, and as a result, the speed difference between the vehicle and another vehicle in front or behind is a predetermined threshold value. The driving support device according to claim 1, wherein the driving support device is detected. The driving environment determination unit determines that the other vehicle and the own vehicle have committed a traffic violation in the roundabout in the past as a result of the lane change or acceleration / deceleration of the own vehicle due to the driving operation as a deterioration of the driving environment. The driving support device according to claim 1, wherein it detects that the distance between the vehicles has fallen below a predetermined threshold value. As a deterioration of the driving environment, the driving environment determination unit changes the lane from a low priority lane to a high priority lane by the driving operation in a situation where another vehicle exists within a certain range from the own vehicle. The driving support device according to claim 1, which detects that the vehicle has changed lanes or has tried to change lanes. As a result of the driving operation, the driving environment determination unit changes the lane from the lane in which the number of vehicles exceeds a predetermined threshold to another lane by the driving operation, and as a result, before the lane change. The driving support device according to claim 1, which detects that the number of vehicles in the lane has fallen below the threshold value. As a result of the driving operation changing the lane or accelerating / decelerating the own vehicle as a result of the driving operation, the driving environment determination unit sets a threshold value in which the distance between the own vehicle and another vehicle in front or behind is predetermined. The driving support device according to claim 1, wherein the driving support device is detected. As a result of the driving operation changing the lane or accelerating / decelerating the own vehicle, the speed difference between the own vehicle and another vehicle in front or behind is predetermined in the driving environment determination unit. The driving support device according to claim 1, wherein the driver detects that the vehicle has fallen below the threshold value. In order to improve the driving environment, the driving environment determination unit uses the other vehicle and the own vehicle that have committed a traffic violation in the roundabout in the past as a result of the lane change or acceleration / deceleration of the own vehicle due to the driving operation. The driving support device according to claim 1, wherein the distance between the two vehicles exceeds a predetermined threshold value. The driving operation detection unit of the driving support device detects the driving operation performed by the driver of the own vehicle,
When the own vehicle is traveling in the roundabout, the driving environment determination unit of the driving support device detects deterioration or improvement of the driving environment of the own vehicle resulting from the driving operation.
The notification processing unit of the driving support device notifies the driver of the own vehicle or another vehicle of the deterioration or improvement of the driving environment.
Driving support method.

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