WO2013150662A1 - 運転支援装置 - Google Patents
運転支援装置 Download PDFInfo
- Publication number
- WO2013150662A1 WO2013150662A1 PCT/JP2012/060174 JP2012060174W WO2013150662A1 WO 2013150662 A1 WO2013150662 A1 WO 2013150662A1 JP 2012060174 W JP2012060174 W JP 2012060174W WO 2013150662 A1 WO2013150662 A1 WO 2013150662A1
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- WO
- WIPO (PCT)
- Prior art keywords
- driving support
- alarm
- unit
- consciousness
- driving
- Prior art date
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- 230000007423 decrease Effects 0.000 claims description 78
- 238000001514 detection method Methods 0.000 claims description 25
- 230000009467 reduction Effects 0.000 claims description 11
- 230000001133 acceleration Effects 0.000 description 18
- 238000000034 method Methods 0.000 description 13
- 230000008859 change Effects 0.000 description 7
- 230000000052 comparative effect Effects 0.000 description 6
- 230000006866 deterioration Effects 0.000 description 6
- 230000008569 process Effects 0.000 description 5
- 230000003247 decreasing effect Effects 0.000 description 3
- 230000003111 delayed effect Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000005484 gravity Effects 0.000 description 2
- 206010012373 Depressed level of consciousness Diseases 0.000 description 1
- 230000004913 activation Effects 0.000 description 1
- 230000001419 dependent effect Effects 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 230000010365 information processing Effects 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 238000000926 separation method Methods 0.000 description 1
- 230000000638 stimulation Effects 0.000 description 1
- 239000000725 suspension Substances 0.000 description 1
Images
Classifications
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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
-
- 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
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/10—Path keeping
- B60W30/12—Lane keeping
-
- 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
-
- 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
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/08—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to drivers or passengers
-
- 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
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/08—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to drivers or passengers
- B60W40/09—Driving style or behaviour
-
- 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
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
- G08G1/167—Driving aids for lane monitoring, lane changing, e.g. blind spot detection
-
- 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
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/08—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to drivers or passengers
- B60W2040/0818—Inactivity or incapacity of driver
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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
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
- B60W2050/143—Alarm means
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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
-
- 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
- B60W2540/229—Attention level, e.g. attentive to driving, reading or sleeping
Definitions
- the present invention relates to a driving support device provided with a device for determining a wobbling due to carelessness of a driver or a state of reduced awareness of the driver.
- Patent Document 1 discloses a lane keeping device that generates a steering torque in order to maintain the traveling position of the host vehicle in the lane when it is determined that the host vehicle may deviate from the traveling lane. It is disclosed.
- Patent Document 2 discloses a control unit that detects a driver's carelessness based on a change in a steering wheel angle caused by a driver's steering operation, and issues an alarm when the carelessness is detected.
- the host vehicle may fluctuate due to a sudden change in the steering angle or lateral position of the host vehicle. It is difficult to distinguish whether this wobbling is due to the driver's operation or steering by the lane keeping device. For this reason, when this lane keeping device and the control unit disclosed in Patent Document 2 are used in combination, even if the driver's consciousness is clear, control is performed when the host vehicle fluctuates due to steering of the lane keeping device. The unit may detect the driver's carelessness and generate an alarm, which may cause the driver to feel uncomfortable.
- an object of the present invention is to provide a driving support device capable of reducing a sense of discomfort to the driver by generating driving support such as an alarm when the driver's consciousness is clear. .
- the driving support apparatus includes a driving support unit that performs driving support to control the position of the host vehicle with respect to the driving lane, and whether the driving support is performed by the driving support unit.
- An execution determination unit that determines whether or not the driver of the host vehicle is in a state of reduced consciousness based on a running state of the host vehicle, and a decrease in consciousness determination unit that is in a state of decreased consciousness
- An alarm means for generating an alarm, and when the execution determining means determines that the driving support is being executed by the driving support means, the alarm means is more than when it is determined that the driving support is not being executed. It is characterized by making it difficult to generate an alarm.
- This driving support device makes it difficult for the warning means to generate an alarm when the execution determining means determines that the driving support is being executed by the driving support means, compared to when it is determined that the driving support is not being executed. For this reason, even if the position of the host vehicle changes due to the steering of the host vehicle by the travel support means, an alarm is less likely to occur. Therefore, it is possible to reduce a sense of incongruity to the driver due to an alarm when the driver's consciousness is clear.
- the consciousness reduction determination means determines that the execution determination means is not executing the driving support by the driving support means It is preferable to make it difficult to determine that the driver of the own vehicle is in a state of reduced consciousness. As a result, even if the host vehicle fluctuates as a result of steering by the driving support means, it is difficult to determine that the state of consciousness is lowered. Therefore, when the driver's consciousness is clear, it is possible to reliably reduce a sense of discomfort to the driver due to the occurrence of driving support such as an alarm.
- the alarm means is preferably in an alarm generation stop state in which the alarm generation is stopped when the execution determination means determines that the driving support is being executed by the driving support means.
- the alarm means When the execution determination means determines that the driving support is being executed by the driving support means, the alarm means generates an alarm that enables the generation of an alarm when a preset alarm permission condition is established for the traveling state of the host vehicle. It is preferable to be in an alarm generation stop state in which the generation of the alarm is stopped if the alarm permission condition is not satisfied with respect to the traveling state of the host vehicle. As a result, the alarm permission condition is added as a condition for generating an alarm, so that it is difficult for the alarm means to generate an alarm. Therefore, when the driver's consciousness is clear, it is possible to reliably reduce a sense of discomfort to the driver due to the occurrence of driving support such as an alarm.
- the driving support device includes a driving support means that performs driving support to control the position of the host vehicle with respect to the driving lane, and an execution determination means that determines whether or not the driving support is being executed by the driving support means. Based on the traveling state of the host vehicle, a warning is generated when the driver of the host vehicle determines whether the driver is in a state of reduced consciousness, and the consciousness determination unit determines that the driver is in a state of reduced consciousness. And when the execution determining means determines that the driving support is being executed by the driving support means, the warning by the warning means is greater than when the driving support is determined not to be executed by the driving support means. It is characterized by reducing the stimulus given to the driver.
- the execution determination unit determines that the driving support is being executed by the driving support unit
- the warning by the warning unit is driven more than when the driving support is determined not to be executed by the driving support unit.
- the stimulus given to the person is reduced.
- the alarm determining means is more dependent on the alarm means than when the execution determining means determines that the driving support is not being executed by the driving support means. It is preferable to make it difficult to generate an alarm.
- the driving assistance control amount is lower than the threshold value, it is unlikely that the driver's consciousness is lowered because the possibility that the host vehicle departs from the traveling lane is small. Therefore, when the control amount of driving support is lower than the threshold value, the alarm means makes it difficult to generate an alarm, and the driver feels uncomfortable when the alarm is generated when the driver's awareness is clear. Can be reduced.
- the low consciousness determination means temporarily suspends the current low consciousness determination. Then, after the execution determination unit determines that the execution of the driving support has ended, it is preferable to continue and restart the consciousness decrease determination before the interruption. While driving support is being performed, even if the driver's consciousness is reduced, the vehicle can easily drive stably. For this reason, while driving support is being performed, the accuracy of the consciousness deterioration determination is lowered.
- the execution determination unit determines that the execution of the driving support has started, the execution determination unit determines that the current consciousness determination is temporarily interrupted and the execution of the driving support has ended. After that, the judgment of consciousness reduction before interruption is continued and resumed. As a result, it is possible to perform the consciousness decrease determination except for the result of the consciousness decrease determination under a state of low accuracy. Therefore, it is possible to perform a consciousness deterioration determination with high accuracy.
- the alarm means further includes support release detection means for detecting that the travel support by the travel support means has been released due to the establishment of a plurality of release conditions, and if the support release detection means detects that the travel support has been released, the release is detected.
- the alarm means may be set to either an alarm generation enabled state in which the alarm means can generate an alarm or an alarm generation stop state in which the alarm means stops generating the alarm. Is preferred.
- a desired alarm state can be obtained after the driving support is canceled depending on the driving support canceling condition.
- the driving support device is configured to determine whether or not the driving support is released based on an operation by the driver after detecting that the driving support by the driving support unit is released by the assistance release detecting unit.
- the driving support is determined to be released based on an operation other than the operation by the driver by the operation cancellation determining unit, it is preferable that the warning unit is in a state capable of generating an alarm after the driving support is released. It is.
- the warning driving support is canceled due to the convenience of the system other than the operation by the driver, it is possible to prevent the warning means from being in the generation stop state without the driver knowing.
- the driving support device is configured to determine whether or not the driving support is released based on an operation by the driver after detecting that the driving support by the driving support unit is released by the assistance release detecting unit. Further comprising means, and when it is determined by the operation cancellation determination means that the driving support has been released based on an operation other than the operation by the driver, when the alarm means is in the alarm generation stop state immediately before the cancellation of the driving support, When the driving means is released, the alarm means is set in the alarm generation stop state, and when the driving means is in an alarm generating state immediately before the driving support is released, the warning means is set in the alarm generating state after the driving support is released. Is preferred. As a result, when the driving support is canceled due to the circumstances of the system other than the operation by the driver, it is possible to automatically return to the alarm state immediately before the driving support is canceled without imposing a burden on the driver.
- the driving support device is configured to release an operation for determining whether or not the driving support is released based on an operation by the driver after the driving release detecting unit detects that the driving support by the driving support unit is released.
- the information processing apparatus further includes a determination unit, and when the operation cancellation determination unit determines that the driving support has been canceled based on an operation by the driver, the alarm unit is preferably in a warning generation stop state after the cancellation.
- the driving support apparatus it is possible to reduce a sense of discomfort to the driver due to the occurrence of driving support such as an alarm when the driver's consciousness is clear.
- FIG. 1 is a block diagram of a vehicle driving support apparatus 1 according to the first embodiment.
- the driving assistance device 1 is a device for assisting driving by the driver, and when driving assistance for causing the host vehicle to travel along the traveling lane is executed and the driver's awareness is reduced. It has a function to generate an alarm and call attention.
- the driving support apparatus 1 includes a driving support ECU (Electronic Control Unit) 10 as shown in FIG.
- a white line camera 2, a yaw rate sensor 3, an acceleration sensor 4, a rudder angle sensor 5, a vehicle speed sensor 6, a driving operation calculation unit 7, a driving support actuator 8, and an alarm unit 9 are connected to the driving support ECU 10.
- Information from the white line camera 2, the yaw rate sensor 3, the acceleration sensor 4, the rudder angle sensor 5, the vehicle speed sensor 6, and the driving operation calculation unit 7 is output to the driving assistance ECU 10.
- Information from the driving assistance ECU 10 is output to the driving assistance actuator 8 and the warning unit 9.
- the white line camera 2 is a CCD camera, for example, and shoots a moving image of the surrounding situation where the vehicle is traveling through the front window.
- the white line camera 2 outputs the captured moving image data to the driving support ECU 10.
- the yaw rate sensor 3 is arranged near the center of gravity of the host vehicle and detects the yaw rate around the center of gravity vertical axis.
- the yaw rate sensor 3 outputs yaw rate information related to the detected yaw rate to the driving assistance ECU 10.
- the acceleration sensor 4 is attached to the body of the host vehicle and detects the acceleration of the host vehicle.
- the acceleration sensor 4 outputs acceleration information about the detected acceleration to the driving support ECU 10.
- the steering angle sensor 5 is attached to a steering shaft (not shown) of the host vehicle and detects the steering angle of the steering shaft.
- the steering angle sensor 5 outputs the steering angle information about the detected steering angle to the driving assistance ECU 10.
- the vehicle speed sensor 6 is a wheel speed sensor, for example, and detects the traveling speed of the host vehicle.
- the vehicle speed sensor 6 outputs vehicle speed information about the detected vehicle speed to the driving assistance ECU 10.
- the driving operation calculation unit 7 calculates the driving operation amount of the host vehicle by the driver.
- the driving operation calculation unit 7 is, for example, a detection signal such as a steering angle sensor, an accelerator sensor, a brake pedal sensor, a torque sensor that detects steering torque, a winker sensor, and an on / off switch of the driving support device 1 including the driving support unit 11. Based on the above, the amount of driving operation by the driver is calculated.
- the driving operation calculation unit 7 outputs driving operation amount information about the calculated driving operation amount by the driver to the driving support ECU 10.
- the driving support ECU 10 includes a travel support unit 11, an execution determination unit 12, a consciousness decrease determination unit 13, a support release detection unit 14, an operation release determination unit 15, and an alarm determination unit 16.
- the travel support unit 11 performs travel support in order to control the position of the host vehicle with respect to the travel lane on which the host vehicle travels.
- the travel support unit 11 outputs travel support execution information indicating that the travel support unit 11 is in an execution state to the execution determination unit 12 while the travel support is being performed.
- the travel support unit 11 outputs travel support stop information indicating that the travel support unit 11 is in a stopped state to the execution determination unit 12 while the travel support is not being performed.
- the driving support unit 11 turns on the LKA (Lane Keeping Assist) operation flag while the driving support is being executed, and turns off the LKA operation flag while the driving support is not being executed.
- LKA Li Keeping Assist
- the driving support unit 11 generates a yaw rate necessary for driving the host vehicle along the driving lane while executing the driving support.
- the travel support unit 11 calculates a target output torque that generates a yaw rate necessary for the host vehicle to travel along the travel lane, and outputs torque information about the calculated target output torque to the travel support actuator 8.
- the calculation of the target output torque by the driving support unit 11 is performed according to the following procedure.
- the driving support unit 11 performs image processing on the image data output from the white line camera 2. By this image processing, white lines that define both ends of the traveling lane in which the host vehicle is traveling are detected, and the traveling lane in which the host vehicle is traveling is recognized.
- the driving support unit 11 detects the position information of the host vehicle such as the curve curvature 1 / R, the offset D, and the yaw angle ⁇ of the driving path ahead of the host vehicle based on the recognized driving lane.
- the offset D corresponds to the amount of displacement of the host vehicle position in the lateral direction with respect to the travel lane
- the yaw angle ⁇ corresponds to the direction of the host vehicle.
- the travel support unit 11 calculates a target lateral acceleration based on the detected curve curvature (1 / R) of the forward travel route, the offset D, and the yaw angle ⁇ .
- the travel support unit 11 determines the actual lateral acceleration of the host vehicle relative to the target lateral acceleration based on the target lateral acceleration, the vehicle speed information output from the vehicle speed sensor 6, and the yaw rate information output from the yaw rate sensor 3. The difference with acceleration is detected. The driving support unit 11 calculates a torque that eliminates the difference from the detected actual lateral acceleration as the target output torque.
- the driving support unit 11 controls the driving support actuator 8 so as to generate the calculated target output torque. In this way, the driving support unit 11 controls the steering amount of the driving support actuator 8 to generate a yaw rate for driving the host vehicle along the driving lane. In addition, the travel support unit 11 may generate a yaw rate for causing the host vehicle to travel along the travel lane by generating a braking force difference between the left and right wheels of the host vehicle. As a result, the departure from the travel lane by the host vehicle is suppressed, and the host vehicle travels along the travel lane. The driving support unit 11 also includes control information on the calculated target output torque and control amount information on the driving support control amount such as a difference in braking force between the left and right wheels of the host vehicle. 14 and output to the alarm determination unit 16.
- the execution determination unit 12 determines whether or not driving support is being executed by the driving support unit 11. When the driving support execution information from the driving support unit 11 is output, the execution determination unit 12 determines that the driving support is being executed by the driving support unit 11, and the driving support stop information is output from the driving support unit 11. If it does, it will determine with the driving assistance part 11 not having performed driving assistance.
- the execution determining unit 12 uses the driving support execution determination information indicating that the driving support is determined to be executed. To the unit 16. In addition, when it is determined that the driving support is not being executed by the driving support unit 11, the execution determining unit 12 sends driving support stop determination information indicating that the driving support is not being executed to the consciousness reduction determining unit 13. Output.
- the consciousness decrease determination unit 13 determines whether the driver of the host vehicle is in a state of decreased consciousness based on the traveling state of the host vehicle.
- the consciousness decrease determination unit 13 acquires vehicle information such as offset D information about the offset D from the driving support unit 11 or steering angle information about the steering angle from the driving operation calculation unit 7.
- the consciousness decrease determination unit 13 determines whether or not the host vehicle has a specific behavior that is noticeably observed in a consciousness decrease state, such as the vehicle is largely staggered from side to side.
- the offset D indicated by the offset D information acquired from the driving support unit 11 vibrates for a certain period of time with an amplitude or frequency equal to or greater than a predetermined value, or the steering acquired from the driving operation calculation unit 7
- the steering angle indicated by the angle information has a unique pattern that is noticeable in the state of reduced consciousness, it is determined that the driver of the host vehicle is in the state of reduced consciousness.
- the offset D indicated by the offset D information acquired from the driving support unit 11 does not vibrate for a certain period of time with an amplitude or frequency of a certain value or more, and the steering angle information acquired from the driving operation calculation unit 7 is
- the consciousness reduction determination unit 13 determines that the consciousness determination state is not established.
- the consciousness decrease determination unit 13 When it is determined that the driver of the host vehicle is in a state of reduced consciousness, the consciousness decrease determination unit 13 outputs information indicating that the driver of the host vehicle is in a state of reduced consciousness to the alarm unit 9. When it is determined that the driver of the host vehicle is not in a state of reduced consciousness, the consciousness decrease determination unit 13 outputs information indicating that the driver of the host vehicle is not in a state of reduced consciousness to the alarm unit 9.
- the consciousness decrease determination unit 13 performs the consciousness decrease determination, when the driving support execution determination information is output from the execution determination unit 12, the criterion for determining the state of consciousness decrease is increased, and the information is not output. This makes it more difficult for the driver of the host vehicle to determine that the vehicle is in a state of reduced consciousness.
- the consciousness decrease determination unit 13 determines that the driving support execution determination information is output from the execution determination unit 12 and is in a state of lower consciousness than the driving support stop information is output from the execution determination unit 12. By increasing the amplitude and time threshold value of the vibration of the offset D to be increased, or by increasing the value of the sudden steering of the specific pattern, the criterion for determining the state of reduced consciousness is increased.
- the consciousness lowering determination unit 13 sets the threshold value of the offset D and the steering angle determined to be in the consciousness lowering state while the driving support execution information is output from the execution determining unit 12 to infinity, and the consciousness lowering state Is stopped.
- the consciousness fall determination part 13 can make it difficult to determine that the driver of the own vehicle is in a consciousness lowering state when the driving support is being executed than when it is not being executed. That is, when the driving support is being executed, it is possible to make it difficult to generate an alarm than when the driving support is not being executed.
- the support cancellation detection unit 14 detects that the driving support by the driving support unit 11 has been canceled due to the establishment of a plurality of cancellation conditions.
- the driving support by the driving support unit 11 may be temporarily canceled due to system reasons such as temporary detection of a driving lane by a white line camera, or the driver may release driving support himself.
- the support cancellation detection unit 14 detects that the driving support by the driving support unit 11 has been canceled due to the stop of the output of the control amount information from the driving support unit 11, the driving support indicating that the driving support has been cancelled.
- the release information is output to the operation release determination unit 15 and the alarm determination unit 16.
- the operation cancellation determination unit 15 determines whether or not the driving support has been canceled based on an operation by the driver.
- the operation cancellation determination unit 15 determines whether the driving support is canceled based on the operation by the driver based on the information output from the driving operation calculation unit 7. Determine whether or not.
- the operation cancellation determination unit 15 determines that the driving support has been released based on the convenience of the system other than the operation by the driver. On the other hand, when the driving operation amount information is output from the driving operation calculation unit 7, the operation cancellation determination unit 15 determines that the driving support has been released based on the operation by the driver. When the operation cancellation determination unit 15 determines that the driving support has been canceled based on the operation by the driver, the operation cancellation determination unit 15 outputs operation cancellation information indicating that the driving support has been canceled based on the operation by the driver to the alarm determination unit 16. If it is determined that the driving support has not been released based on the operation by the driver, the system release information indicating that the driving support has been released for the convenience of the system other than the operation by the driver is output to the alarm determination unit 16. To do.
- the alarm determination unit 16 sets the alarm unit 9 to either an alarm generation enabled state or an alarm generation stop state.
- the alarm generation possible state is a state in which an alarm can be generated, and an alarm is generated when the consciousness decrease determination unit 13 determines that the state is a consciousness decrease state.
- the alarm generation stop state is a state in which the generation of the alarm is stopped, and no alarm is generated even if the consciousness decrease determination unit 13 determines that the state is a consciousness decrease state.
- the alarm determination unit 16 When the alarm determination unit 16 determines to set the alarm generation possible state, the alarm determination unit 16 outputs information about the alarm generation possible state to the alarm unit 9, and when it determines to set the alarm generation stop state, the information about the alarm generation stop state Is output to the alarm unit 9.
- the alarm determination unit 16 turns on the wandering alarm flag when it is determined that the alarm generation is possible, and turns off the wandering alarm flag when it is determined that the alarm generation is stopped.
- the alarm determination unit 16 determines that the alarm is in a state capable of generating an alarm when the vehicle speed of the host vehicle output from the vehicle speed sensor 6 is equal to or higher than a predetermined reference value. On the other hand, when the vehicle speed of the host vehicle output from the vehicle speed sensor 6 is less than a predetermined reference value, the alarm determination unit 16 determines to set the alarm to the alarm generation stop state.
- the alarm determination unit 16 sets a warning generation state that allows the alarm unit 9 to generate an alarm, and the execution determination unit 12 performs the travel support.
- the alarm generation stop state can be set.
- the alarm determination unit 16 is limited to the case where the warning permission condition set in advance for the traveling state of the host vehicle is satisfied. If it is determined that the alarm can be generated, and if the alarm permission condition is not satisfied with respect to the traveling state of the host vehicle, the alarm generation can be stopped.
- the alarm permission condition for example, the illuminance around the own vehicle detected by the illuminance sensor provided in the own vehicle is lower than the reference value, or the inter-vehicle distance detected by the front monitoring sensor is the reference value. Smaller than that. A combination of these multiple conditions may be used as an alarm permission condition.
- the alarm permission condition may be that the offset D indicated by the offset D information acquired from the driving support unit 11 vibrates for a certain time or more or a certain number of times with an amplitude or frequency equal to or larger than a certain value.
- the alarm determination unit 16 determines that the execution determination unit 12 determines that the driving support is being executed by the driving support unit 11, and outputs the driving support execution determination information from the execution determination unit 12. It is also possible to reduce the stimulus given to the driver by an alarm. As a method for reducing the stimulus given to the driver, for example, when the alarm is sound, the volume may be reduced. When an alarm is displayed, there are methods such as reducing the display, lowering the brightness so that the display is not noticeable, and making the display color less noticeable. Moreover, the stimulus given to the driver can be reduced by combining these methods. When the execution determination unit 12 determines that the driving support is not being executed by the driving support unit 11 and generates an alarm with both voice and display, driving by the alarm by reducing the types of alarms such as only display The stimulation given to the person can also be reduced.
- the warning determination unit 16 determines whether or not the control amount of the driving support indicated by the control amount information output from the driving support unit 11 is lower than the threshold, and determines that the control amount is lower than the threshold.
- the alarm unit 9 can be set in the alarm generation stop state, or the stimulus given to the driver by the alarm can be reduced by the method described above.
- the threshold value of the control amount is a constant value adapted in advance, such as 80% of the upper limit control amount of the driving support by the driving support unit 11.
- the alarm determination unit 16 sets the alarm unit 9 in a state in which an alarm can be generated or after the driving support is canceled according to the establishment condition of the cancellation condition. Decide whether to stop the alarm.
- the alarm determination unit 16 When it is detected that the driving support is canceled by the support cancellation detection unit 14, the alarm determination unit 16 outputs the alarm unit 9 immediately before the driving support is canceled when the system cancellation information is output from the operation cancellation determination unit 15. Decide to be in the state. When the alarm unit 9 is in the alarm generation stop state immediately before the cancellation of the driving support, the alarm determination unit 16 determines to place the alarm unit 9 in the alarm generation stop state after the driving support is canceled and immediately before the cancellation. When the alarm unit 9 is in a state capable of generating an alarm, it is determined that the alarm unit 9 is set in a state capable of generating an alarm after the driving support is canceled.
- the alarm determination unit 16 outputs the alarm unit 9 after the driving support is canceled when the operation cancellation information is output from the operation cancellation determination unit 15. Is determined to be in the alarm generation stop state.
- the traveling support actuator 8 is a mechanical component that controls the traveling of the host vehicle, and is, for example, a steering angle control motor.
- the driving assistance actuator 8 applies output torque to the steering shaft based on the torque information output from the driving assistance ECU 10.
- the alarm unit 9 generates an alarm for alerting the driver.
- the alarm unit 9 uses, for example, a warning lamp, an alarm buzzer, or a head-up display.
- the warning lamp and the alarm buzzer are incorporated in the speed meter system and the navigation system of the host vehicle, and alert the driver by lighting or sound based on information output from the driving support ECU 10.
- the volume of the alarm generated from the alarm unit 9 and the presence / absence of snooze are set by the driver's operation.
- the alarm unit 9 When the information indicating that the state of consciousness is lowered is output from the consciousness lowering determination unit 13, the alarm unit 9 generates an alarm when the information regarding the alarm possible state is output from the alarm determination unit 16. The alarm unit 9 does not generate an alarm while the information about the alarm generation stop state is output from the alarm determination unit 16 even if the information indicating that the state of consciousness decrease is output from the consciousness decrease determination unit 13. Further, while information indicating that the driver of the own vehicle is not in a state of reduced consciousness is output from the consciousness decrease determination unit 13, the alarm determination unit 16 outputs an alarm even if the information about the alarm possible state is output. Does not occur.
- FIG. 2 is a flowchart showing an operation flow of the driving support apparatus 1 in the first embodiment.
- the alarm determination unit 16 acquires vehicle speed information about the vehicle speed of the host vehicle output by the vehicle speed sensor 6 (S11). Further, when the driving support execution information or the driving support stop information is output from the driving support unit 11, the execution determination unit 12 confirms whether or not the driving support by the driving support unit 11 is executed (S12). Next, the consciousness decrease determination unit 13 acquires vehicle information such as the offset D information about the offset D from the driving support unit 11 or the steering angle information about the steering angle from the driving operation calculation unit 7 (S13).
- the execution determination unit 12 determines whether or not the driving support is being performed by the driving support unit 11. (S15). On the other hand, when it is detected that the value of the vehicle speed information output from the vehicle speed sensor 6 is not equal to or higher than the reference value (S14; NO), the execution determination unit 12 determines whether or not the driving support is being executed by the driving support unit 11. Without determination, the alarm determination unit 16 determines to place the alarm unit 9 in the alarm generation stop state, outputs information about the alarm generation stop state to the alarm unit 9 (S16), and ends this operation.
- the execution determination unit 12 determines whether or not the travel support unit 11 is executing travel support.
- the execution determining unit 12 determines that the driving support is being executed, and when the driving support stop information is output from the driving support unit 11, Determine that assistance is not being implemented.
- the consciousness decrease determination unit 13 determines the amplitude of the vibration of the offset D that is determined to be in the consciousness decrease state, By increasing the time threshold value or increasing the value of the sudden steering of the specific pattern, the criterion for determining the state of consciousness decrease is raised and the consciousness decrease determination is executed (S17). And if the driver
- the consciousness decrease determination unit 13 executes the consciousness decrease determination based on a normal determination criterion (S19). ). And if the driver
- the driving support executed by the driving support unit 11 of the driving support device 1 is performed by the following method, for example.
- movement of the driving assistance part 11 of the driving assistance apparatus 1 is demonstrated along the flowchart of FIG.
- FIG. 3 is a flowchart showing a flow of operations in the driving support unit 11 of the driving support device 1 of FIG.
- the position information of the host vehicle is calculated (S21).
- a curve curvature (1 / R), an offset D, and a yaw angle ⁇ are acquired as position information of the host vehicle.
- vehicle speed information of the host vehicle is acquired from the vehicle speed sensor 6 (S22).
- a target lateral acceleration is calculated based on the acquired position information and vehicle speed information of the host vehicle (S23), and a difference between the target lateral acceleration and the actual lateral acceleration of the host vehicle is calculated based on the target lateral acceleration and the vehicle speed information of the host vehicle.
- a target output torque that eliminates the difference is calculated (S24).
- the driving support unit 11 controls the driving support actuator 8 to generate the target output torque calculated in this way (S25), and ends this operation.
- FIG. 4 is a flowchart showing an operation flow of the alarm determination unit 16 of the driving support device 1 after the driving support is canceled.
- the execution determination unit 12 executes driving support by the driving support unit 11 (S31). While the driving support is being executed, the support cancellation detecting unit 14 detects that the driving support by the driving support unit 11 has been released (S32). When the support cancellation detection unit 14 detects that the driving support by the driving support unit 11 has been canceled (S32; YES), the driving cancellation is determined based on the information output from the driving support unit 11 by the operation cancellation determination unit 15. It is determined whether or not it has been released based on the operation by (S33). In addition, if the assistance cancellation
- the operation cancellation determination unit 15 determines that the driving support is released based on the convenience of the system other than the operation by the driver (S33; YES). On the other hand, if the driving operation amount information is output from the driving operation calculation unit 7, the operation cancellation determination unit 15 determines that the driving support has been canceled based on the operation by the driver (S33; NO).
- the alarm determination unit 16 When it is determined by the operation cancellation determination unit 15 that the travel support has been canceled based on the convenience of the system other than the operation by the driver (S33; YES), the alarm determination unit 16 immediately before the travel support unit 11 cancels the travel support.
- the alarm unit 9 is turned on (S34). If the alarm unit 9 is in a state where an alarm can be generated immediately before the driving support is released by the driving support unit 11 (S34; YES), it is determined that the alarm unit 9 is set in an alarm generating state after the driving support is canceled. Then, information on the alarm possible state is output to the alarm unit 9 (S35), and this operation is terminated.
- the alarm unit 9 is in the alarm generation stop state immediately before the driving support is canceled by the driving support unit 11 (S34; NO)
- the alarm unit 9 is set in the alarm generation stop state after the driving support is canceled.
- the information about the alarm generation stop state is determined and output to the alarm unit 9 (S36), and this operation is terminated.
- the alarm determination unit 16 stops the alarm unit 9 from generating an alarm after the driving support is canceled. It decides to be in a state, outputs information about the alarm generation stop state to the alarm unit 9 (S36), and ends this operation.
- the consciousness decrease determination unit 13 is in a reduced consciousness state. And the execution determination unit 12 is less likely to determine that the driver of the host vehicle is in a state of reduced consciousness than when the execution determination unit 12 determines that the driving support is not being executed by the driving support unit 11. For this reason, as a result of the steering of the host vehicle by the driving support unit 11, the offset D vibrates for a certain period of time with an amplitude or frequency of a certain value or more, or the steering angle becomes a peculiar pattern that is noticeable when the consciousness is lowered However, it is difficult to determine that the consciousness is lowered. Therefore, it is possible to reduce a sense of incongruity to the driver due to an alarm when the driver's consciousness is clear. That is, when the driving support is being executed, it is possible to make it difficult to generate an alarm than when the driving support is not being executed.
- a support cancellation detection unit 14 that detects that the driving support by the driving support unit 11 has been canceled due to the establishment of a plurality of cancellation conditions is further provided, and the support cancellation detection unit 14 detects that the driving support has been canceled. In this case, it is determined whether the alarm unit 9 is to be set in the alarm generation enabled state or the alarm generation stop state after the cancellation according to the establishment status of the cancellation condition. As a result, a desired alarm state can be obtained after the cancellation of the driving support depending on the cancellation condition of the driving support.
- the driving support device 1 determines whether the driving support is released based on an operation by the driver.
- An operation cancellation determination unit 15 is further provided, and when the operation cancellation determination unit 15 determines that the travel support has been canceled based on an operation other than the operation by the driver, the alarm unit 9 is set in a state capable of generating an alarm. Thereby, when the driving support is canceled due to the convenience of the system other than the operation by the driver, it is possible to avoid that the alarm unit 9 enters the alarm generation stop state without the driver's knowledge.
- the driving support device 1 determines whether the driving support is released based on an operation by the driver.
- the operation cancellation determination unit 15 further determines that the driving support has been canceled based on an operation other than the operation by the driver, the alarm unit 9 is in the alarm generation stop state immediately before the cancellation.
- the alarm unit 9 is set in the alarm generation stop state.
- the alarm unit 9 is set in the alarm generating state after the driving support is canceled. To do.
- the driving support is canceled due to the circumstances of the system other than the operation by the driver, it is possible to automatically return to the alarm state immediately before the cancellation without imposing a burden on the driver.
- the driving support device 1 determines whether or not the driving support has been released based on the operation by the driver after the support cancellation detecting unit 14 detects that the driving support by the driving support unit 11 has been released.
- the operation cancellation determination unit 15 is further provided, and when the operation cancellation determination unit 15 determines that the driving support has been canceled based on the operation by the driver, the alarm unit 9 is in the alarm generation stop state after the cancellation.
- the driver cancels the driving support by himself / herself the driver intends to drive himself / herself, and it is unlikely that the driver's consciousness will decrease. Therefore, when driving support is canceled by an operation by the driver, it is possible to return to an alarm state in line with the driver's intention.
- the consciousness decrease determination unit 13 recognizes that the driver of the host vehicle is conscious based on the acquired vehicle information. Decrease in consciousness was executed by increasing the criterion for determining the state of reduced consciousness as to whether or not it is in a lowered state.
- the consciousness decrease determination unit 13 determines that the consciousness decrease state 13 is in a reduced consciousness state. And the threshold value of the steering angle is set to infinity, and the determination of the state of reduced consciousness is stopped.
- the operation of the driving support apparatus 1 according to the second embodiment will be described with reference to the flowchart of FIG. 5 with a focus on differences from the first embodiment.
- the block configuration of the driving support device 1 is the same as that of the first embodiment, and only the operation is different.
- the alarm determination unit 16 acquires information on the vehicle speed of the host vehicle output by the vehicle speed sensor 6. (S41) When the execution determination unit 12 outputs the travel support execution information or the travel support stop information from the travel support unit 11, the execution determination unit 12 confirms whether the travel support unit 11 performs the travel support (S42). ). Next, the consciousness decrease determination unit 13 acquires vehicle information such as offset D information about the offset D from the driving support unit 11 or steering angle information about the steering angle from the driving operation calculation unit 7 (S43).
- the execution determination unit 12 determines whether or not driving support is being executed by the driving support unit 11 (S44).
- the consciousness reduction determination unit 13 sets the offset D and the steering angle threshold value for determining the consciousness reduction state as infinite. The determination is made that the consciousness is lowered, and the operation is terminated (S45).
- the consciousness decrease determination unit 13 executes the consciousness decrease determination (S46). If the driver of the own vehicle is determined to be in a state of reduced consciousness by the consciousness decrease determination unit 13, the alarm unit 9 generates an alarm (S47) and ends this operation.
- the execution determination unit 12 determines that the driving support is being executed by the driving support unit 11, it is determined that the driving support is not being executed.
- the consciousness reduction determination unit 13 stops determining that the state of consciousness is low.
- the steering by the driving support unit 11 even if the offset D vibrates for a certain period of time with an amplitude or frequency greater than a certain value, or the consciousness decreases even if the steering angle becomes a peculiar pattern that is noticeable in a state where the consciousness is lowered. It is judged as a state and no alarm is generated.
- the consciousness fall determination part 13 stopped determining with the offset D and the threshold value of a steering angle being infinite, it determined with a consciousness fall state, Another structure may be sufficient. For example, when driving support is being executed, it is possible to stop determining the state of reduced consciousness by adopting a configuration in which the consciousness decrease determination process by the consciousness decrease determination unit 13 is not executed. Thereby, it can be made harder to determine that the driver is in a state of reduced consciousness than when the driving assistance is not being executed. That is, when the driving support is being executed, it is possible to make it difficult to generate an alarm than when the driving support is not being executed.
- the consciousness decrease determination unit 13 sets an infinite threshold for determining the consciousness decrease state. Or by not executing the consciousness decrease determination process by the consciousness decrease determination unit 13, the determination of the state of reduced consciousness is stopped.
- the alarm determination part 16 when it determines with the driving
- the operation of the driving assistance apparatus 1 according to the third embodiment will be described focusing on differences from the first and second embodiments.
- the flow when the driving support device 1 according to the second embodiment and the execution determination unit 12 determine that the driving support by the driving support unit 11 is being executed is different.
- the same processing is performed from step S41 to step S43 as compared with the flow according to the second embodiment shown in FIG. Subsequently, processing after the execution determination unit 12 determines whether or not driving support is being executed is different.
- step S44 when the execution determination unit 12 determines that the driving support by the driving support unit 11 is being executed, the execution determination unit 12 outputs the driving support execution determination information to the alarm determination unit 16. And the alarm determination part 16 determines making the alarm part 9 into an alarm generation stop state, and complete
- the flow following when the execution determination part 12 determines with the driving assistance by the driving assistance part 11 not being performed is the same as that of the driving assistance apparatus 1 which concerns on 2nd Embodiment.
- the alarm determination unit 16 sets the alarm unit 9. Decide to stop alarm generation.
- the execution determination unit 12 determines that the driving support is being executed by the driving support unit 11 whether the driver of the host vehicle has been determined to be in a low consciousness state by the low consciousness determination unit 13, or is in a reduced consciousness state. Regardless of whether it is determined to be not, an alarm is not generated. That is, when the driving support is being executed, it is possible to make it difficult to generate an alarm than when the driving support is not being executed. Therefore, it is possible to reduce a sense of incongruity to the driver due to an alarm when the driver's consciousness is clear. That is, when the driving support is being executed, it is possible to make it difficult to generate an alarm than when the driving support is not being executed.
- FIG. 6 is a flowchart showing a flow of operations of the driving support apparatus according to the fourth embodiment.
- the driving support device 1 according to the fourth embodiment the driving support device 1 according to the third embodiment and the execution determination unit 12 determine that the driving support by the driving support unit 11 is being executed. Case flow is different.
- the execution determination part 12 determines with the driving assistance by the driving assistance part 11 being performed (S54; YES)
- a consciousness fall determination is implemented (S55) and the driver of the own vehicle is conscious. If it determines with a fall state, the alarm determination part 16 will determine whether the warning permission conditions by which the driving state of the own vehicle was preset were satisfied (S56).
- warning determination unit 16 determines that the warning unit 9 is in a state in which a warning can be generated. When the value of the output vehicle speed information is greater than or equal to the reference value, the alarm unit 9 generates an alarm and ends this operation. On the other hand, when the warning permission condition is not satisfied with respect to the traveling state of the host vehicle (S56; NO), it is determined that the warning unit 9 is set to the warning generation stop state, and the warning unit 9 performs this processing without generating a warning. Exit.
- warning permission conditions it may be comprised from one condition and may be comprised from several conditions.
- the alarm permission condition is composed of a plurality of conditions, it is necessary to satisfy all the conditions. When even one of the conditions is not satisfied, it is determined that the alarm permission condition is not satisfied. Further, the flow following when the execution determination unit 12 determines that the driving support by the driving support unit 11 is not executed is the same as that of the driving support device 1 according to the third embodiment.
- the execution determination unit 12 determines that the driving support is being executed by the driving support unit 11, the consciousness decrease by the consciousness decrease determination unit 13.
- a determination is made as to whether or not an alarm permission condition is satisfied by the alarm determination unit 16.
- the fifth embodiment is different from the fourth embodiment in the flow when the execution determination unit 12 determines that the driving support by the driving support unit 11 is being executed.
- the alarm permission is determined after performing the consciousness decrease determination (S55). It is determined whether or not the condition is met (S56).
- the driver of the host vehicle determines that the driver of the own vehicle is in a low consciousness state by the consciousness decrease determination unit 13.
- the alarm unit 9 when the execution determination unit 12 determines that the driving support is being executed by the driving support unit 11, the alarm unit 9 generates a warning by the driver. Reduces the stimulus given to For this reason, when the position of the host vehicle changes due to the steering of the host vehicle by the driving support unit 11, even if the consciousness decrease determination unit 13 determines that the consciousness decrease determination state is present, the alarm that the alarm unit 9 gives to the driver by an alarm Get smaller. Therefore, when the driver's consciousness is clear, the uncomfortable feeling to the driver due to the warning can be reduced.
- FIG. 7 is a flowchart showing a flow of operations of the driving support apparatus according to the sixth embodiment.
- the execution determination unit 12 determines that the travel support by the travel support unit 11 is being executed (S64; YES)
- the consciousness decrease determination unit 13 drives the host vehicle.
- S65 a state of reduced consciousness
- S66 a threshold value
- the alarm unit 9 reduces the stimulus given to the driver by the alarm. Instead of reducing the stimulus given to the driver by the warning by the warning unit 9, the warning by the warning unit 9 may be difficult to be issued.
- the offset D or the steering angle threshold value for determining that the state of consciousness is lowered may be increased to make it difficult to determine that the state of consciousness is lowered, or the warning unit 9 may be set to a warning generation stop state.
- the offset D and the steering angle threshold value for determining that the state of consciousness is lowered can be increased so as to be proportional to the control amount for driving support.
- the alarm unit 9 is activated when the value of the vehicle speed information output from the vehicle speed sensor 6 is greater than or equal to the reference value. An alarm is generated without lowering the stimulus given to the camera, and the operation ends. Note that the flow that follows when the execution determination unit 12 determines that the driving support by the driving support unit 11 is not executed is the same as that in the fourth embodiment.
- the execution determination unit 12 determines that the driving support is being executed by the driving support unit 11, whether or not the control amount of the driving support is lower than the threshold value. Is determined (S66).
- the driving assistance control amount is lower than the threshold value, it is unlikely that the driver's consciousness is reduced because the possibility that the own vehicle departs from the traveling lane is small. Therefore, when the control amount of the driving support is lower than the threshold value, it is difficult to generate an alarm by the alarm unit 9, so that when the driver's consciousness is clear, an alarm is generated to the driver. A sense of incongruity can be reduced.
- the seventh embodiment differs from the sixth embodiment in the flow when the execution determination unit 12 determines that the driving support by the driving support unit 11 is being executed.
- the execution determination part 12 determines with the driving assistance by the driving assistance part 11 being performed (S64; YES)
- S65 when a low consciousness state is determined and it determines with a low consciousness state ( S65), it is determined whether or not the control amount of the driving assistance is lower than the threshold value.
- the execution determination unit 12 determines that the driving support by the driving support unit 11 is being executed while performing the consciousness decrease determination (S64; YES)
- the current determination is performed. Temporarily suspend the consciousness judgment.
- the interruption of the consciousness decrease determination continues until the execution determination unit 12 determines that the driving support is not being executed by the driving support unit 11.
- the consciousness decrease determination is restarted. Note that the flow that follows when the execution determination unit 12 determines that the driving support by the driving support unit 11 is not executed is the same as that in the sixth embodiment.
- FIG. 8 shows an example of the traveling locus of the host vehicle.
- the change over time of the LKA operation flag and the wobbling warning flag at this time and the count number of the wobbling times are also shown.
- a threshold value Dt of the offset D when performing the wobble determination is shown.
- the wobbling determination a case where the own vehicle changes the left and right moving directions at a position exceeding the threshold Dt of the offset D is determined as one wobbling frequency. Further, when the number of times of wandering exceeds a predetermined number of times, it is determined that the driver is in a state of reduced consciousness, and the wandering alarm flag is turned on.
- the consciousness decrease determination may determine that the state is in a consciousness decrease state when the predetermined number of times of wandering is counted within a predetermined count time.
- the number of times of wobbling is counted seven times.
- the difference between the Example of this embodiment and a comparative example is demonstrated.
- the number of wobblings is reset.
- the counting of the number of wobbling is interrupted, and after the LKA operating flag is turned off, the counting of the number of wobbling continues from the count before the interruption.
- the number of times of wandering is reset after a predetermined time has elapsed since the last number of times of wobbling.
- the LKA is activated between the fourth and fifth fluctuations shown in the embodiment, and the LKA activation flag is on.
- the LKA operation flag when the LKA operation flag is turned on, the counting of the number of times of wobbling is interrupted, and after the LKA operating flag is turned off, the number of times of the wobbling is restarted without resetting the number of times of wobbling. is doing.
- the LKA operation flag even when the LKA operation flag is turned on, the number of times of wobbling is continuously counted.
- the wobbling warning flag is turned on.
- the number of times of wobbling is reset while the LKA operation flag is on, and the number of times of wobbling counted as 7 in the embodiment is counted as 3 times, and the driver is not in a state of reduced consciousness. And the wobbling warning flag is turned off.
- the driving can be barely maintained thanks to the steering by the driving support unit 11, but the driver is actually in a state of low consciousness determination even in a scene where the driver is sleeping. It is possible to prevent the timing at which it is determined to be late, and to prevent the generation of an alarm from being delayed.
- the consciousness decrease determination unit 13 temporarily interrupts the consciousness decrease determination currently being performed. Then, after the execution determination unit 12 determines that the execution of the driving support is completed, the consciousness decrease determination before the interruption is continued and restarted. While driving support is being performed, even if the driver's consciousness is reduced, the host vehicle can easily perform stable driving. For this reason, while driving support is being performed, the accuracy of the consciousness deterioration determination is lowered.
- the execution determination unit 12 determines that the execution of the driving support has started, the execution determination unit 12 temporarily stops the current consciousness determination and ends the execution of the driving support.
- the consciousness decrease determination before the interruption is continued and resumed.
- the consciousness decrease determination except for the result of the consciousness decrease determination under a state of low accuracy. Therefore, it is possible to perform a consciousness deterioration determination with high accuracy.
- a warning lamp or a buzzer is given as the alarm unit 9, but the alarm unit 9 is not limited to this.
- a warning screen may be displayed on the in-vehicle monitor, or the driver may be alerted by vibrating the seat. Further, the driver may be alerted by adjusting the air amount of the airbag and performing air suspension control that changes the vehicle height.
- the driving support unit 11 controls the position of the vehicle with respect to the driving lane by giving the driving support actuator 8 the target output torque calculated based on the curve curvature (1 / R), the offset D, and the yaw angle ⁇ .
- the travel support unit 11 for example, LKA may be applied as a system that reduces the driver burden during travel by the lane keeping support function.
- a collision avoidance support system that performs braking control or steering control so as to detect obstacles around the host vehicle and avoid collision with the detected obstacles may be applied. Good.
- the consciousness decrease determination unit 13 determines whether or not the offset D is a specific pattern that vibrates for a certain period of time with an amplitude or frequency that is greater than or equal to a certain value, or whether the steering angle is noticeable in a consciousness decreased state. Based on the above, it is determined whether or not the driver is in a state of reduced consciousness, but the determination method for determining consciousness reduction is not limited to this. It may be determined that the driver is in a state of reduced consciousness when another steering operation is performed by the driver.
- the consciousness decrease determination unit 13 may perform the consciousness decrease determination based on the position information of the vehicle such as the curve curvature (1 / R), the offset D, and the yaw angle ⁇ detected by the driving support unit 11.
- the consciousness decrease determination unit 13 determines that the driver of the own vehicle is in a consciousness decrease state when the position change amount of the own vehicle is greater than or equal to a certain value, and the position change amount of the own vehicle is less than a certain value. It is determined that the driver of the vehicle is not in a state of reduced consciousness.
- the consciousness decrease determination may be performed based on the output from the vehicle speed sensor 6 or the driving operation calculation unit 7 attached to the host vehicle.
- the consciousness decrease determination unit 13 may determine in advance a predetermined reference such as a position in the travel lane or a steering operation that is determined to be in the state of consciousness decrease determination, or based on a degree of separation from the predetermined reference. It is also possible to make a consciousness determination. Furthermore, a criterion determination unit that determines a criterion for determining that the consciousness lowering determination unit 13 determines that the state of consciousness is decreased may be provided, and the criterion for determining the consciousness deterioration determination state may be changed depending on whether or not driving support is performed.
- the vehicle speed of the host vehicle is determined to be equal to or higher than a predetermined reference value as one of the conditions for setting the alarm unit 9 in an alarm-producible state. Even if not, the alarm unit 9 may be in a state capable of generating an alarm.
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Abstract
Description
以下、添付図面を参照して本発明の第1実施形態について説明する。なお、図面の説明において同一の要素には同一の符号を付し、重複する説明を省略する。また、図示の便宜上、図面の寸法比率は説明のものと必ずしも一致しない。
次に、本発明の第2実施形態について説明する。第1実施形態では、実行判定部12によって走行支援部11が走行支援を実行していると判定された場合、意識低下判定部13は、取得した車両情報に基づいて自車両の運転者が意識低下状態であるか否かを判定する意識低下状態と判定する基準を高くして意識低下判定を実行した。これに対し、第2実施形態では、実行判定部12によって走行支援部11が走行支援を実行していると判定された場合、意識低下判定部13は、意識低下状態であると判定するオフセットDや操舵角のしきい値を無限大とし、意識低下状態と判定することを停止する。以下、第1実施形態と異なる点を中心に、第2実施形態に係る運転支援装置1の動作を図5のフローチャートに沿って説明する。なお、第2実施形態は、第1実施形態と運転支援装置1のブロック構成が同じであり、動作のみが異なっている。
次に、本発明の第3実施形態について説明する。第2実施形態では、実行判定部12によって走行支援部11が走行支援を実行していると判定された場合、意識低下判定部13は、意識低下状態と判定するためのしきい値を無限大とし、または意識低下判定部13による意識低下判定処理を実行しないことで、意識低下状態と判定することを停止した。これに対し、第3実施形態では、実行判定部12によって走行支援部11が走行支援を実行していると判定された場合には、警報決定部16は、警報発生停止状態とする情報を出力し、警報が発生されないようにする。以下、第1および2実施形態と異なる点を中心に、第3実施形態に係る運転支援装置1の動作を説明する。
したがって、運転者の意識がはっきりしているときに警報が発生することによる運転者への違和感を低減することができる。すなわち、走行支援が実行されている場合には、走行支援が実行されていない場合よりも、警報を発生しにくくすることができる。
次に、本発明の第4実施形態について説明する。図6は、第4実施形態に係る運転支援装置の動作の流れを示すフローチャートである。図6に示すように、第4実施形態に係る運転支援装置1では、第3実施形態に係る運転支援装置1と実行判定部12が走行支援部11による走行支援が実行されていると判定した場合のフローが異なる。第4実施形態では、実行判定部12が走行支援部11による走行支援が実行されていると判定した場合(S54;YES)、意識低下判定を実施し(S55)、自車両の運転者が意識低下状態と判定されると、警報決定部16が自車両の走行状態が予め設定された警報許可条件が成立しているか否かを判定する(S56)。
第5実施形態は、第4実施形態と比べると、実行判定部12が走行支援部11による走行支援が実行されていると判定した場合のフローが異なる。図6に示すように、第4実施形態においては、実行判定部12が走行支援部11による走行支援が実行されていると判定した場合に、意識低下判定を実施した後(S55)、警報許可条件の成立判定を行っている(S56)。これに対して、第5実施形態では、実行判定部12が走行支援部11による走行支援が実行されていると判定した後、意識低下判定部13によって自車両の運転者が意識低下状態と判定されたときに、警報部9が警報によって運転者に与える刺激を低下させ、その後本処理を終了する。なお、実行判定部12が走行支援部11による走行支援が実行されていないと判定した場合に続くフローは第4実施形態に係る運転支援装置1と同様である。
第6実施形態は、第5実施形態と比べると、実行判定部12が走行支援部11による走行支援が実行されていると判定した場合のフローが異なる。図7は、第6実施形態に係る運転支援装置の動作の流れを示すフローチャートである。図7に示すように、第6実施形態では、実行判定部12が走行支援部11による走行支援が実行されていると判定した場合(S64;YES)、意識低下判定部13によって自車両の運転者が意識低下状態と判定されると(S65)、走行支援の制御量がしきい値よりも低いか否かを判定する(S66)。
第7実施形態は、第6実施形態と比べると、実行判定部12が走行支援部11による走行支援が実行されていると判定した場合のフローが異なる。第6の実施形態では、実行判定部12が走行支援部11による走行支援が実行されていると判定した場合(S64;YES)、意識低下状態を判定し、意識低下状態と判定されると(S65)、走行支援の制御量がしきい値よりも低いか否かを判定していた。これに対して、第7実施形態では、意識低下判定を行っている間に実行判定部12が走行支援部11による走行支援が実行されていると判定した場合(S64;YES)、現在行っている意識低下判定を一時的に中断する。この意識低下判定の中断は、実行判定部12が走行支援部11によって走行支援が実行されていないと判定されるまで継続する。そして、走行支援が終了し、走行支援が実行されていないと判定されたときに、意識低下判定を再開する。なお、実行判定部12が走行支援部11による走行支援が実行されていないと判定した場合に続くフローは第6実施形態と同様である。
Claims (11)
- 走行レーンに対する自車両の位置を制御するために走行支援を行う走行支援手段と、
前記走行支援手段によって前記走行支援が実行されているか否かを判定する実行判定手段と、
前記自車両の走行状態に基づいて、前記自車両の運転者が意識低下状態であるか否かを判定する意識低下判定手段と、
前記意識低下判定手段が意識低下状態であると判定すると、警報を発生する警報手段と、を備え、
前記実行判定手段が前記走行支援手段によって前記走行支援が実行されていると判定した場合、前記走行支援が実行されていないと判定した場合よりも前記警報手段による前記警報を発生しにくくさせることを特徴とする運転支援装置。 - 前記実行判定手段が前記走行支援手段によって前記走行支援が実行されていると判定した場合、前記意識低下判定手段は、前記実行判定手段が前記走行支援手段によって前記走行支援が実行されていないと判定した場合よりも前記自車両の運転者が意識低下状態であると判定されにくくすることを特徴とする請求項1に記載の運転支援装置。
- 前記警報手段は、前記実行判定手段が前記走行支援手段よって前記走行支援が実行されていると判定した場合、前記警報の発生を停止する警報発生停止状態とされることを決定することを特徴とする請求項1に記載の運転支援装置。
- 前記実行判定手段が前記走行支援手段によって前記走行支援が実行されていると判定した場合、前記自車両の走行状態に対して予め設定された警報許可条件が成立すると、前記警報手段は前記警報の発生を可能にする警報発生可能状態とされ、前記自車両の走行状態に対して前記警報許可条件が成立しないと、前記警報手段は前記警報の発生を停止する警報発生停止状態とされることを特徴とする請求項1に記載の運転支援装置。
- 走行レーンに対する自車両の位置を制御するために走行支援を行う走行支援手段と、
前記走行支援手段によって前記走行支援が実行されているか否かを判定する実行判定手段と、
前記自車両の走行状態に基づいて、前記自車両の運転者が意識低下状態であるか否かを判定する意識低下判定手段と、
前記意識低下判定手段が意識低下状態であると判定すると、警報を発生する警報手段と、を備え、
前記実行判定手段が前記走行支援手段よって前記走行支援が実行されていると判定した場合、前記走行支援手段によって前記走行支援が実行されていないと判定した場合よりも前記警報手段による前記警報が前記運転者に与える刺激を低下させることを特徴とする運転支援装置。 - 前記実行判定手段が前記走行支援手段よって前記走行支援が実行されていると判定した場合、前記走行支援の制御量が所定のしきい値よりも低いか否かをさらに判定し、
前記走行支援の制御量が前記しきい値よりも低いと判定した場合、前記実行判定手段が前記走行支援手段によって前記走行支援が実行されていないと判定した場合よりも前記警報手段による前記警報を発生させにくくすることを特徴とする請求項1~5のいずれか一項に記載の運転支援装置。 - 前記意識低下判定手段による意識低下判定が行われている間に、前記走行支援の実行が開始したと前記実行判定手段が判定した場合、前記意識低下判定手段は、現在行っている意識低下判定を一時的に中断し、前記走行支援の実行が終了したと前記実行判定手段が判定した後、中断前の意識低下判定を継続して再開する請求項1に記載の運転支援装置。
- 複数の解除条件の成立によって前記走行支援手段による前記走行支援が解除されたことを検知する支援解除検知手段を更に備え、
前記支援解除検知手段によって前記走行支援が解除されたことが検知された場合、前記解除条件の成立状況に応じて、前記走行支援の解除後に、前記警報手段が前記警報の発生を停止する警報発生可能状態又は前記警報の発生を可能にする警報発生停止状態のいずれかにされることを特徴とする請求項1~7のいずれか一項に記載の運転支援装置。 - 前記支援解除検知手段によって前記走行支援手段による前記走行支援が解除されたことが検知された後に、前記走行支援が前記運転者による操作に基づいて解除されたか否かを判定する操作解除判定手段を更に備え、
前記操作解除判定手段によって前記走行支援が前記運転者による操作以外の操作に基づいて解除されたと判定された場合、前記走行支援の解除後に前記警報手段が前記警報発生可能状態にされることを特徴とする請求項8に記載の運転支援装置。 - 前記支援解除検知手段によって前記走行支援手段による前記走行支援が解除されたことが検知された後に、前記走行支援が前記運転者による操作に基づいて解除されたか否かを判定する操作解除判定手段を更に備え、
前記操作解除判定手段によって前記走行支援が前記運転者による操作以外の操作に基づいて解除されたと判定された場合、前記走行支援の解除の直前に前記警報手段が前記警報発生停止状態であったときには、前記走行支援の解除後に、前記警報手段が前記警報発生停止状態とされ、前記走行支援の解除の直前に前記警報手段が前記警報発生可能状態であったときには、前記走行支援の解除後に、前記警報手段が前記警報発生可能状態にされることを特徴とする請求項8に記載の運転支援装置。 - 前記支援解除検知手段によって前記走行支援手段による前記走行支援が解除されたことが検知された後に、前記走行支援が前記運転者による操作に基づいて解除されたか否かを判定する操作解除判定手段を更に備え、
前記操作解除判定手段において前記走行支援が前記運転者による操作に基づいて解除されたと判定された場合、前記走行支援の解除後に、前記警報手段が前記警報発生停止状態とされることを特徴とする請求項8に記載の運転支援装置。
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CN104553988B (zh) * | 2013-10-15 | 2018-12-11 | 沃尔沃汽车公司 | 车辆驾驶员辅助设备 |
JP2016021192A (ja) * | 2014-07-15 | 2016-02-04 | 株式会社デンソー | 状態判定装置 |
JP2016150589A (ja) * | 2015-02-16 | 2016-08-22 | 本田技研工業株式会社 | ドライバ状態判定装置 |
JP2019211927A (ja) * | 2018-06-01 | 2019-12-12 | マツダ株式会社 | 車両用警報システム |
JP2019211928A (ja) * | 2018-06-01 | 2019-12-12 | マツダ株式会社 | 車両用警報システム |
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JP7032698B2 (ja) | 2018-06-01 | 2022-03-09 | マツダ株式会社 | 車両用警報システム |
JP7150247B2 (ja) | 2018-06-01 | 2022-10-11 | マツダ株式会社 | 車両用警報システム |
JP7150246B2 (ja) | 2018-06-01 | 2022-10-11 | マツダ株式会社 | 車両用警報システム |
CN110549938B (zh) * | 2018-06-01 | 2022-12-30 | 马自达汽车株式会社 | 车辆用警报系统 |
JP2021117745A (ja) * | 2020-01-27 | 2021-08-10 | いすゞ自動車株式会社 | ふらつき警報装置およびふらつき警報制御方法 |
JP7322724B2 (ja) | 2020-01-27 | 2023-08-08 | いすゞ自動車株式会社 | ふらつき警報装置およびふらつき警報制御方法 |
Also Published As
Publication number | Publication date |
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CN104246848B (zh) | 2017-04-12 |
US9597960B2 (en) | 2017-03-21 |
EP2835793A1 (en) | 2015-02-11 |
JP5817923B2 (ja) | 2015-11-18 |
EP2835793B1 (en) | 2018-10-10 |
CN104246848A (zh) | 2014-12-24 |
JPWO2013150662A1 (ja) | 2015-12-17 |
EP2835793A4 (en) | 2017-06-21 |
US20150039186A1 (en) | 2015-02-05 |
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