WO2016103469A1 - 衝突回避システム及び衝突回避方法 - Google Patents
衝突回避システム及び衝突回避方法 Download PDFInfo
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- WO2016103469A1 WO2016103469A1 PCT/JP2014/084578 JP2014084578W WO2016103469A1 WO 2016103469 A1 WO2016103469 A1 WO 2016103469A1 JP 2014084578 W JP2014084578 W JP 2014084578W WO 2016103469 A1 WO2016103469 A1 WO 2016103469A1
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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
- B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
- B60Q9/00—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling
- B60Q9/008—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling for anti-collision purposes
-
- 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
- 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
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/50—Context or environment of the image
- G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
- G06V20/58—Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/50—Context or environment of the image
- G06V20/59—Context or environment of the image inside of a vehicle, e.g. relating to seat occupancy, driver state or inner lighting conditions
- G06V20/597—Recognising the driver's state or behaviour, e.g. attention or drowsiness
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- G—PHYSICS
- G08—SIGNALLING
- G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
- G08B21/00—Alarms responsive to a single specified undesired or abnormal condition and not otherwise provided for
- G08B21/02—Alarms for ensuring the safety of persons
- G08B21/06—Alarms for ensuring the safety of persons indicating a condition of sleep, e.g. anti-dozing alarms
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
- G08G1/161—Decentralised systems, e.g. inter-vehicle communication
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
- G08G1/161—Decentralised systems, e.g. inter-vehicle communication
- G08G1/163—Decentralised systems, e.g. inter-vehicle communication involving continuous checking
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
- G08G1/166—Anti-collision systems for active traffic, e.g. moving vehicles, pedestrians, bikes
-
- 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
- B60W2040/0827—Inactivity or incapacity of driver due to sleepiness
-
- 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
-
- 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
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/10—Longitudinal speed
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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
- B60W2552/00—Input parameters relating to infrastructure
-
- 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
- B60W2554/00—Input parameters relating to objects
- B60W2554/80—Spatial relation or speed relative to objects
- B60W2554/801—Lateral distance
-
- 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
- B60W2555/00—Input parameters relating to exterior conditions, not covered by groups B60W2552/00, B60W2554/00
- B60W2555/20—Ambient conditions, e.g. wind or rain
Definitions
- the present invention relates to a collision avoidance system and a collision avoidance method.
- the present invention has been made in view of the above, and can warn a traveling driver at an appropriate timing and can increase the possibility of avoiding a collision between the traveling vehicle and another vehicle. It is an object to provide a collision avoidance system and a collision avoidance method.
- a collision avoidance system includes a driver state detection unit that detects a state of a driver of the host vehicle, an environment detection unit that detects an environment related to the traveling of the host vehicle, and the surroundings of the host vehicle.
- An out-of-vehicle alarm device that performs an out-of-vehicle alarm operation for an alarm toward another vehicle, an in-vehicle alarm device that performs an in-vehicle alarm operation regarding an alarm to the driver of the host vehicle, and the driver's state detected by the driver state detection unit
- a control unit that controls the outside alarm device and the inside alarm device based on a state, the control unit sets a predetermined time based on the environment detected by the environment detection unit, and the driving Based on the person's condition, the vehicle outside alarm device and the vehicle interior alarm device are controlled to perform the vehicle interior alarm operation after the predetermined time has elapsed after the vehicle exterior alarm operation.
- the environment detection unit includes at least one of a state of a road surface on which the host vehicle travels, a travel time zone of the host vehicle, weather information on a region in which the host vehicle travels, and a travel speed of the host vehicle. May be detected as the environment.
- the other vehicle includes a subsequent vehicle that runs behind the host vehicle.
- the driver state detection unit detects a side view state of the driver.
- the driver state detection unit may include a photographing unit that detects a driver's image, and may detect the driver's side-view state based on the driver's image.
- the controller may perform the in-vehicle alarm operation after a predetermined time has elapsed after performing the out-of-vehicle alarm operation.
- the vehicle outside alarm operation preferably includes at least one of an operation of performing a predetermined display toward the other vehicle and an operation of outputting a predetermined sound toward the other vehicle.
- the vehicle outside alarm operation may include an operation of transmitting a signal for operating another alarm device provided in the other vehicle to the other vehicle.
- a collision avoidance method includes a step of detecting a state of a driver of the own vehicle, a step of detecting an environment related to the traveling of the own vehicle, and an alarm for other vehicles running around the own vehicle.
- a step of performing an out-of-vehicle alarm operation a step of performing an in-vehicle alarm operation regarding an alarm to a driver of the own vehicle, a step of detecting an environment of travel of the own vehicle, and setting a predetermined time based on the environment
- a warning is given to the other vehicle first, based on the traveling environment of the host vehicle.
- FIG. 1 is a functional block diagram of a collision avoidance system according to the first embodiment.
- FIG. 2 is a diagram schematically illustrating an example of a vehicle provided with the collision avoidance system according to the first embodiment.
- FIG. 3 is a diagram schematically showing the operation of the collision avoidance system shown in FIGS. 1 and 2.
- FIG. 4 is a diagram schematically illustrating an example of another vehicle that travels around the host vehicle of the collision avoidance system according to the present embodiment.
- FIG. 5 is a functional block diagram of the collision avoidance system according to the second embodiment.
- FIG. 6 is a diagram schematically illustrating an example of a vehicle provided with the collision avoidance system according to the second embodiment.
- FIG. 7 is a flowchart showing an example of a collision avoidance method by the collision avoidance system according to the present embodiment.
- FIG. 1 is a functional block diagram of a collision avoidance system according to the first embodiment.
- a collision avoidance system 1 according to the present embodiment is provided in a vehicle, and includes a driver state detection unit 21, an environment detection unit 22, a control device 30, an outside alarm device 40, and an in-vehicle alarm. Device 50.
- Driver state detector 21 detects the state of the driver of the vehicle. For example, the driver state detection unit 21 detects the driver's dozing state.
- the driver state detection unit 21 may include an electroencephalogram sensor that detects a driver's brain wave, and may detect the driver's sleep state based on the driver's brain wave.
- the driver's dozing state may be detected based on at least one of the theta wave and alpha wave.
- the electroencephalogram is the total sum of electrical changes in the nerve cell population existing below the scalp or detected from electrodes placed on the skull.
- the driver state detection unit 21 further includes an electromyographic sensor that acquires the driver's electromyogram, and detects the driver's sleep state based on the driver's brain wave and electromyogram. Good.
- the driver's dozing state may be detected based on an electromyogram, an electroencephalogram theta wave, and an alpha wave. Note that the electromyogram is the sum of electrical changes associated with muscle contraction.
- the driver state detection unit 21 may include a photographing unit that detects a driver's image, and may detect the driver's sleep state based on the driver's image. For example, the driver's face may be photographed, and the image may be analyzed to determine whether the driver is dozing. More specifically, when the eye-closing time is longer than the driver's eye opening time, it can be determined that the driver is dozing.
- the driver state detection unit 21 includes a biological light measurement device that measures a change in blood dynamics in the driver's brain, and detects the driver's sleep state based on the change in blood dynamics in the driver's brain. Good.
- the driver's drowsiness state may be detected using the biological light measurement device described in Japanese Patent No. 3599426.
- the environment detection unit 22 detects the environment related to the traveling of the host vehicle.
- the environment detection unit 22 may detect the state of the road surface on which the vehicle is traveling.
- the road surface state for example, a light emitting element and a light receiving element are provided in the lower part of the body of the host vehicle. If the degree of polarization of reflected light from the road surface is close to “1”, the road surface is wet. If the degree is close to zero, it can be detected that the road surface is dry.
- the environment detection unit 22 may detect the possibility of freezing the road surface on which the vehicle is traveling. For example, if the vehicle body is equipped with a thermometer, the temperature is close to 0 ° C, and if the traveling time zone of the vehicle is winter and early morning, it is detected that the road surface may be frozen. it can.
- the environment detection unit 22 may obtain weather information of a region where the host vehicle travels and detect the state of the road surface on which the host vehicle travels. For example, it is possible to detect that the road surface may be wet by acquiring weather information indicating that it is raining in an area where the vehicle is traveling. Further, for example, by acquiring weather information that snow is falling in the area where the vehicle is traveling, it can be detected that there is a possibility that snow is attached to the road surface. Furthermore, it is possible to detect rain or snow depending on the operation state of the wiper of the vehicle.
- the environment detection unit 22 may detect the traveling speed of the own vehicle.
- the traveling speed of the host vehicle can be detected by a speedometer.
- the environment detection unit 22 is at least one of the state of the road surface on which the host vehicle travels, the traveling time zone of the host vehicle, the weather information of the region in which the host vehicle travels, and the traveling speed of the host vehicle. Detect one.
- the control device 30 includes a driver state determination unit 31, an outside alarm device control unit 32, an in-vehicle alarm device control unit 33, a time setting unit 34, and a time determination unit 35.
- the driver state determination unit 31 determines the state of the driver based on the detection result of the driver state detection unit 21. For example, when the detection result of the driver state detection unit 21 is outside a predetermined range, the driver state determination unit 31 determines that the driver is in a doze state.
- the outside alarm device control unit 32 controls the outside alarm device 40 and performs an alarm operation related to an alarm toward other vehicles running around the host vehicle.
- the in-vehicle alarm device control unit 33 controls the in-vehicle alarm device 50 to perform an alarm operation related to the alarm for the driver of the own vehicle.
- the time setting unit 34 sets a predetermined time based on the environment detected by the environment detection unit 22.
- the predetermined time set by the time setting unit 34 is the time from the time when the alarm operation by the vehicle outside alarm device 40 is performed to the time when the alarm operation by the in-vehicle alarm device 50 is performed.
- the time setting unit 34 sets a predetermined time determined by the time determination unit 35 based on the result detected by the environment detection unit 22.
- the time setting unit 34 is based on at least one of the state of the road surface on which the host vehicle travels, the traveling time zone of the host vehicle, the weather information of the region in which the host vehicle travels, and the traveling speed of the host vehicle.
- a predetermined time determined by the time determination unit 35 is set.
- the time setting unit 34 sets the predetermined time longer if the road surface condition is such that the braking distance on the road on which the vehicle is traveling becomes longer. For example, when the environment detection unit 22 detects that the road surface is wet, the time setting unit 34 sets the predetermined time longer than that on the dry road surface. By doing so, it is possible to sufficiently secure the time from the warning to the outside of the vehicle to the warning to the inside of the vehicle, and to sufficiently secure the operation time of other vehicles traveling around the own vehicle. Thereby, the possibility of collision avoidance can be increased.
- the time setting unit 34 sets the predetermined time longer than when the road surface is not frozen. By doing so, it is possible to sufficiently secure the time from the warning to the outside of the vehicle to the warning to the inside of the vehicle, and to sufficiently secure the operation time of other vehicles traveling around the own vehicle. Thereby, the possibility of collision avoidance can be increased.
- the time setting unit 34 sets the predetermined time longer than when detecting that the host vehicle is traveling at a low speed. By doing so, it is possible to sufficiently secure the time from the warning to the outside of the vehicle to the warning to the inside of the vehicle, and to sufficiently secure the operation time of other vehicles traveling around the own vehicle. Thereby, the possibility of collision avoidance can be increased.
- the predetermined time may be set by the time setting unit 34, or the driver may change the set value.
- the time determination unit 35 determines the time that has elapsed since the time when the vehicle warning device 40 warned other vehicles.
- the time determination unit 35 activates the in-vehicle alarm device 50 when the predetermined time set by the time setting unit 34 elapses from the time when the vehicle outside alarm device 40 gives a warning to the other vehicle, to the driver of the own vehicle. Warning.
- the outside alarm device 40 performs an alarm operation related to an alarm toward other vehicles running around the host vehicle.
- the vehicle outside alarm device 40 includes a warning display unit 41, a warning sound output unit 42, and a warning signal transmission unit 43.
- the warning display unit 41 performs a warning by lighting a lamp or displaying an image, for example.
- the lamp is not limited to the lamp originally provided in the vehicle in order to satisfy the traffic regulations.
- the image may be displayed by blinking the lamp (for example, blinking the brake lamp) in addition to lighting the lamp.
- the image is displayed by, for example, displaying a predetermined message on a known LED display device or liquid crystal display.
- the warning sound output unit 42 issues a warning by outputting a warning sound.
- the warning sound includes synthesized speech.
- the warning signal transmission unit 43 wirelessly transmits a warning signal for operating another alarm device provided in another vehicle such as the following vehicle to the vehicle.
- the vehicle that has received the warning signal from the warning signal transmission unit 43 operates an alarm device provided in the host vehicle and warns the driver of the host vehicle.
- the in-vehicle warning device 50 performs a warning operation related to a warning to the driver of the own vehicle.
- the in-vehicle warning device 50 includes a warning display unit 51, a warning sound output unit 52, and a warning vibration unit 53.
- the warning display unit 51 performs a warning by turning on a lamp or displaying an image, for example.
- the image is displayed by, for example, displaying a predetermined message on a known LED display device or liquid crystal display.
- the image may be displayed on the liquid crystal display of the navigation device.
- the warning sound output unit 52 issues a warning by outputting a warning sound.
- the warning sound includes synthesized speech.
- the warning vibration unit 53 gives a warning by vibrating the equipment in the vehicle. For example, a part of a steering handle held by the driver is vibrated to warn the driver.
- FIG. 2 is a diagram schematically illustrating an example of a vehicle provided with the collision avoidance system according to the present embodiment.
- the host vehicle 10 is a four-wheeled vehicle.
- the own vehicle 10 has two front wheels 12F and two rear wheels 12R.
- the own vehicle 10 has a driver's cab in which the driver is boarded.
- the host vehicle 10 may be a vehicle other than a four-wheel vehicle.
- FIG. 3 is a diagram schematically showing the operation of the collision avoidance system according to this embodiment.
- the own vehicle 10 travels in the direction of the arrow Y1
- the following vehicle 100 travels in the direction of the arrow Y2.
- the outside alarm device 40 performs a warning operation.
- the warning operation performed by the outside alarm device 40 includes warnings by lighting of lamps and image display by the warning display unit 41, warnings by the warning sound output by the warning sound output unit 42, and transmission of warning signals by the warning signal transmission unit 43. At least one of the warnings in the car alarm device.
- the warning by lighting the lamp and displaying the image by the warning display unit 41 is a warning appealing to the driver of the following vehicle 100.
- the warning by the warning sound output from the warning sound output unit 42 is a warning appealing to the hearing of the driver of the succeeding vehicle 100.
- the warning signal transmitted by the warning signal transmitting unit 43 is received by the warning signal receiving unit 110 of the succeeding vehicle 100. Thereby, in the following vehicle 100, a warning appealing to the driver's vision or hearing can be given.
- the warning may be given not only to the following vehicle 100 but also to a parallel running vehicle running on the left side or the right side of the own vehicle 10 (including diagonally forward and diagonally backward).
- the parallel running vehicle running on the left side or the right side (including diagonally forward and diagonally rearward) of the following vehicle 100 or the host vehicle 10 may warn other vehicles traveling further rearward.
- FIG. 4 is a diagram schematically illustrating an example of another vehicle that travels around the host vehicle of the collision avoidance system according to the present embodiment.
- FIG. 4 is a diagram illustrating an example when the other vehicle is a subsequent vehicle.
- the succeeding vehicle 100 is a four-wheeled vehicle.
- the succeeding vehicle 100 has two front wheels 12F and two rear wheels 12R.
- the succeeding vehicle 100 has a driver's cab in which the driver is boarded.
- the following vehicle 100 includes a warning signal receiving unit 110, a control device 130, and an in-vehicle warning device 150 in the vehicle body 11.
- the following vehicle 100 may be a vehicle other than a four-wheel vehicle.
- the warning signal receiving unit 110 is disposed on the front part 13F of the vehicle body 11, and receives the warning signal transmitted by the host vehicle 10 in FIG.
- the warning signal receiving unit 110 activates the control device 130 when receiving the warning signal.
- the control device 130 is activated by the warning signal receiving unit 110 and controls the in-vehicle warning device 150 to warn the driver of the following vehicle 100.
- the in-vehicle warning device 150 is disposed at the rear portion 13R of the vehicle body 11 and includes a warning display unit 151 and a warning sound output unit 152.
- the warning display unit 151 gives a warning to the driver of the succeeding vehicle 100 by lighting a lamp or displaying an image.
- the warning sound output unit 152 issues a warning to the driver of the succeeding vehicle 100 by outputting a warning sound.
- the warning sound includes synthesized speech.
- the driver state detection unit 21 detects the state of the driver of the own vehicle 10.
- the driver state determination unit 31 determines whether the driver state detected by the driver state detection unit 21 is a dozing state.
- the environment detection unit 22 detects an environment related to the traveling of the host vehicle 10.
- the time setting unit 34 sets a predetermined time based on the environment detected by the environment detection unit 22.
- the outside alarm device control unit 32 activates the outside alarm device 40.
- the outside alarm device 40 warns other vehicles.
- the vehicle alarm device control unit 33 activates the vehicle alarm device 50.
- the in-vehicle warning device 50 gives a warning to the driver of the own vehicle. Therefore, the alarm device 40 outside the vehicle warns other vehicles, and after a predetermined time has elapsed, the vehicle alarm device 50 warns the driver of the vehicle.
- the vehicle outside warning device 40 warns the other vehicle before the warning, so that the other vehicle appropriately operates the brake or accelerator or the steering operation. Can be expected, and collisions can be avoided.
- FIG. 5 is a functional block diagram of the collision avoidance system according to the second embodiment. 5, the collision avoidance system 1 according to the present embodiment further includes a distance measurement unit 23 and a distance determination unit 36 in addition to the collision avoidance system according to the first embodiment described with reference to FIGS. 1 and 2. This is the configuration.
- the distance measuring unit 23 measures the distance between the vehicle (own vehicle) and another vehicle traveling around the vehicle without contact.
- the vehicle that travels around the host vehicle is, for example, a following vehicle that runs behind the host vehicle, a parallel vehicle that runs beside the host vehicle (left side or right side), or both the following vehicle and the parallel vehicle.
- the subsequent vehicle to be measured by the distance measuring unit 23 may be a vehicle that runs diagonally backward, for example, other than a vehicle that runs immediately after the host vehicle.
- the parallel running vehicle to be measured by the distance measuring unit 23 may be, for example, a vehicle running diagonally forward.
- the measurement by the distance measurement unit 23 is performed at a predetermined cycle (for example, every second).
- the distance measuring unit 23 includes a radar device (millimeter wave radar device, Doppler radar device).
- the radar device can transmit a radio wave (or ultrasonic wave), receive a radio wave (or ultrasonic wave) reflected by an object, and measure the distance between the own vehicle and another vehicle.
- the distance measuring unit 23 may include at least one of a laser scanner and a three-dimensional distance sensor.
- the distance measurement unit 23 may include an imaging device (camera) that can acquire an optical image of an object and detect the object in a non-contact manner.
- the distance measuring unit 23 includes an imaging device, the distance may be measured based on the captured image. For example, the distance between the host vehicle and the other vehicle can be obtained based on the size of the other vehicle included in the photographed image.
- the measurement by the distance measurement unit 23 is performed at a predetermined cycle (for example, every second).
- the distance determination unit 36 determines whether or not the distance between the host vehicle and another vehicle traveling around the host vehicle measured by the distance measuring unit 23 is within a predetermined range (for example, within 20 meters). When the distance between the host vehicle and the other vehicle measured by the distance measuring unit 23 is within a predetermined range (for example, within 20 meters), the distance determining unit 36 and the vehicle outside alarm device control unit 32 and the vehicle interior alarm device The control unit 33 is activated.
- the vehicle outside alarm device control unit 32 gives a warning by the vehicle outside alarm device 40
- the vehicle interior alarm device control unit 33 gives a warning by the vehicle inside alarm device 50.
- the distance determining unit 36 is used as an outside alarm device.
- the control unit 32 and the vehicle alarm device control unit 33 are not activated. For this reason, the in-vehicle warning device control unit 33 does not give a warning by the in-vehicle warning device 50.
- FIG. 6 is a diagram schematically illustrating an example of a vehicle provided with the collision avoidance system according to the present embodiment.
- the vehicle body 11 according to the present embodiment has a configuration in which a distance measuring unit 23 is added to the configuration described with reference to FIG. 2. That is, the host vehicle 10 includes a distance measuring unit 23 disposed at the rear portion 13R of the vehicle body 11. For this reason, the distance measuring unit 23 can detect the distance from the own vehicle 10 to the following vehicle running behind the own vehicle 10 in a non-contact manner.
- the distance measurement unit 23 may detect the distance to a vehicle that runs diagonally backward or sideways, for example, in a non-contact manner, other than the vehicle that runs immediately behind the host vehicle.
- the driver state detection unit 21 detects the state of the driver of the own vehicle 10.
- the driver state determination unit 31 determines whether the driver state detected by the driver state detection unit 21 is a dozing state.
- the distance determination unit 36 is measured by the distance measurement unit 23 and the other vehicle that travels around the host vehicle. Is determined to be within a predetermined range.
- the environment detection unit 22 detects an environment related to the traveling of the host vehicle 10.
- the time setting unit 34 sets a predetermined time based on the environment detected by the environment detection unit 22.
- the outside alarm device control unit 32 activates the outside alarm device 40.
- the outside alarm device 40 warns other vehicles.
- the vehicle alarm device control unit 33 activates the vehicle alarm device 50.
- the in-vehicle warning device 50 gives a warning to the driver of the own vehicle. Therefore, the alarm device 40 outside the vehicle warns other vehicles, and after a predetermined time has elapsed, the vehicle alarm device 50 warns the driver of the vehicle.
- the vehicle outside alarm device control unit 32, the vehicle interior alarm device control unit 33 does not activate the outside alarm device 40 and the inside alarm device 50. For this reason, the vehicle outside alarm device 40 and the vehicle interior alarm device 50 do not give a warning.
- the vehicle warning device 40 warns other vehicles such as subsequent vehicles before the warning. Therefore, it can be expected that the driver of the other vehicle appropriately operates the brake or the accelerator or the steering, and the collision can be avoided.
- the collision avoidance system unlike the first embodiment, when the distance between the host vehicle and the other vehicle exceeds a predetermined range, it is considered that there is almost no possibility of a collision accident. Since there is no need to issue a warning, the warning by the outside alarm device 40 and the inside alarm device 50 is not performed. For this reason, it can prevent performing useless warning.
- the driver state detection unit 21 and the driver state determination unit 31 may detect and determine the elapsed time from the driving start time. For example, when the host vehicle 10 is a rental car, the driver may not be used to driving the host vehicle 10 immediately after the start of driving (the elapsed time from the driving start time is short). By giving a warning to the vehicle, a sufficient time can be secured for the other vehicle to properly operate the brake or accelerator or the steering, and a collision can be avoided. Further, when the host vehicle 10 is a rental car, the predetermined time set by the time setting unit 34 may be set longer than when the host vehicle 10 is not a rental car.
- Modification 2 You may make it perform the warning to another vehicle according to a driver
- Modification 3 When an incoming call is received by a mobile phone or a smartphone while driving, a warning may be given to another vehicle.
- the vehicle alarm device 50 warns the other vehicle by the vehicle alarm device 40 and then the vehicle alarm device 50 Since a warning is given to the driver of the host vehicle 10, it can be expected that the other vehicle appropriately operates the brake or the accelerator or the steering, and a collision can be avoided.
- the ring tone can be detected by providing a microphone in the vehicle.
- the driver state detection unit 21 and the driver state determination unit 31 may detect and determine other driver states in addition to the dozing state. For example, after detecting the driver's side-viewing state and the state of occurrence of seizures of the driver's chronic disease (e.g., epilepsy) and warning the other vehicle by the outside alarm device 40, the in-vehicle alarm device 50 causes the vehicle 10 to A warning may be given to the driver.
- the driver's side-view state can be detected by photographing and analyzing the driver's face.
- the driver's chronic seizure can be detected by, for example, an electromyogram.
- FIG. 7 is a flowchart showing an example of a collision avoidance method by the collision avoidance system according to the present embodiment.
- the driver state detection unit 21 detects the state of the driver of the host vehicle 10 (step S101).
- the driver state determination unit 31 determines whether or not the driver state detected by the driver state detection unit 21 is a dozing state (step S102).
- the distance determination unit 36 measures the host vehicle and its surroundings measured by the distance measurement unit 23. It is determined whether the distance from the other vehicle traveling on the vehicle is within a predetermined range (step S103).
- the environment detection unit 22 detects an environment related to the traveling of the host vehicle. (Step S104). Furthermore, the time setting unit 34 sets a predetermined time based on the environment detected by the environment detection unit 22 (step S105).
- the vehicle outside alarm device control unit 32 activates the vehicle outside alarm device 40 and issues a warning (step S106).
- the time determination unit 35 determines whether or not a predetermined time set by the time setting unit 34 has elapsed (step S107).
- the vehicle alarm device control unit 33 activates the vehicle alarm device 50 and issues a warning (step S108).
- step S109 it is determined whether or not the processing by the present system is finished. If the process by the system is complete (Yes in step S109), the process by the system is terminated. If the process by the system is not finished (No in step S109), the system continues the process.
- step S102 determines in step S102 that the driver of the host vehicle 10 is not in a dozing state (No in step S102)
- the distance determination unit 36 determines whether the driver and the surroundings are in step S103. If it is determined that the distance from the traveling vehicle is not within the predetermined range (No in step S103), the process returns to step S101, and the system continues processing.
- step S107 when the time determination unit 35 determines that the predetermined time has not elapsed (No in step S107), the process returns to step S107, and the time determination unit 35 continues the determination process.
- step S103 may or may not be performed.
- the driver state determination unit 31 determines that the driver of the host vehicle 10 is asleep (Yes in step S102)
- the host vehicle Regardless of the distance between the vehicle and other vehicles traveling therearound
- the environment of the vehicle is detected (step S104) and a predetermined time is set (step S105).
- the device 40 is activated to give a warning (step S106), and after a predetermined time has elapsed (Yes in step S107), the vehicle alarm device controller 33 activates the vehicle alarm device 50 to give a warning (step S108).
- the process by step S104 and the process by step S105 may be performed before the process by step S101.
- the time setting unit 34 sets a predetermined time based on the environment detected by the environment detection unit 22 regardless of the driver's state, it is detected that the driver's state is a dozing state or the like. The time until the warning by the outside warning device 40 is performed can be further shortened.
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Abstract
Description
図1は、第1実施形態にかかる衝突回避システムの機能ブロック図である。図1において、本実施形態にかかる衝突回避システム1は、車両に設けられるものであり、運転者状態検出部21と、環境検出部22と、制御装置30と、車外警報装置40と、車内警報装置50とを備えている。
図5は、第2実施形態にかかる衝突回避システムの機能ブロック図である。図5において、本実施形態にかかる衝突回避システム1は、図1および図2を参照して説明した第1実施形態にかかる衝突回避システムに、さらに、距離測定部23および距離判定部36を追加した構成である。
運転者状態検出部21および運転者状態判定部31は、運転開始時刻からの経過時間を検出及び判定してもよい。例えば、自車10がレンタカーである場合、運転開始直後(運転開始時刻からの経過時間が短い)だと、運転者が自車10の運転に慣れていないことがあり、そのような場合に他車への警告を行うことにより、他車が適切にブレーキもしくはアクセルの操作またはステアリングの操作を行うための時間を十分に確保することができ、衝突を回避することができる。また、自車10がレンタカーである場合、時間設定部34が設定する所定時間を、自車10がレンタカーでない場合よりも長く設定してもよい。
運転者の属性に応じて他車への警告を行うようにしてもよい。例えば、運転歴、運転免許証の色(ゴールド免許かそれ以外かなど)、免許の種別(大型免許を持っているか否かなど)を運転者が予め入力しておき、時間設定部34が設定する所定時間を調整するようにしてもよい。
運転中の携帯電話機やスマートフォンに着信があった場合に、他車への警告を行うようにしてもよい。着信音が鳴ったことに反応して(驚いて)、運転者が急ブレーキや急ハンドルの操作を行った場合でも、車外警報装置40により他車に警告を行った後に、車内警報装置50により自車10の運転者に警告を行うため、他車が適切にブレーキもしくはアクセルの操作またはステアリングの操作を行うことが期待でき、衝突を回避することができる。着信音は、車内にマイクロフォンを設けておくことによって検出できる。
運転者状態検出部21および運転者状態判定部31は、居眠り状態に限らず、他の運転者状態を検出し、判定するようにしてもよい。例えば、運転者のわき見状態、運転者の持病(例えば、てんかん)の発作の発生状態を検出して、車外警報装置40により他車に警告を行った後に、車内警報装置50により自車10の運転者に警告を行うようにしてもよい。運転者のわき見状態は、運転者の顔を撮影して解析することによって検出できる。また、運転者の持病の発作は、例えば筋電図によって検出できる。
図7は、本実施形態にかかる衝突回避システムによる衝突回避方法の例を示すフローチャートである。図7において、運転者状態検出部21は、自車10の運転者の状態を検出する(ステップS101)。運転者状態判定部31は、運転者状態検出部21が検出した運転者の状態が、居眠り状態か否かを判定する(ステップS102)。
11 車体
12F 前輪
12R 後輪
13F 前部
13R 後部
21 運転者状態検出部
22 環境検出部
23 距離測定部
30、130 制御装置
31 運転者状態判定部
32 車外警報装置制御部
33 車内警報装置制御部
34 時間設定部
35 時間判定部
36 距離判定部
40 車外警報装置
41 警告表示部
42 警告音出力部
43 警告信号送信部
50、150 車内警報装置
51、151 警告表示部
52、152 警告音出力部
53 警告振動部
100 後続車
110 警告信号受信部
Claims (9)
- 自車の運転者の状態を検出する運転者状態検出部と、
前記自車の走行に関する環境を検出する環境検出部と、
前記自車の周囲を走る他車に向けて警報に関する車外警報動作を行う車外警報装置と、
前記自車の運転者への警報に関する車内警報動作を行う車内警報装置と、
前記運転者状態検出部によって検出した前記運転者の状態に基づいて、前記車外警報装置および前記車内警報装置を制御する制御部と、
を備え、
前記制御部は、
前記環境検出部が検出した環境に基づいて所定時間を設定し、かつ、
前記運転者の状態に基づいて、前記車外警報動作を行った後、さらに前記所定時間が経過した後に、前記車内警報動作を行うように、前記車外警報装置および前記車内警報装置を制御する
衝突回避システム。 - 前記環境検出部は、
前記自車の走行する路面の状態と、前記自車の走行時間帯と、前記自車の走行する地域の気象情報と、前記自車の走行速度と、の少なくとも1つを前記環境として検出する
請求項1に記載の衝突回避システム。 - 前記自車と前記他車との距離を測定する距離測定部をさらに備え、
前記制御部は、前記距離測定部によって測定された前記距離が所定範囲内である場合に、前記車外警報動作および前記車内警報動作を行うように、前記車外警報装置および前記車内警報装置を制御する
請求項1または2に記載の衝突回避システム。 - 前記他車は、自車の後方を走る後続車を含む
請求項1から請求項3のいずれか1項に記載の衝突回避システム。 - 前記運転者状態検出部は、前記運転者のわき見状態を検出する
請求項1から請求項4のいずれか1項に記載の衝突回避システム。 - 前記運転者状態検出部は、運転者の画像を検出する撮影部を含み、
前記運転者の画像に基づいて、前記運転者のわき見状態を検出する
請求項5に記載の衝突回避システム。 - 前記車外警報動作は、前記他車に向けて所定の表示を行う動作と、前記他車に向けて所定の音を出力する動作と、の少なくとも一方を含む
請求項1から請求項6のいずれか1項に記載の衝突回避システム。 - 前記車外警報動作は、前記他車内に設けられた他の警報装置を動作させるための信号を、該他車へ送信する動作を含む
請求項1から請求項7のいずれか1項に記載の衝突回避システム。 - 自車の運転者の状態を検出するステップと、
前記自車の走行に関する環境を検出するステップと、
前記自車の周囲を走る他車に向けて警報に関する車外警報動作を行うステップと、
前記自車の運転者への警報に関する車内警報動作を行うステップと、
前記自車の走行の環境を検出するステップと、
前記環境に基づいて、所定時間を設定するステップと、
を含み、
前記運転者の状態に基づいて、前記車外警報動作を行った後、前記所定時間後に、前記車内警報動作を行う
衝突回避方法。
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EP14909073.0A EP3239959B1 (en) | 2014-12-26 | 2014-12-26 | Collision avoidance system and collision avoidance method |
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JP2014561662A JP5880741B1 (ja) | 2014-12-26 | 2014-12-26 | 衝突回避システム及び衝突回避方法 |
PCT/JP2014/084578 WO2016103469A1 (ja) | 2014-12-26 | 2014-12-26 | 衝突回避システム及び衝突回避方法 |
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