WO2012157192A1 - 運転不安定度判定装置 - Google Patents
運転不安定度判定装置 Download PDFInfo
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- WO2012157192A1 WO2012157192A1 PCT/JP2012/002815 JP2012002815W WO2012157192A1 WO 2012157192 A1 WO2012157192 A1 WO 2012157192A1 JP 2012002815 W JP2012002815 W JP 2012002815W WO 2012157192 A1 WO2012157192 A1 WO 2012157192A1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K28/00—Safety devices for propulsion-unit control, specially adapted for, or arranged in, vehicles, e.g. preventing fuel supply or ignition in the event of potentially dangerous conditions
- B60K28/02—Safety devices for propulsion-unit control, specially adapted for, or arranged in, vehicles, e.g. preventing fuel supply or ignition in the event of potentially dangerous conditions responsive to conditions relating to the driver
- B60K28/06—Safety devices for propulsion-unit control, specially adapted for, or arranged in, vehicles, e.g. preventing fuel supply or ignition in the event of potentially dangerous conditions responsive to conditions relating to the driver responsive to incapacity of driver
- B60K28/066—Safety devices for propulsion-unit control, specially adapted for, or arranged in, vehicles, e.g. preventing fuel supply or ignition in the event of potentially dangerous conditions responsive to conditions relating to the driver responsive to incapacity of driver actuating a signalling device
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2540/00—Input parameters relating to occupants
- B60W2540/18—Steering angle
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2540/00—Input parameters relating to occupants
- B60W2540/20—Direction indicator values
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2540/00—Input parameters relating to occupants
- B60W2540/26—Incapacity
Definitions
- the present invention relates to a technique for determining driving instability related to an unstable driving state of a driver.
- Patent Document 1 In the vehicle driving support device described in Patent Document 1, based on the steering operation, a long-time driving state distribution corresponding to a normal driving characteristic and a short-time driving state distribution corresponding to a current driving characteristic are calculated, The unstable operation state is determined from the magnitude of the difference between the calculated two distributions. Patent Document 1 describes that according to this method, an unstable state can be accurately detected regardless of the difference in traffic environment.
- Patent Document 1 it is desired to detect a steering operation indicating only the driver's driving anxiety state.
- the steering operation is disturbed due to other factors different from driving instability, the driving unstable state is correspondingly reduced. Detection accuracy is degraded.
- the present invention focuses on the above points, and an object of the present invention is to improve the detection accuracy of driving instability.
- the second traveling state distribution in the second temporal range based on the traveling state data and the first temporal range longer than the second temporal range are provided.
- a driving state distribution calculating unit that calculates the first driving state distribution and a first driving state distribution and a second driving state distribution calculated by the driving state distribution calculating unit are compared to determine the degree of driving instability.
- the driving state distribution calculating unit is a specific driving state in which the driving state is set in advance (the driving state in which the current driving state is estimated to deteriorate the reliability of the driving state data acquired by the driving state acquisition unit). Excluding the traveling state data for the determined period, at least a second traveling state distribution is calculated from the first traveling state distribution and the second traveling state distribution.
- At least the second traveling state distribution is calculated based on traveling state data in a driving state other than the specific driving state. Therefore, it is possible to improve the detection accuracy of the driving anxiety level.
- FIG. 1 is a diagram showing a configuration of a vehicle equipped with a vehicle information providing apparatus according to the present embodiment.
- the vehicle according to this embodiment includes an accelerator pedal opening sensor 1, a brake pedal operation amount sensor 2, a steering angle sensor 3, a wheel speed sensor 4, a blinker detection sensor 5, a meter display 6, and a navigation device 7. , G sensor 8, shift sensor 12, forward vehicle detection device 9, and controller 100.
- the vehicle to which the present invention is applied need not be equipped with all the above sensors and the like.
- the sensors used in other embodiments are also described together.
- the accelerator pedal opening sensor 1 detects the opening amount (acceleration instruction amount) of the accelerator pedal. The detected opening amount is output to the controller 100.
- the brake pedal operation amount sensor 2 detects an operation amount (braking instruction amount) of the brake pedal as a braking instruction amount. The detected operation amount is output to the controller 100.
- the steering angle sensor 3 is an angle sensor attached near a steering column or a steering wheel (not shown), for example, and detects the steering angle by the driver's steering from the rotation of the steering shaft. The detected steering angle is output to the controller 100.
- the wheel speed sensor 4 detects the vehicle speed by detecting the number of rotations of the wheel, for example.
- the detected vehicle speed is output to the controller 100.
- the wheel speed sensor 4 may detect the vehicle speed based on a signal to the meter display 6.
- the turn signal detection sensor 5 detects the turn signal state of the turn signal lever.
- the detected blinker state is output to the controller 100.
- the shift sensor 12 is provided in a shift lever or a transmission and detects shift position information (shift information).
- the detected shift position information is output to the controller.
- the information presenting device outputs an alarm or other presentation by sound or image in accordance with a control signal from the controller 100.
- the information presentation apparatus includes, for example, a speaker 10 that provides information to the driver by a buzzer sound or voice, and a display unit that provides information by displaying an image or text.
- the display unit for example, the display monitor of the navigation device 7 may be used.
- the navigation device 7 includes a GPS receiver, a map database, a display monitor, and the like, and is a system that performs route search, route guidance, and the like.
- the navigation device 7 can acquire information such as the type of road on which the host vehicle is traveling and the road width based on the current position of the host vehicle obtained from the GPS receiver and the road information stored in the map database.
- the G sensor 8 detects longitudinal acceleration and lateral acceleration generated in the vehicle. The detected acceleration is output to the controller 100.
- the forward vehicle detection device 9 detects information on other vehicles and other obstacles existing in front of the traveling direction of the vehicle. In this embodiment, the distance to the obstacle is detected.
- the forward vehicle detection device 9 is composed of a laser distance meter, for example.
- the detected distance is output to the controller 100 as information for determining the inter-vehicle distance, inter-vehicle time, relative speed, and the like.
- the controller 100 is an electronic control unit that includes a CPU and CPU peripheral components such as a ROM and a RAM.
- the controller 100 includes a driving support unit 100A that performs driving instability determination processing for providing information to the driver.
- the driving support unit 100A analyzes the driving characteristics of the driver based on signals detected by the accelerator pedal opening sensor 1, the brake pedal operation amount sensor 2, the steering angle sensor 3, and the like. The degree of driving instability such as the messiness of driving operation is determined. Then, a warning or other information is presented to the driver in accordance with the degree of driving instability, and processing for alerting the driver is performed.
- FIG. 2 is a diagram illustrating a system configuration example of the vehicle information providing apparatus including the driving support unit 100A of the present embodiment. That is, the vehicle information providing apparatus of the present embodiment uses information from the steering angle sensor 3 as travel state data as shown in FIG. Moreover, the visual information presentation apparatus and the auditory information presentation apparatus are illustrated as an information presentation apparatus.
- the visual information presentation device is, for example, a display unit of the meter display 6 or the navigation device 7.
- the auditory information presentation device is, for example, a speaker 10.
- the driving support unit 100A includes a traveling state acquisition unit 110, a driving state determination unit 120, a traveling state distribution calculation unit 130, a driving instability determination unit 140, and an information presentation unit 150, as shown in FIG.
- the traveling state acquisition unit 110 acquires traveling state data including at least one of an operation state of a driving operator that can be operated by the driver and a vehicle state.
- steering information which is information on the operating state of a driving operator that can be operated by the driver, is used as the driving state data that is detected in order to determine driving characteristics. That is, the traveling state acquisition unit 110 of the present embodiment calculates traveling state data using the steering angle information as traveling state data.
- examples of information that can be travel state data include steering information, vehicle-to-vehicle information (distance between vehicles and time), and acceleration / deceleration information based on operation of an accelerator pedal and a brake pedal, as will be described later. I can do it. It should be noted that the running state distribution using these running state data and the calculation of the difference between the distributions are publicly known as described in, for example, International Publication No. WO2009 / 013815 (Japanese Patent Application No. 2009-524342). It is sufficient to calculate by this method.
- the driving status determination unit 120 determines the driving status that is currently running. Specifically, the driving situation determination unit 120 is an operator other than the steering angle information serving as the driving condition data, and determines the driving situation from the operation state of the driving operator operable by the driver and the road environment. . The driving situation determination unit 120 determines the road environment from at least one of the vehicle state and navigation device information. The navigation device acquires information around the vehicle. Information around the vehicle may be acquired by a camera.
- the driving state determination unit 120 determines that the determined current driving state is a specific driving state in which the operation state and vehicle state information of the driving operator that becomes the driving state data is estimated to be disturbed, that is, the driving state. It is determined whether or not there is a specific driving situation presumed that the information serving as the state data is disturbed.
- the driving situation determination unit 120 determines whether or not a specific driving situation is estimated that the steering angle information is disturbed.
- the first driving situation and the second driving situation are set as “the specific driving situation in which the steering angle information is estimated to be disturbed”.
- the first driving situation is a driving situation that occurs by traveling in a specific road environment set in advance.
- the second driving situation is a driving situation that occurs by operating a specific driving operator preset by the driver.
- the operation of the specific driving operator that can generate the second driving situation is at least one of lane change operation, acceleration operation, braking operation, shift operation, and navigation device operation.
- the specific road environment that generates the first driving situation is as follows: road surface shape, inside of tunnel, junction of driving road, curve of driving road, vicinity of toll gate, presence of other vehicle interruption to own vehicle destination, highway It is at least one road environment of type and congestion.
- the driving state determination unit 120 of the present embodiment performs lane change operation, accelerator pedal operation, brake pedal operation, turn signal operation, navigation device operation, audio operation, and operation information of a specific driving operator. Get as.
- the driving state determination unit 120 of the present embodiment includes a junction road (junction / junction point) such as a road surface input, a tunnel, a junction (JCT), or the like more than a preset road or other road. (A section taking a predetermined distance before and after), a curved road, a predetermined section including a toll booth, and a slope higher than a predetermined gradient are acquired as information on a specific road environment.
- the steering angle information which is the driving state data
- the steering angle information is disturbed by factors other than the steering angle operation itself based on the operation information of the specific driving operation and the information of the specific road environment. It is determined whether or not the specific driving situation is estimated to be performed. In other words, it is determined whether or not the driving state is an operation that deteriorates the reliability of the steering information as the driving state data, that is, the measurement of the unstable driving state.
- the disturbance of the steering angle information means that the accuracy of the steering angle information (traveling state data) deteriorates due to the disturbance of the steering operation due to other factors different from the instability of driving.
- the lane change operation may detect whether the lane change operation is being performed by detecting the blinker operation, the lane position, the own vehicle position, and the traveling direction of the own vehicle.
- the accelerator pedal operation is determined based on the detection value of the accelerator pedal opening sensor.
- the brake pedal operation is determined based on the detection value of the brake pedal operation amount sensor.
- the winker operation is determined based on the detection by the winker detection sensor 5.
- the operation of the navigation device is determined based on a signal from the navigation device.
- the audio operation is determined based on a signal from the audio device.
- Presence or absence of road surface input exceeding the preset value is determined based on the detection value of the wheel speed sensor. For example, the determination is made based on the degree of disturbance of the detection value from the wheel speed sensor. Specifically, the road surface input is performed by comparing the wheel speed measured at a predetermined time interval (for example, 10 ms) with a current value and a previous value, and when the difference is equal to or greater than a predetermined threshold value, Judge that there is.
- the presence or absence of road surface input exceeding the set value may be determined by a known process other than the detection by the vehicle speed sensor.
- a sensor that detects the behavior of the roof such as an acceleration sensor installed on the vehicle body, a sensor that detects the amount of expansion / contraction of the shock absorber of the suspension, and the road surface
- the input may be detected.
- the curved road is detected from the navigation device or the steering angle. For example, when it is determined that a state of a predetermined steering angle or more has continued for a preset duration, it is determined as a curved road.
- the slope is detected from the road surface gradient detected by the G sensor.
- the first driving situation is a specific driving situation in which disturbance is input to the measurement of the unstable driving state, that is, the driving situation in which the accuracy of the steering angle information is deteriorated.
- the second driving situation are set.
- the first driving situation is a driving situation in which, even if there is a specific driving situation that disturbs the steering angle information, the driving state of the driver before the specific driving situation occurs is assumed after the specific driving situation disappears.
- the second driving situation is a driving situation in which it is assumed that the driving state of the driver changes after the specific driving situation disappears and before the specific driving situation occurs due to the specific driving situation that disturbs the steering angle information.
- the specific driving situation determined based on the road environment system is set as the first driving situation as shown in FIG.
- the specific driving situation determined based on the second driving situation is due to the following reason.
- the driving state of the driver when determining the degree of instability by obtaining the running state distribution based on the steering angle, if the driver actively performs some operation different from the steering angle, then the driving state of the driver will change. Conceivable. For example, considering the case where the lane is changed, there are factors other than the driver's anxiety (stabilization) during the lane change period, as well as the steering operation immediately before this lane change. There is a high possibility that the information value also contains an amount of change due to factors other than the degree of instability to be detected. That is, when changing lanes, the driver performs the act of confirming the rear and sides with the mirror immediately before, or twisting his / her body for visual observation.
- the reliability as the steering operation information is low during the confirmation period before the lane change. For this reason, it is preferable to exclude the steering operation information of the immediately preceding period in addition to the period of the specific driving situation in which the lane change is being performed. However, since it is difficult to accurately determine when it is difficult to detect when to check the lane, etc., it is necessary to obtain in advance the start of the confirmation period that occurs before this lane change. Is difficult. For this reason, when determining the second driving situation based on the steering information, it is highly likely that the steering operation information before determining the second driving situation is also low in reliability.
- the driving state distribution calculation unit 130 calculates a plurality of driving state distributions having different time ranges based on the driving state data acquired by the driving state acquisition unit 110 and the driving state determined by the driving state determination unit 120.
- the traveling state distribution calculation unit 130 has a first traveling state distribution obtained from the steering angle information acquired in a first relatively long time range set in advance, and a temporal relationship that is longer than the first traveling state distribution. A second running state distribution in a second temporal range with a short range is calculated.
- the traveling state distribution calculation unit 130 of the present embodiment excludes the traveling state data during the period in which the driving state is determined as the specific driving state based on the driving state determined by the driving state determination unit 120, and The second running state distribution is calculated.
- the traveling state distribution calculation unit 130 of the present embodiment may be configured to calculate the first traveling state distribution by excluding traveling state data for a period in which it is determined as a specific driving situation. Even when the driving state data during the period when the driving state is determined to be the specific driving state is excluded, the length of the time range for obtaining the second driving state distribution should be the same as the second time range. Is preferred. However, when excluding the driving state data during the period when the driving state is determined as the specific driving state, the length of the time range for obtaining the second driving state distribution is different from the second time range, For example, a time range longer than the second time range may be set.
- the relatively long first time range set in advance is a time range in which normal driving characteristics of the target driver can be acquired, and is set to a value of, for example, 30 minutes or more.
- the second time range of the second running state distribution is a time range in which the current driving characteristics (the latest driving characteristics) can be determined, for example, a time range from about 3 minutes before the current time.
- Each time range described above is an example, and may be set from experiments, theory, and the like based on the acquisition period of the steering information.
- the steering angle is set at every preset sampling interval (100 msec). Get information.
- the travel state distribution calculation unit 130 stores data stored for calculating each travel state distribution (frequency distribution or the like) every time a steering angle as travel state data is acquired for each travel state distribution.
- each running state distribution is updated (calculated).
- at least the second traveling state distribution is calculated from the first and second traveling state distributions by excluding the traveling state data during the period when the driving state is determined as the specific driving state.
- the processing for excluding the driving state data during the period in which the driving situation is determined to be the specific driving situation is the data before the specific driving situation and the data before the determination is determined, as described later. This is realized by overwriting or stopping the update of the data when it is determined as a specific operation state.
- the driving conditions determined by the driving condition determination unit 120 are three types of driving conditions, ie, a first driving condition, a second driving condition, or a normal driving condition that is not the first and second driving conditions.
- the first driving situation and the second driving situation are specific driving situations as described above.
- the travel state distribution calculation unit 130 includes a first travel state distribution calculation unit 130A, a second travel state distribution calculation unit 130B, a distribution storage unit 130C, a distribution selection unit 130D, and a distribution setting. Unit 130E.
- the first traveling state distribution calculation unit 130A calculates the first traveling state distribution in the first time range that is relatively long as described above, based on the data that is sequentially updated as described above.
- the second traveling state distribution calculation unit 130B calculates the second traveling state distribution in the second temporal range that is relatively short as described above based on the data that is sequentially updated as described above.
- the distribution storage unit 130C repeatedly calculates the third traveling state distribution in the time range at a preset third time interval (for example, every 5 seconds), and stores the calculated third traveling state distribution in the storage unit. To do.
- the distribution selection unit 130D determines whether the determined specific driving condition is the first driving condition or the second driving condition. Either the third traveling state distribution stored before the detection of the driving state or the first traveling state distribution is selected.
- the distribution setting unit 130E changes the second traveling state distribution with the third traveling state distribution or the first traveling state distribution that is the traveling state distribution selected by the distribution selecting unit 130D. Specifically, when the determined specific driving situation is the first driving situation, the distribution setting unit 130E overwrites the second running state distribution with the first running state distribution. When the determined specific driving situation is the second driving situation, the second running condition distribution is replaced with the third running condition distribution.
- the traveling state distribution calculation unit 130 obtains traveling state data in a time range of the period determined as the second driving state. Then, it is replaced with the running state data obtained in the latest time range of the same length before the second driving situation is determined.
- the traveling state data instead of performing the replacement of the driving state data, updating of the data stored for calculating the second driving state distribution (frequency distribution or the like) is prohibited while the second driving state is determined. You may make it perform the process to perform.
- the travel state data in the time range before the determination as the second operation state is performed until the determination in the second operation state ends and the time in the second time range elapses.
- the second driving state distribution is calculated from both the driving state data of the time range after being determined as the second driving state, and the time range before the determination as the specific driving state and the specific driving state are determined.
- the time obtained by adding up the subsequent time ranges is set to be equal to the time in the second time range.
- the driving instability determination unit 140 determines the driving instability based on the amount of difference between the first driving state distribution calculated by the driving state distribution calculation unit 130 and the second driving state distribution.
- the information presenting unit 150 performs a process of presenting information to the driver based on the driving instability determined by the driving instability determining unit 140.
- step S1010 the driving support unit 100A acquires the following data as vehicle information data. That is, as described above, information on the steering angle, the accelerator pedal / brake pedal operation, the blinker operation, the shift operation, and the navigation / audio operation is acquired as the operation information of the driver's driving operator. Moreover, the information of a vehicle speed, the front-back G, the side G, and a wheel speed is acquired as information of the vehicle data system which shows a vehicle state.
- step S1020 the driving support unit 100A obtains information on, for example, a toll gate, a tunnel, a junction, a curve, and a road surface inclination from the navigation device as traffic environment information and other road environment information that is information around the vehicle. get. For these pieces of information, map database information of the navigation device may be used.
- step S1030 the driving situation determination unit 120 determines the driving situation.
- this driving situation determination it is determined whether or not there is road input, tunnel, branching / merging, curve, toll gate, road slope (front and rear G), lane change, accelerator / brake pedal operation, turn signal operation, navigation / audio operation. If there is, then the instability calculation method described later is selected. Specifically, based on FIG. 4, it is determined whether the driving situation is one of the first driving situation, the second driving situation, and the normal driving situation. Here, when both the first driving situation and the second driving situation are detected at the same time as the specific driving situation, the second driving situation is prioritized.
- step S1040 the distribution storage unit 130C performs the calculation and storage process of the third running state distribution. That is, the distribution storage unit 130C has a counter, and stores the count value of the counter and traveling state data for creating a traveling information distribution every time the process of step S1040 is executed. When the counter reaches a preset counter value, the third traveling state distribution is created and stored based on the traveling state data stored at the time of the current counter counting, and the counter is cleared.
- step S1030 for each preset third time interval (for example, 5 seconds), the third travel state distribution with the third time interval as a time range is calculated, and the calculated third travel state is calculated. Processing to save the distribution in the storage unit is performed.
- step S1050 the distribution selection unit 130D selects a travel state distribution to be adopted based on the driving situation determined by the driving situation determination unit 120. Specifically, in step S1050, it is determined whether the driving situation corresponds to one of a normal driving situation, a first driving situation, and a second driving situation. And when it determines with it being a normal driving
- step S1060 the first traveling state distribution and the second traveling state distribution calculated by the first traveling state distribution calculating unit 130A and the second traveling state calculating unit 130B are selected as described above. Thereafter, the process proceeds to step S1090.
- Step S1070 the second running state distribution is replaced by overwriting the second running state distribution with the first running state distribution. Thereafter, the process proceeds to step S1090.
- step S1080 the second travel state distribution is replaced with a third travel state distribution in which the second travel state distribution is stored. Thereafter, the process proceeds to step S1090.
- the first traveling state distribution calculation unit 130A and the second traveling state calculation unit 130B acquire the steering angle information that is the traveling state data from the first traveling state distribution and the second traveling state distribution. Update every time.
- step S1090 the amount of difference (relative entropy) between the distributions of the first traveling state distribution and the second traveling state distribution (or the second traveling state distribution after replacement if replaced) is calculated by the steering entropy method. . Thereafter, the process proceeds to step S1100.
- step S1090 based on the steering angle signal when the driver performs the steering operation, how the driver's current driving operation is different from the normal driving operation, that is, the normal driving operation and A difference amount for determining whether or not the state is unstable is calculated. That is, in step S1090, relative entropy (feature amount, instability) is calculated as a value representing the unsmoothness of the driving operation.
- relative entropy feature amount, instability
- the relative entropy RHp is calculated using this characteristic.
- the steering error distribution (running state distribution) accumulated for a long time before the past or the present, and the current driver's steering error distribution (running state distribution) acquired in a short time, that is, a temporal range.
- a plurality of running state distributions having different values are calculated.
- the relative entropy RHp is calculated from the long-time steering error distribution that is regarded as a normal driving characteristic as a comparison reference and the long-time steering error distribution and the current short-time operation error distribution.
- the relative entropy RHp is a physical quantity representing a difference amount (distance) between two steering error distributions (traveling state distributions), and the degree of difference between the two steering error distributions, that is, how far the two steering error distributions are separated. Indicates whether or not Based on the calculated relative entropy value, it is possible to evaluate the stability of the current latest driving state with respect to the past long-time driving state (normal driving characteristics).
- step S1100 the unstable operation state is determined based on the difference amount.
- the difference amount calculated in step S1090 is compared with a preset determination threshold value. And when a difference amount is larger than a determination threshold value, it determines with an unstable driving
- step S1110 when the state determined to be the unstable operation state in step S1100 continues for a time equal to or longer than a preset unstable determination threshold value (for example, 5 seconds), information presentation processing is performed. In addition, you may interrupt information presentation during the period determined to be a specific driving
- a preset unstable determination threshold value for example, 5 seconds
- information presentation processing is performed. In addition, you may interrupt information presentation during the period determined to be a specific driving
- An example of information presentation is shown in FIG. In this example, a warning is displayed and a warning is displayed with a voice such as “Driving is disturbed.
- step S10 in order to determine whether or not it is a travel scene in which relative entropy RHp can be calculated, a travel scene in which the host vehicle is traveling is estimated (detected).
- a preset vehicle speed range for example, 40 to 120 km / h.
- step S20 it is determined whether or not the current host vehicle speed V detected by the wheel speed sensor 4 is within a preset vehicle speed range. If it is determined that the host vehicle speed V is within the preset vehicle speed range and the driving scene is capable of calculating the relative entropy RHp, the process proceeds to step S30 to calculate the relative entropy RHp. On the other hand, if the vehicle speed V is not within the predetermined range, this process is terminated.
- step S30 the current steering angle signal ⁇ detected by the steering angle sensor is read as the driving operation amount of the driver to be detected for detecting an unstable state of the driving operation of the driver.
- step S31 a steering angle prediction error ⁇ e is calculated from the read value of the steering angle ⁇ .
- FIG. 9 shows special symbols used for calculating the relative entropy RHp and their names.
- the steering angle smooth value ⁇ n-tilde is a steering angle in which the influence of quantization noise is reduced.
- the estimated value ⁇ n-hat of the steering angle is a value obtained by estimating the steering angle at the time of sampling on the assumption that the steering is operated smoothly.
- the estimated steering angle ⁇ n-hat is obtained by performing a second-order Taylor expansion on the steering angle smooth value ⁇ n-tilde as shown in the following (Equation 1).
- tn is a sampling time of the steering angle ⁇ n.
- the steering angle smooth value ⁇ n-tilde is calculated from the following (Equation 2) as an average value of three adjacent steering angles ⁇ n in order to reduce the influence of quantization noise.
- l is the steering angle included in 150 msec when the calculation time interval of the steering angle smooth value ⁇ n-tilde is 150 msec, that is, the minimum time interval that can be intermittently operated by humans in manual operation. This represents the number of samples of ⁇ n.
- the sampling interval of the steering angle ⁇ n Ts
- the steering angle prediction error ⁇ e at the sampling time can be calculated from the following (Equation 4) as the difference between the estimated steering angle ⁇ n ⁇ hat and the actual steering angle ⁇ n when it is assumed that the steering operation is performed smoothly.
- the steering angle prediction error ⁇ e is calculated only with respect to the steering angle ⁇ n every 150 msec, which is the minimum time interval at which a human can intermittently operate.
- a specific method for calculating the steering angle prediction error ⁇ e will be described below.
- the sampling interval Ts of the steering angle signal ⁇ is, for example, 50 msec.
- three steering angle smooth values ⁇ n-tilde are calculated from the above (Equation 2) using three adjacent steering angles ⁇ n at intervals of 150 msec.
- the three steering angle smooth values ⁇ n-tilde are expressed by the following (formula 5).
- an estimated value ⁇ n-hat of the steering angle is calculated from the above (Equation 1).
- the estimated value ⁇ n-hat is expressed by the following (formula 6).
- the steering error ⁇ e is calculated from the above (Equation 4).
- the current value of the steering angle prediction error ⁇ e calculated in step S31 is added to the data of the steering angle prediction error ⁇ e for a predetermined time T seconds that has been calculated and accumulated in the memory of the controller 100. Update. That is, the oldest data T seconds before of the accumulated steering angle prediction error ⁇ e is discarded, and the current value calculated in step S31 is input as the latest steering angle prediction error ⁇ e data instead. As a result, data of the steering angle prediction error ⁇ e from the current value to T seconds before is accumulated.
- a steering angle prediction error distribution 1 for the past or a long time which is a reference for comparing the steering prediction error distribution.
- the past steering angle prediction error distribution is calculated using data for 180 seconds from data T seconds before.
- the calculated past distribution is used as a comparison reference for the steering prediction error distribution.
- the range of the prediction error category bi is set in advance so as to be constant for all the categories b1 to b9.
- the calculated past distribution (or long-time distribution) is set as a past (or long-time) steering angle prediction error distribution 1 as a comparison reference.
- step S51 the current steering angle prediction error distribution 2 is calculated.
- the relative entropy RHp is obtained using the past (or long-time) steering angle prediction error distribution 1 and the current steering angle prediction error distribution 2.
- the relative entropy RHp is a difference amount (distance) of the current steering angle prediction error distribution 2 with respect to the past (or long-time) steering angle prediction error distribution 1 that is a comparison reference.
- the relative entropy RHp can be calculated from the following calculation formula (Formula 7).
- the value of RHp increases as qi deviates.
- the range of the prediction error classification bi for calculating the past (or long-time) steering angle prediction error distribution 1 and the current steering angle prediction error distribution 2 represents the ambiguity (uncertainty) of the steering error distribution. It can also be set based on the ⁇ value used when calculating the steering entropy value Hp.
- the ⁇ value is obtained based on the time series data of the steering angle, and the difference between the steering error within a fixed time, that is, the estimated steering angle when the steering is operated smoothly and the actual steering angle is obtained.
- the steering error distribution (variation) is measured to calculate a 90 percent tile value (a distribution range including 90% of the steering error).
- the ⁇ value is calculated based on the past or long-time steering angle error distribution, and the past (or long-time) steering angle prediction error distribution 1 and the current steering angle prediction error distribution 2 are the same from the calculated ⁇ value.
- the range of the prediction error classification bi is set.
- FIG. 9 shows the range of the steering angle prediction error ⁇ e of each section bi set using the ⁇ value.
- the degree of instability is calculated using the steering entropy method.
- the amount of difference between the first traveling state distribution representing the driving characteristics of the driver at the normal time and the second traveling state distribution representing the latest driving characteristics is calculated, and the unstable driving state is calculated from the magnitude of the difference amount. Determine.
- the steering angle information (running state data) for evaluating the driver's instability due to the driver's operation, but the driver's intentional steering or steering change caused by the road environment, etc.
- the steering operation may be disturbed in the driving situation. If the running state distribution using the steering angle information including this disturbance is used, the detection accuracy of driving instability may be deteriorated. In particular, since the second running state distribution has a short time range, it is easily affected by the driving situation.
- the driving state distribution calculation unit 130 of the present embodiment does not use the driving state data when the driving state determination unit 120 determines that the specific driving state is used.
- the running state distribution is calculated. Specifically, when it is determined as the specific driving situation, the first driving state distribution according to the driving situation, or the third driving state distribution not including the driving state data when the specific driving situation is determined. Then, the second running state distribution is overwritten, that is, replaced to determine driving instability. This can prevent erroneous detection of an unstable driving state due to the influence of a specific driving situation.
- the first driving state is adopted in the second driving situation
- the third running state distribution is adopted in the first driving situation to replace the second running state distribution.
- the travel state distribution to be replaced is changed depending on the driving situation. That is, when the detected driving situation is the first driving situation, that is, when it is assumed that the driving state of the driver continues before and after the period determined as the specific driving situation, before the first driving situation occurs.
- the third running state distribution obtained in the latest third time range is replaced with the second running state distribution.
- the unstable state can be determined in the state before the first driving situation occurs.
- the driving state data causing the false detection is removed by replacing the driving state data when the first driving situation occurs with the previous driving state data. Specifically, data replacement is performed in units of the third time range.
- the second driving situation occurs. Since the previously acquired second traveling state distribution cannot be used, the second traveling state distribution is reset by replacing the second traveling state distribution with the first traveling state distribution having a relatively long time range. In this case, since the first traveling state distribution and the second traveling state distribution coincide with each other, the relative entropy is “0”. In this case, it may be set so that data collection for the second running state distribution is newly started from the start of the next third time range after the occurrence of the second driving situation is finished. .
- the driving state data of the time range before the determination of the first driving state is performed.
- the second traveling state distribution are calculated from both the traveling state data in the temporal range after the determination of the first driving state is completed.
- the time obtained by adding the time range before the determination as the specific operation situation and the time range after the determination as the specific operation situation is a value equal to the time in the second time range.
- the specific driving situation (first driving situation) that occurs due to traveling in a specific road environment is the specific driving situation that disturbs the steering angle information. It is assumed that the driver's driving state continues. For this reason, immediately after the determination of the first driving situation, the second traveling state can be accurately obtained from the data before and after the occurrence of the first driving situation.
- the steering operation information before the second driving situation is likely to be low in reliability. Without using this information, the information is reset once, the timer is counted after the end of the second driving situation, and when the time of the second time range has elapsed, the second running state distribution is not It becomes possible to calculate with high accuracy.
- the steering angle information is used as the traveling state data
- the steering angle prediction error distribution is used as the traveling state distribution.
- the running state data and the running state distribution are not limited to this. Traveling state data and traveling state data as described in Japanese Patent Application No. 2009-524342 may be used.
- the driving state data is an index representing driving characteristics.
- the driving support unit 100A detects the accelerator pedal operation amount as the running state data, and uses the detected accelerator pedal operation amount, the accelerator pedal opening entropy representing the degree of instability of the accelerator pedal operation by the driver. May be calculated.
- the driving support unit 100A may adopt a margin time between the host vehicle and the preceding vehicle when the accelerator pedal is released as the traveling state data.
- the driving support unit 100A may adopt the lane departure time until the host vehicle deviates from the traveling lane when the correction steering is performed as the traveling state data.
- the driving support unit 100A may adopt the host vehicle speed when traveling alone as the traveling state data.
- the driving support unit 100A may adopt the maximum acceleration when the host vehicle starts as the running state data.
- the driving support unit 100A may adopt the minimum margin time between the host vehicle and the preceding vehicle at the time of the brake operation as the driving state data.
- the driving support unit 100A may adopt the minimum inter-vehicle distance between the vehicle being overtaken and the preceding vehicle as the traveling state data.
- the driving support unit 100A employs inter-vehicle information (inter-vehicle time and inter-vehicle distance) between the host vehicle and the preceding vehicle when the host vehicle travels following the preceding vehicle as traveling state data.
- the driving instability is calculated by calculating the running state distribution from the inter-vehicle distance distribution.
- the calculation method in this case is to create a distribution of the inter-vehicle distance assuming a normal distribution from the average value and the standard deviation of the two inter-vehicle distances having different time ranges, and to set a ratio of the inter-vehicle distance set in advance (for example, left of 1 ⁇ ) The ratio of the outer side is calculated as the difference amount.
- a known calculation method as described in Japanese Patent Application No. 2009-524342 may be adopted. Then, when the state where the difference amount exceeds the preset threshold value continues for a preset time or longer, an alarm or other information presentation may be performed.
- the driving state determination unit 120 of the second modification acquires, as operation information, an accelerator pedal operation at a speed higher than a preset speed, a brake pedal operation at a speed higher than a preset speed, and a winker operation.
- the driving state determination unit 120 acquires, as road environment information, an interruption ahead of the host vehicle by another vehicle, a change of the expressway type, a preset section including a toll booth, and traffic jam information.
- the driving situation determination unit 120 of the second modified example includes an accelerator pedal operation at a speed higher than a preset speed, a brake pedal operation at a speed higher than a preset speed, a winker operation, an interruption ahead of the host vehicle by another vehicle, a high speed
- a specific driving situation is determined.
- the driving state determination unit 120 sets the first driving state and the second driving state as shown in FIG.
- an accelerator pedal operation or a brake pedal operation at a speed higher than a preset speed is determined by a differential value of a detection value of the accelerator pedal opening sensor 1 or the brake pedal operation amount sensor 2.
- the interruption to the front of the host vehicle by another vehicle is determined by the forward detection by the forward vehicle detection device 9.
- the switching of the expressway type is determined, for example, based on “own vehicle position information and road information from the navigation device. Further, a lane change may be detected based on a steering angle or the like.
- the traffic jam information is determined by, for example, road-to-vehicle communication.
- the operation information which is the accelerator pedal operation more than the preset speed, the brake pedal operation more than the preset speed, and the blinker operation is set as the second driving situation.
- the first driving situation is defined as an interruption ahead of the host vehicle by another vehicle, a change in the type of highway, a preset section including a toll booth, and road environment information that is traffic jam information.
- FIG. 14 shows processing of the driving support unit 100A in the third modification.
- the processing of the driving support unit 100A of the third modification shown in FIG. 14 is the same as the processing of the driving support unit 100A in the first embodiment shown in FIG. That is, the processes in steps S3010 to S3030 are the same as the processes in steps S1010 to S1030. Further, the processing in steps S3040 to S3110 is basically the same as the processing in steps S1040 to S1110. However, in this modification, the process of step S3035 is added.
- step S3035 when it is determined in step S303030 that the driving state has detected the first driving state or the second driving state, the time counter starts measuring time. On the other hand, when the driving state does not detect the first driving state and the second driving state in step S3030, the time counter is returned to zero. Then, when the time counter is larger than the preset time and the ongoing driving situation is the first driving situation, the first driving situation is regarded as the second driving situation as shown in the change column of FIG. This determination may be performed in step S3050 or the like.
- the second driving situation may be regarded as the first driving situation. In the case of a short-time operation, the driver may have operated by mistake, and in this case, it is assumed that the driving characteristics of the driver before and after the second driving situation can be considered to continue.
- the traveling state acquisition unit 110 acquires traveling state data including at least one of an operation state of a driving operator that can be operated by the driver and a vehicle state.
- the traveling state distribution calculating unit 130 is based on the traveling state data acquired by the traveling state acquiring unit 110, and the second traveling state distribution in the second time range set in advance and the time period longer than the second temporal range.
- a first traveling state distribution in a first temporal range having a long range is calculated.
- the driving instability determination unit 140 determines the driving instability by comparing the first driving state distribution and the second driving state distribution calculated by the driving state distribution calculation unit.
- the driving situation determination unit 120 determines whether a current driving situation is a specific driving operator set in advance based on at least one of an operation state of the driving operator that can be operated by the driver, a vehicle state, and information around the vehicle. It is determined whether or not it is a specific driving situation that is at least one of a driving situation that is generated by operating and a driving situation that is generated by traveling in a specific road environment set in advance. And if the said driving
- the time range before the determination as the specific driving state is performed until the traveling state distribution calculation unit 130 ends the determination with the second driving state and the time of the second time range elapses.
- the second running state distribution is calculated from both the running state data and the running state data in the temporal range after the end of the determination of the specific driving situation.
- the sum of the time range before the determination as the specific driving situation and the time range after the determination as the specific driving situation is equal to the time in the second time range. According to this configuration, the second running state distribution can be obtained with high accuracy after the specific driving situation is completed.
- the driving state distribution calculating unit 130 determines the specific driving state.
- the second traveling state distribution is calculated by excluding the traveling state data for the period. According to this configuration, the second traveling state distribution with a short time range is easily affected by the driving situation. Thus, the accuracy of the second traveling state distribution is improved by taking the driving situation into consideration.
- the traveling state distribution calculating unit 130 calculates the second traveling state distribution from the traveling state data of the temporal range after determining the specific driving state, and the temporal range after determining the specific driving state is It is equal to the time of the second time range. According to this configuration, it is possible to calculate the second traveling state distribution without using data in a specific driving situation.
- the driving state distribution calculation unit 130 determines that the driving state determination unit is a driving state generated by operating a specific driving operator, the period during which the driving state distribution determination unit 130 determines the specific driving state
- the second travel state distribution is calculated except for the travel state data. According to this configuration, the second running state distribution with a short time range is easily affected by the driving situation, but the data of the specific driving situation is not reliably used, and the accuracy of the second running state distribution is improved. .
- the driving state distribution calculation unit 130 determines that the driving state determination unit 120 is a specific driving state generated by driving in a specific road environment. Until the time of the second time range elapses, the driving state data in the time range before the determination as the specific driving situation and the driving state data in the time range after the determination as the specific driving situation are made.
- the second running state distribution is calculated from both, and the sum of the time range before the determination as the specific driving situation and the time range after the determination as the specific driving condition is the second time range.
- the driving situation determination unit 120 determines that the driving situation determination unit is a specific driving situation generated by operating a specific driving operator, it is determined as a specific driving situation.
- Later time range run Calculates a second running state distribution from the state data, it sets the time range after determining that the particular driving situation to be equal to the time of the second time range. According to this configuration, the second traveling state can be appropriately calculated according to the specific driving situation.
- the operation of the specific driving operator is at least one of lane change operation, acceleration operation, braking operation, shift operation, and navigation device operation. This makes it possible to determine a specific driving situation based on the driving operation.
- the specific road environment includes road surface shapes, tunnels, road junctions, road curves, nearby toll gates, other vehicle interruptions to the destination, expressway types, and traffic congestion At least one road environment. This makes it possible to determine the specific driving situation based on the road environment.
- the operation amount of the steering operation is calculated as travel state data. By detecting from a steering operation that requires continuous operation, the driver's state can be detected with high accuracy. (10) The calculation of the difference amount from the operation amount of the steering operation uses a steering entropy method. By using the steering entropy method, improvement in detection performance can be expected.
- the travel state distribution is calculated as travel state data with respect to the preceding vehicle. By detecting from changes in the vehicle inspection time during which continuous information can be acquired, the driver state can be detected with high accuracy. (12)
- the difference amount from the inter-vehicle information is calculated from the preset ratio of the inter-vehicle time. The detection performance can be improved by using the ratio of the inter-vehicle time.
- driving support unit 110 driving state acquisition unit 120 driving state determination unit 130 driving state distribution calculation unit 130A first driving state distribution calculation unit 130B second driving state distribution calculation unit 130C distribution storage unit 130D distribution selection unit 130E distribution setting unit 140 Driving instability determination unit 150 Information presentation unit
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Abstract
Description
本発明は、上記のような点に着目したもので、運転不安定度の検出精度を向上することを目的とする。
まず、本発明に係る第1実施形態について図面を参照しつつ説明する。
(構成)
図1は、本実施形態に係る車両用情報提供装置を搭載した車両の構成を示す図である。
本実施形態の車両は、図1に示すように、アクセルペダル開度センサ1、ブレーキペダル操作量センサ2、操舵角センサ3、車輪速センサ4、ウインカ検出センサ5、メータディスプレイ6、ナビゲーション装置7、Gセンサ8、シフトセンサ12、前方車両検出装置9、コントローラ100を備える。なお、本発明を適用する車両は、以上のセンサ類その他を全て装備している必要はない。他の実施形態で使用するセンサ類についても併せて説明したものである。
ブレーキペダル操作量センサ2は、制動指示量としてブレーキペダルの操作量(制動指示量)を検出する。検出した操作量は、コントローラ100に出力される。
操舵角センサ3は、例えばステアリングコラムもしくはステアリングホイール(不図示)付近に取り付けられた角度センサであり、ステアリングシャフトの回転から運転者の操舵による操舵角を検出する。検出した操舵角は、コントローラ100に出力される。
ウインカ検出センサ5は、ウインカレバーのウインカ状態を検出する。検出したウインカ状態は、コントローラ100に出力される。
情報呈示装置は、コントローラ100からの制御信号に応じて警報その他の呈示を音声や画像によって出力する。情報呈示装置は、例えば、ブザー音や音声により運転者への情報提供を行うスピーカ10と、画像やテキストの表示により情報提供を行う表示ユニットとを備える。表示ユニットは、例えばナビゲーション装置7の表示モニタを流用しても良い。
Gセンサ8は、車両に発生する前後加速度や横加速度を検出する。検出された加速度は、コントローラ100に出力される。
コントローラ100は、CPUと、ROMおよびRAM等のCPU周辺部品とから構成される電子制御ユニットである。そのコントローラ100は、運転者に情報提供のために運転不安定度判定処理を行う運転支援部100Aを備える。コントローラ100の処理のうち運転支援部100Aは、アクセルペダル開度センサ1、ブレーキペダル操作量センサ2、操舵角センサ3等で検出される信号に基づいて運転者の運転特性を分析し、運転者の運転操作の乱雑さなどの運転不安定の度合を判定する。そして、運転の不安定の度合に応じて警報その他の情報を運転者に呈示して、運転者の注意を喚起する処理を行う。
走行状態取得部110は、運転者が操作可能な運転操作子の操作状態及び車両状態の少なくとも一方からなる走行状態データを取得する。本実施形態では、運転特性を判定するために検出する走行状態データとして、運転者が操作可能な運転操作子の操作状態の情報である操舵情報を使用する場合を例にして説明する。すなわち、本実施形態の走行状態取得部110は、操舵角情報を走行状態データとして走行状態データを算出する。
上記第2運転状況を発生しうる特定の運転操作子の操作は、車線変更操作、加速操作、制動操作、シフト操作、ナビゲーション装置の操作の少なくとも一つの操作である。上記第1運転状況を発生する特定の道路環境は、路面形状、トンネル内、走行路の合分岐部、走行路のカーブ、料金所近傍、自車先方への他車両の割り込み有無、高速道路の種別、渋滞状態の少なくとも一つの道路環境である。
アクセルペダル操作は、アクセルペダル開度センサの検出値に基づき判定する。
ブレーキペダル操作は、ブレーキペダル操作量センサの検出値に基づき判定する。
ウインカ操作は、ウインカ検出センサ5の検出に基づき判定する。
ナビゲーション装置の操作は、ナビゲーション装置からの信号に基づき判定する。
オーディオ操作は、オーディオ装置からの信号に基づき判定する。
カーブ路は、ナビゲーション装置若しくは操舵角から検出する。例えば、予め設定した一定の操舵角以上の状態が予め設定した継続時間以上継続したと判定するとカーブ路と判定する。
坂道は、Gセンサが検出する路面勾配から検出する。
走行状態分布算出部130は、走行状態取得部110が取得した走行状態データと運転状況判定部120が判定する運転状況に基づき、時間的範囲の異なる複数の走行状態分布を算出する。本実施形態の走行状態分布算出部130は、予め設定した相対的に長い第1の時間的範囲で取得した操舵角情報によって求めた第1走行状態分布と、第1走行状態分布よりも時間的範囲が短い第2の時間的範囲の第2走行状態分布とを算出する。
上記走行状態分布算出部130は、図5に示すように、第1走行状態分布算出部130Aと、第2走行状態分布算出部130Bと、分布記憶部130Cと、分布選択部130Dと、分布設定部130Eと、を備える。
第2走行状態分布算出部130Bは、上記のように逐次更新しているデータに基づき、上述のように比較的短い第2の時間的範囲の第2走行状態分布を算出する。
分布記憶部130Cは、予め設定した第3の時間間隔(例えば5秒間隔)毎にその時間的範囲の第3走行状態分布を繰り返し算出し、算出した第3走行状態分布を、記憶部に記憶する。
分布設定部130Eは、上記分布選択部130Dが選択した走行状態分布である第3走行状態分布若しくは第1走行状態分布で、上記第2走行状態分布を変更する。具体的には、分布設定部130Eは、判定した特定運転状況が第1運転状況の場合には、第1走行状態分布で上記第2走行状態分布を上書きする。判定した特定運転状況が第2運転状況の場合には、上記第3走行状態分布で上記第2走行状態分布を置き換える。
情報呈示部150は、運転不安定度判定部140が判定する運転の不安定度に基づき、運転者に情報呈示する処理を行う。
ステップS1010では、運転支援部100Aが、車両情報データとして以下のデータを取得する。
すなわち、運転者の運転操作子の操作情報として、上述のように、操舵角、アクセルペダル・ブレーキペダルの操作、ウインカ操作、シフト操作、ナビ・オーディオ操作の情報を取得する。また、車両状態を示す車両データ系の情報として、車速、前後G、横G、車輪速の情報を取得する。
次に、ステップS1030では、運転状況判定部120は、運転状況の判定を行う。
次に、ステップS1050では、分布選択部130Dが、運転状況判定部120が判定した運転状況に基づき、採用する走行状態分布を選択する。具体的には、ステップS1050では、運転状況が、通常運転状況、第1運転状況、及び第2運転状況のいずれかに該当するか判定する。そして、通常運転状況と判定した場合には、ステップS1060に移行する。第1運転状況と判定した場合にはステップS1080に移行する。第2運転状況と判定した場合にはステップS1070に移行する。
次にステップS1060では、上述のように第1走行状態分布算出部130A及び第2走行状態算出部130Bが算出した第1走行状態分布及び第2走行状態分布を選択する。その後ステップS1090に移行する。
またステップS1070では、第2走行状態分布を第1走行状態分布で上書きすることで、第2走行状態分布を置き換える。その後、ステップS1090に移行する。
またステップS1080では、第2走行状態分布を、第2走行状態分布を保存してある第3走行状態分布と置き換える。その後ステップS1090に移行する。
ステップS1090では、ステアリングエントロピー法によって、第1走行状態分布及び第2走行状態分布(置き換えられた場合には、置き換え後の第2走行状態分布)の分布間の相違量(相対エントロピー)を算出する。その後ステップS1100に移行する。
次に、ステップS1100では、相違量に基づき不安定運転状態の判定を行う。本実施形態のステップS1100では、ステップS1090で算出された相違量と予め設定した判定閾値と比較する。そして、相違量が判定閾値よりも大きい場合に、不安定運転状態と判定する。その後ステップS1110に移行する。
情報呈示の例を図7に示す。この例では、警告表示を行うと共に「運転が乱れています。注意して運転しましょう」などと音声で警告の呈示を行う。
本処理内容は、一定間隔、例えば50msec毎に連続的に行われる。
ステップS10では、相対エントロピーRHpを算出可能な走行場面であるか否かを判断するために、自車両が走行している走行場面の推定(検出)を行う。ここでは、自車速Vが予め設定した車速範囲(例えば40~120km/h)内にある場合に、相対エントロピーRHpを算出可能な走行場面とする。すなわち、操舵角信号を用いた効果的な相対エントロピーRHpの算出を行うために、車速が極端に遅い場合および極端に速い場合を算出可能な走行場面から除外する。
ここで、図9に、相対エントロピーRHpを算出するために用いる特殊記号とその名称を示す。操舵角円滑値θn-tildeは、量子化ノイズの影響を低減した操舵角である。操舵角の推定値θn-hatは、ステアリングが滑らかに操作されたと仮定してサンプリング時点における操舵角を推定した値である。操舵角推定値θn-hatは、以下の(式1)に示すように、操舵角円滑値θn-tildeに対して2次のテイラー展開を施して得られる。
操舵角円滑値θn-tildeは、量子化ノイズの影響を低減するために、3個の隣接操舵角θnの平均値として以下の(式2)から算出される。
操舵角θnのサンプリング間隔をTsとすると、サンプル数lは、以下の(式3)で表される。
l=round(0.15/Ts) ・・・(式3)
サンプリング時点における操舵角予測誤差θeは、ステアリング操作が滑らかに行われたと仮定した場合の操舵角推定値θn-hatと実際の操舵角θnとの差として、以下の(式4)から算出できる。
以下に、操舵角予測誤差θeの具体的な算出方法を説明する。なお、操舵角信号θのサンプリング間隔Tsは、例えば50msecとする。まず、150msec間隔の隣接する3個の操舵角θnを用いて、上記(式2)から3個の操舵角円滑値θn-tildeを算出する。3個の操舵角円滑値θn-tildeは、以下の(式5)で表される。
続くステップS40では、現時点までに算出され、コントローラ100のメモリ内に蓄積されていた所定時間T秒間の操舵角予測誤差θeのデータを、ステップS31で算出した操舵角予測誤差θeの現在値を加えて更新する。すなわち、蓄積されている操舵角予測誤差θeのデータのうち最も古いT秒前のデータを捨てて、代わりに最新の操舵角予測誤差θeのデータとして、ステップS31で算出した現在値を入力する。これにより、現在値からT秒前までの操舵角予測誤差θeのデータが蓄積されることになる。なお、所定時間Tは、現在の運転操作の不安定な状態を判定するための比較基準となる長時間の誤差分布を算出するために十分な長期間のデータを蓄えられるように、例えばT=3600秒(=1時間)程度に設定する。
以上が走行状態分布としての操舵角予測誤差分布の算出方法である。
また、分布間の相違量は次のようにして算出する。
すなわち、過去(または長時間)の操舵角予測誤差分布1および現在の操舵角予測誤差分布2を用いて、相対エントロピーRHpを求める。図11に示すように相対エントロピーRHpは、比較基準である過去(または長時間)の操舵角予測誤差分布1に対する現在の操舵角予測誤差分布2の相違量(距離)である。相対エントロピーRHpは、以下の算出式(式7)から算出することができる。
データ収集を始めてからの走行時間に基づき運転者の普段の運転特性が取得できたと見なせる場合には、ステアリングエントロピー法を用いた不安定度の算出が実施される。
このとき、通常時の運転者の運転特性を表す第1走行状態分布と、直近の運転特性を表す第2走行状態分布の間の相違量を算出し、相違量の大きさから不安定運転状態を判定する。これにより、交通環境の違いによらず不安定な走行状態を精度よく検出することが可能となる。すなわち、交通環境の違いによらず、個人の普段の特性に適応して、不安定な状態を精度よく検出することができる。
すなわち、検出した運転状況が第1運転状況の場合、つまり特定運転状況と判定した期間の前後で運転者の運転状態が継続すると想定される場合には、当該第1運転状況が発生する前であって直近の第3時間的範囲で求めた第3走行状態分布を第2走行状態分布に置き換える。これによって、第1運転状況が発生する前の状態で不安定状態を判定可能となる。なお、この場合には、当該第1運転状況が発生したときの走行状態データを、その前の走行状態データで置き換える事で、誤検知の原因となる走行状態データが除去される。具体的には、第3時間的範囲単位でデータの入れ替えを実施する。
(第1変形例)
次に、第1変形例について説明する。
上記第1実施形態の説明では、走行状態データとして操舵角情報を使用し、走行状態分布として操舵角予測誤差分布を使用した場合を例示している。但し、走行状態データ及び走行状態分布はこれに限定されない。特願2009-524342号公報などに記載されているような、走行状態データ及び走行状態分を使用しても良い。なお、運転状態データは、運転特性を表す指標となる。
また、運転支援部100Aは、走行状態データとしてアクセルペダルが解放されたときの自車両と先行車との余裕時間を採用しても良い。
また、運転支援部100Aは、走行状態データとして、単独走行時の自車速を採用しても良い。
また、運転支援部100Aは、走行状態データとして、自車両発進時の最大加速度を採用しても良い。
また、運転支援部100Aは、走行状態データとして、ブレーキ操作時の自車両と先行車との最低余裕時間を採用しても良い。
また、運転支援部100Aは、走行状態データとして、追越し中の自車両と先行車との最低車間距離を採用しても良い。
次に、第2変形例について説明する。
本第2変形例の基本構成は、上記第1実施形態と同様である。
ただし、運転支援部100Aは、走行状態データとして自車両が先行車に追従して走行する場合の前記自車両と前記先行車との車間情報(車間時間や車間距離)を採用する。
この場合には、走行状態分布を車間距離の分布から算出することで、運転不安定度を算出する。
そして、相違量が予め設定した閾値を越えている状態が、予め設定した時間以上継続して場合に、警報その他の情報呈示を実施すればよい。
走行状態データとして車間時間を採用する場合には、運転状況判定部120は、図13に示すように、第1運転状況及び第2運転状況を設定する。
他車両による自車前方への割り込みは、前方車両検出装置9による前方の検出によって判定する。この場合には、前方車両検出装置9として前方を撮像するカメラを備えると良い。
渋滞情報は、例えば路車間通信をすることによって判定する。
そして、図13に示すように、予め設定した速度以上でのアクセルペダル操作、予め設定した速度以上でのブレーキペダル操作、ウインカ操作である操作情報を、第2運転状況とする。また、他車両による自車前方への割り込み、高速道路種別の切り替わり、料金所を含む予め設定した区間、渋滞情報である道路環境情報を、第1運転状況とする。
次に、第3変形例について説明する。
本第3変形例の基本構成は、上記第1実施形態と同様である。
図14に、第3変形例における運転支援部100Aの処理を示す。この図14に示す第3変形例の運転支援部100Aの処理は、図3に示す第1実施形態における運転支援部100Aの処理と同じである。
すなわち、ステップS3010~S3030の処理は、ステップS1010~S1030の処理と同じである。また、ステップS3040~S3110の処理は、ステップS1040~S1110の処理と基本的に同様な処理を行う。
但し、本変形例では、ステップS3035の処理が追加されている。
そして、タイムカウンタが予め設定した時間より大きく、且つ継続中の運転状況が第1運転状況の場合には、図15の変更欄のように、当該第1運転状況を第2運転状況とみなす。なお、この判定をステップS3050などで実施しても良い。
ここで、第2運転状況が予め設定した時間未満だけ継続する場合には、第2運転状況を第1運転状況とみなすようにしても良い。短時間の操作の場合、誤って運転者が操作したなどの場合があり、この場合には、第2運転状況の前後の運転者の運転特性が継続するとみなせると想定される。
以上の実施形態及び変形例によって次の効果を奏する。
(1)走行状態取得部110は、運転者が操作可能な運転操作子の操作状態及び車両状態の少なくとも一方からなる走行状態データを取得する。走行状態分布算出部130は、上記走行状態取得部110が取得した走行状態データに基づき、予め設定した第2の時間的範囲の第2走行状態分布と、第2の時間的範囲よりも時間的範囲が長い第1の時間的範囲の第1走行状態分布とを算出する。運転不安定度判定部140は、上記走行状態分布算出部が算出する第1走行状態分布と第2走行状態分布とを比較することで、運転の不安定度を判定する。運転状況判定部120は、運転者が操作可能な運転操作子の操作状態、車両状態、及び車両周囲の情報の少なくとも一つに基づき、現在の運転状況が、予め設定した特定の運転操作子を操作することで発生している運転状況及び予め設定した特定の道路環境を走行することで発生している運転状況の少なくとも一方の運転状況である特定運転状況であるか否かを判定する。そして、上記走行状態分布算出部130は、上記運転状況判定部120が特定運転状況であると判定すると、当該特定運転状況と判定している期間の上記走行状態データを除いて、上記第1走行状態分布及び第2走行状態分布のうち少なくとも第2走行状態分布を算出する。
このような構成によれば、精度の低い走行状態データを使用する事がないので、運転不不安定度の検出精度を向上することが可能となる。
この構成によれば、特定運転状況終了後から精度良く第2走行状態分布を求めることが出来る。
この構成によれば、時間的範囲の短い第2走行状態分布は、運転状況の影響を受けやすいが、このように、運転状況を考慮することで、第2走行状態分布の精度が向上する。
この構成によれば、特定運転状況時のデータを使用することなく、第2走行状態分布を算出することが可能となる。
この構成によれば、時間的範囲の短い第2走行状態分布は、運転状況の影響を受けやすいが、確実に特定運転状況のデータを使用することなくなり、第2走行状態分布の精度が向上する。
この構成によれば、特定運転状況に応じて適切に第2走行状態を算出することが可能となる。
これによって、運転操作に基づく特定運転状況を判定可能となる。
(8)上記特定の道路環境は、路面形状、トンネル内、走行路の合分岐部、走行路のカーブ、料金所近傍、自車先方への他車両の割り込み、高速道路の種別、渋滞状態の少なくとも一つの道路環境である。
これによって、道路環境に基づく特定運転状況を判定可能となる。
連続操作が要求されるステアリング操作から検出することで、運転者状態を精度よく検出できる。
(10)上記ステアリング操作の操作量からの相違量の算出は、ステアリングエントロピー法を用いる。
ステアリングエントロピー法を用いることで、検出性能の向上が期待できる。
連続的な情報を取得可能な車検時間の変化から検出することで、運転者状態を精度よく検出できる。
(12)上記車間情報からの相違量の算出は、予め設定した車間時間の割合の大きさから算出する。
車間時間の割合の大きさを使用することで、検出性能の向上が期待できる。
ここでは、限られた数の実施形態を参照しながら説明したが、権利範囲はそれらに限定されるものではなく、上記の開示に基づく各実施形態の改変は当業者にとって自明なことである。
100A 運転支援部
110 走行状態取得部
120 運転状況判定部
130 走行状態分布算出部
130A 第1走行状態分布算出部
130B 第2走行状態分布算出部
130C 分布記憶部
130D 分布選択部
130E 分布設定部
140 運転不安定度判定部
150 情報呈示部
Claims (12)
- 運転者が操作可能な運転操作子の操作状態及び車両状態の少なくとも一方からなる走行状態データを取得する走行状態取得部と、
上記走行状態取得部が取得した走行状態データに基づき、予め設定した第2の時間的範囲の第2走行状態分布と、第2の時間的範囲よりも時間的範囲が長い第1の時間的範囲の第1走行状態分布とを算出する走行状態分布算出部と、
上記走行状態分布算出部が算出する第1走行状態分布と第2走行状態分布とを比較することで、運転の不安定度を判定する運転不安定度判定部と、
運転者が操作可能な運転操作子の操作状態、車両状態、及び車両周囲の情報の少なくとも一つに基づき、現在の運転状況が、上記走行状態取得部が取得する走行状態データの信頼度を悪くすると推定される特定運転状況であるか否かを判定する運転状況判定部と、
上記走行状態分布算出部は、上記運転状況判定部が特定運転状況であると判定すると、当該特定運転状況と判定している期間の上記走行状態データを除いて、上記第1走行状態分布及び第2走行状態分布のうち少なくとも第2走行状態分布を算出することを特徴とする運転不安定度判定装置。 - 上記走行状態分布算出部は、特定運転状況との判定が終了して第2の時間的範囲の長さの時間が経過するまでの間は、特定運転状況と判定する前の時間的範囲の走行状態データと特定運転状況との判定終了後の時間的範囲の走行状態データの両方から第2走行状態分布を算出し、上記特定運転状況と判定する前の時間的範囲と上記特定運転状況との判定終了後の時間的範囲を合算した時間が上記第2の時間的範囲の時間に等しいことを特徴とする請求項1に記載した運転不安程度判定装置。
- 上記運転状況判定部は、予め設定した特定の道路環境を走行していることを検出すると、当該特定運転状況と判定することを特徴とする請求項2に記載した運転不安程度判定装置。
- 上記走行状態分布算出部は、特定運転状況と判定した後の時間的範囲の走行状態データから第2走行状態分布を算出し、その特定運転状況との判定終了後の時間的範囲が上記第2の時間的範囲の時間に等しいことを特徴とする請求項1に記載した運転不安程度判定装置。
- 上記運転状況判定部は、予め設定した特定の運転操作子の操作を検出すると特定運転状況と判定することを特徴とする請求項4に記載した運転不安程度判定装置。
- 上記運転状況判定部は、予め設定した特定の道路環境の走行を検出すると第1の特定運転状況であると判定し、予め設定した特定の運転操作子の操作を検出すると第2の特定運転状況をあると判定し、
上記走行状態分布算出部は、第1の特定運転状況であると判定すると、第1の特定運転状況との判定が終了して第2の時間的範囲の長さの時間が経過するまでの間は、第1の特定運転状況と判定する前の時間的範囲の走行状態データと第1の特定運転状況と判定した後の時間的範囲の走行状態データの両方から第2走行状態分布を算出し、且つ上記第1の特定運転状況と判定する前の時間的範囲と上記第1の特定運転状況との判定終了後の時間的範囲を合算した時間を上記第2の時間的範囲の時間に等しくなるように設定し、
第2の特定運転状況であると判定すると、特定運転状況と判定した後の時間的範囲の走行状態データから第2走行状態分布を算出し、その特定運転状況との判定終了後の時間的範囲を上記第2の時間的範囲の時間に等しくなるように設定することを特徴とする請求項1に記載した運転不安程度判定装置。 - 上記特定の運転操作子の操作は、車線変更操作、加速操作、制動操作、シフト操作、ナビゲーション装置の操作の少なくとも一つの操作であることを特徴とする請求項3又は請求項6に記載した運転不安定度判定装置。
- 上記特定の道路環境は、路面形状、トンネル内、走行路の合分岐部、走行路のカーブ、料金所近傍、自車先方への他車両の割り込み、高速道路の種別、渋滞状態の少なくとも一つの道路環境であることを特徴とする請求項5又は請求項6に記載した運転不安定度判定装置。
- 上記走行状態分布は、ステアリング操作の操作量を走行状態データとして算出することを特徴とする請求項1~請求項8のいずれか1項に記載した運転不安定度判定装置。
- 上記ステアリング操作の操作量からの相違量の算出は、ステアリングエントロピー法を用いることを特徴とする請求項9に記載した運転不安定度判定装置。
- 上記走行状態分布は、先行車に対する車間情報を走行状態データとして算出することを特徴とする請求項1~請求項8のいずれか1項に記載した運転不安定度判定装置。
- 上記車間情報からの相違量の算出は、予め設定した車間時間の割合の大きさから算出することを特徴とする請求項11に記載した運転不安定度判定装置。
Priority Applications (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
EP12785252.3A EP2711910A1 (en) | 2011-05-18 | 2012-04-24 | Driving instablity determination device |
JP2013514972A JP5621921B2 (ja) | 2011-05-18 | 2012-04-24 | 運転不安定度判定装置 |
US13/820,105 US8577566B2 (en) | 2011-05-18 | 2012-04-24 | Driving instability determination device |
CN201280003177.6A CN103140883B (zh) | 2011-05-18 | 2012-04-24 | 驾驶不稳定性判断装置 |
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EP (1) | EP2711910A1 (ja) |
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CN114516340B (zh) * | 2022-02-27 | 2023-09-12 | 重庆长安汽车股份有限公司 | 基于用户驾驶习惯的驾驶员失能判定方法 |
WO2023188276A1 (ja) * | 2022-03-31 | 2023-10-05 | 本田技研工業株式会社 | 運転能力判定システムおよび運転能力判定方法 |
Also Published As
Publication number | Publication date |
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JP5621921B2 (ja) | 2014-11-12 |
US20130166159A1 (en) | 2013-06-27 |
CN103140883A (zh) | 2013-06-05 |
EP2711910A1 (en) | 2014-03-26 |
CN103140883B (zh) | 2015-02-04 |
JPWO2012157192A1 (ja) | 2014-07-31 |
US8577566B2 (en) | 2013-11-05 |
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