WO2017051676A1 - 危険度指標変換装置 - Google Patents

危険度指標変換装置 Download PDF

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Publication number
WO2017051676A1
WO2017051676A1 PCT/JP2016/075467 JP2016075467W WO2017051676A1 WO 2017051676 A1 WO2017051676 A1 WO 2017051676A1 JP 2016075467 W JP2016075467 W JP 2016075467W WO 2017051676 A1 WO2017051676 A1 WO 2017051676A1
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Prior art keywords
index
state
risk index
risk
unit
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English (en)
French (fr)
Japanese (ja)
Inventor
太田　和宏
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Denso Corp
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Denso Corp
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Priority to DE112016004312.0T priority Critical patent/DE112016004312T5/de
Priority to US15/762,731 priority patent/US10220858B2/en
Publication of WO2017051676A1 publication Critical patent/WO2017051676A1/ja
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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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
    • 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
    • B60W40/02—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 ambient conditions
    • B60W40/04—Traffic conditions
    • 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
    • B60K31/00—Vehicle fittings, acting on a single sub-unit only, for automatically controlling vehicle speed, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator
    • 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
    • B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
    • B60W30/09—Taking automatic action to avoid collision, e.g. braking and steering
    • 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
    • B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
    • B60W30/095—Predicting travel path or likelihood of collision
    • 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
    • B60W30/14—Adaptive cruise control
    • B60W30/16—Control of distance between vehicles, e.g. keeping a distance to preceding vehicle
    • 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
    • B60W50/0097—Predicting future conditions
    • 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
    • G07—CHECKING-DEVICES
    • G07C—TIME OR ATTENDANCE REGISTERS; REGISTERING OR INDICATING THE WORKING OF MACHINES; GENERATING RANDOM NUMBERS; VOTING OR LOTTERY APPARATUS; ARRANGEMENTS, SYSTEMS OR APPARATUS FOR CHECKING NOT PROVIDED FOR ELSEWHERE
    • G07C5/00—Registering or indicating the working of vehicles
    • G07C5/08—Registering or indicating performance data other than driving, working, idle, or waiting time, with or without registering driving, working, idle or waiting time
    • G07C5/0841—Registering performance data
    • G07C5/085—Registering performance data using electronic data carriers
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/09—Arrangements for giving variable traffic instructions
    • G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
    • 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
    • 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
    • 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
    • B60W2050/146—Display means

Definitions

  • the present disclosure relates to a risk index conversion device that sets a risk index used for safe driving.
  • This type of driving support apparatus evaluates a risk index using various sensor information when following a preceding vehicle, for example, and supports driving based on the risk index (for example, notification of risk, brake control, etc.) I do.
  • the applicant according to the present application has proposed an approach / separation state evaluation index for evaluating an approach state with a preceding vehicle as a risk index (see, for example, Patent Document 1). Since this approach / separation state evaluation index is a risk index for setting and evaluating a virtual preceding vehicle, speed control without a sense of incongruity can be performed even if there is no preceding vehicle.
  • this type of risk index is, for example, a value that increases as the inter-vehicle distance decreases and the risk increases, and is continuously evaluated according to the inter-vehicle distance from the preceding vehicle. For this reason, it is inconvenient when, for example, the risk index is evaluated in stages and recognized by the driver.
  • a red, yellow, or green color is displayed, such as a traffic light, to notify the high, medium, and low levels of danger in stages.
  • a red, yellow, or green color is displayed, such as a traffic light
  • the risk index is likely to change according to various factors such as a driver's perception of risk, driving feeling, and driving skill. Therefore, even when the threshold value is set, it becomes difficult to finely divide the threshold level into high, medium, and low levels according to various factors related to the driver.
  • An object of the present disclosure is to provide a risk index conversion apparatus that can set a more appropriate risk index.
  • the state acquisition unit acquires the state of the vehicle
  • the index calculation unit calculates the risk index according to the vehicle state acquired by the state acquisition unit
  • the index conversion unit converts the risk index calculated by the index calculation unit by performing a correction operation using a threshold value and a continuous function value that continuously changes with the threshold as a reference. For this reason, it can convert into the value which changes continuously using a continuous function, and can set a more suitable risk index.
  • FIG. 1 is a block diagram schematically illustrating an example of an electrical configuration according to the first embodiment of the present disclosure.
  • FIG. 2 is a flowchart schematically showing the operation.
  • FIG. 3 is an explanatory diagram of an application example when a sigmoid function is used,
  • FIG. 4 is an explanatory diagram of an application example when a normal distribution is used.
  • FIG. 5 is a block diagram schematically illustrating an electrical configuration example according to the second embodiment of the present disclosure.
  • FIG. 6 is a flowchart schematically showing the operation.
  • FIG. 1 schematically shows an electrical configuration of an electronic control unit (ECU) 1 as a risk index conversion device and a driving support device.
  • the electronic control device 1 is mainly configured by a microcomputer including a control circuit 2 mainly including a CPU and a storage unit 3 serving as a non-transitional tangible recording medium.
  • a method corresponding to the program is executed by executing the program stored in the storage unit 3.
  • the storage unit 3 is constituted by, for example, a RAM, a ROM, an EEPROM, or the like. Note that some or all of the functions executed by the electronic control apparatus 1 may be configured by hardware using one or a plurality of ICs.
  • the electronic control device 1 is configured by connecting various sensor groups 4.
  • the sensor group 4 includes, for example, a position detector 5 that detects a position using GPS or the like, a parking brake sensor 6 that detects an operation state of a parking brake, a vehicle speed sensor 7 that detects the speed of the host vehicle, and a vehicle around the vehicle.
  • the sensor group 4 may include a wearable sensor for detecting the driving load of the driver.
  • the vehicle speed sensor 7 is configured to be able to detect the speed of the own vehicle.
  • the control circuit 2 of the electronic control device 1 executes a program stored in the storage unit 3, and as a functional block that operates by the program mainly using hardware, a state acquisition unit 10, an index calculation unit 11, an index conversion unit 12. Functions as other index calculation unit 13 and support method determination unit 14 are provided.
  • the state acquisition unit 10 calculates various types of information such as the speed Vo of the host vehicle, the inter-vehicle distance D, and the relative speed Vr from the sensor information of the sensor group 4, and acquires these as the vehicle state.
  • the state acquisition unit 10 calculates the speed Vo of the host vehicle using the vehicle speed sensor 7.
  • the state acquisition unit 10 calculates the inter-vehicle distance D with the preceding vehicle and the relative speed Vr with the preceding vehicle using the sensor group 4 such as the vehicle speed sensor 7, the camera 8, and the acceleration sensor 9, for example.
  • the index calculation unit 11 calculates a risk index according to the vehicle state acquired by the state acquisition unit 10.
  • the index conversion unit 12 uses a threshold value calculated by the index calculation unit 11 as a threshold value and a continuous function (for example, a probability density function or a cumulative distribution function) that continuously changes with reference to the threshold value.
  • the other index calculation unit 13 calculates another index for determining a support method other than the index calculated by the index calculation unit 12 and outputs it to the support method determination unit 14.
  • the support method determination unit 14 determines a support method based on the values calculated by the index conversion unit 12 and the other index calculation unit 13.
  • the electronic control device 1 is connected with an operation device 15, a display device 16, a sound output device 17, and a brake control unit 18.
  • the support method determining unit 14 determines a support method for each of these devices 15-18. decide.
  • the operation device 15 is provided for inputting various information using, for example, a touch panel provided on the display screen of the display device 16 and other mechanical switches. For example, for operating a navigation function of a navigation device (not shown). Provided.
  • the display device 16 is composed of a liquid crystal color display, for example, and displays various information (for example, warning information) based on a command from the control circuit 2 of the electronic control device 1.
  • the sound output device 17 is constituted by, for example, a speaker, and outputs various sounds (for example, warning sound and warning sound) based on a command from the electronic control device 1.
  • the brake control unit 18 is a block that executes, for example, hydraulic control of brake oil, and performs brake control based on a command from the control circuit 2 of the electronic control device 1.
  • the operation of the above configuration will be described with reference to the flowchart shown in FIG.
  • the present embodiment is characterized in that a value obtained by performing a correction calculation using a continuous function value that continuously changes with a threshold as a reference is set as a risk index after conversion.
  • the state acquisition unit 10 determines in step S ⁇ b> 1 the state of the host vehicle state such as the speed Vo of the host vehicle, the inter-vehicle distance D, and the relative speed Vr with the preceding vehicle according to the sensor information from the sensor group 4. Get information. Thereafter, the index calculation unit 11 calculates a risk index in accordance with the vehicle state in step S2.
  • a typical example of the risk index obtained in step S2 is a collision risk recognition index KdB shown in the following equation (1). This risk recognition index KdB is also known as an approach / separation state evaluation index.
  • the collision risk recognition index KdB is calculated using the inter-vehicle distance D and the relative speed Vr. At this time, the collision risk recognition index KdB for the preceding vehicle becomes higher as the inter-vehicle distance D becomes shorter, and the value of the risk index becomes larger.
  • the risk index calculated in step S2 is not limited to the collision risk recognition index KdB as long as it is a value obtained by formulating an index based on how the individual feels.
  • the inter-vehicle distance D may be used as it is, or a calculated value of the driver's driving load detected by a wearable sensor or the like, TTC (Time To Collision) may be used.
  • a composite index obtained by combining these indices according to a predetermined rule may be used.
  • a brake discriminant obtained from the speed Vp of the preceding vehicle, the relative speed Vr, and the inter-vehicle distance D may be used as the risk index.
  • a threshold value that is a boundary indicating a danger zone or the like is determined in advance in the risk index, and this threshold value is stored in the storage unit 3.
  • the threshold value here indicates a threshold value that serves as a criterion for determining whether or not the driver feels dangerous, for example, when the driver is driving the vehicle.
  • this threshold value since each driver
  • the risk index is a and the threshold is at
  • the risk level is increased by one step when the risk index a is equal to or greater than the threshold at.
  • a mathematical expression can be expressed using a step function. That is, a function that satisfies 1 when a ⁇ at and 0 when a ⁇ at can be used.
  • a step function a function that satisfies 1 when a ⁇ at and 0 when a ⁇ at can be used.
  • this risk index is adopted as it is, the risk will be very high. Even though it is expensive, it can be considered to be optimistic depending on the personality of the individual.
  • the index conversion unit 12 converts the risk index calculated in step S2 by performing a correction operation using a continuous function that continuously changes with the threshold as a reference in step S3.
  • a probability density function such as a Gaussian distribution or a lognormal distribution, or a cumulative density function or a sigmoid function having properties similar to this cumulative density function is used as the cumulative distribution function.
  • the driver is divided into a variety of cases, such as when judging the degree of danger more carefully or roughly, and it is convenient when considering mainly focusing on the feeling felt by the driver on average. Is the method.
  • the characteristics may vary depending on the individual, the characteristics may be changed by changing various parameters using a function having an inflection point. As this function, any function may be used as long as it is a continuously changing function.
  • FIG. 3 and 4 show examples of continuous functions f1 (x) to f3 (x) and g1 (x) to g3 (x) (hereinafter, for example, f1 (x) is abbreviated as f1) that change based on the threshold value.
  • f1 (x) is abbreviated as f1
  • FIG. 3 shows an example in which the standard sigmoid functions f1 to f3 are used as the cumulative distribution function.
  • FIG. 4 shows an example in which normal distribution functions g1 to g3 having a Gaussian distribution are used as probability density functions.
  • a plurality of threshold values x1, x2, and x3 are provided, and the continuous functions f1 to f3 and g1 to g3 are set to overlap each other between adjacent functions.
  • a sigmoid function based on the point of time when the risk index is a and the threshold is at can be used.
  • the following equation (2) is used: Can be expressed as
  • ⁇ represents a gain.
  • the threshold at and the gain ⁇ it is possible to express an increasing method according to the change of the risk index a from a function form close to a step function to a function form close to a straight line.
  • the gradient it is also possible to adjust the gradient by multiplying by.
  • the inflection point can be shifted by setting a bias to the threshold value at. Therefore, it is possible to configure to absorb individual differences by appropriately adjusting the settings of the sigmoid functions f1 to f3.
  • the sigmoid functions f1 to f3 it can be expressed as a continuous value while taking advantage of the characteristic that gradually changes from 0 to 1.
  • a final value may be obtained by multiplying and adding the coefficients of these functions.
  • b1 and b2 indicate the scores of risk indices that are determined in advance corresponding to the respective threshold values at1 and at2, and the score at the threshold value at1 is b1, and the score at the threshold value at2 is b2.
  • This step S3 indicates that the scores of these risk index are weighted and corrected. As a result, it can be reflected in the corrected numerical value of the risk index whether the risk index belongs to which region with the thresholds at1 and at2.
  • the probability of occurrence of a person who feels that the risk index a ⁇ 31 exceeds the threshold at1 is p1
  • the person who feels that the threshold at2 is exceeded The occurrence probability can be acquired as p2.
  • y b1 ⁇ p1 + b2 ⁇ p2
  • the probability density function can be considered as a differential function of the cumulative probability density function.
  • the risk index a is below the threshold at1
  • A is B
  • the state in the range of the threshold at1 to threshold at2 is B
  • the state above the threshold at2 is C
  • this final value is the state AC.
  • the support method determination unit 14 of the electronic control device 1 determines the level of risk (for example, the level of safety state, normal state, risk state, etc.) based on the risk index corrected and converted in step S3. In step S4, a support method is determined. When the support method is actually determined in step S4, the support method may be determined by combining other indexes calculated by the other index calculation unit 13.
  • the support method determination unit 14 of the electronic control device 1 causes the operation device 15, the display device 16, the sound output device 17, the brake control unit 18, and the like to perform the determined support method.
  • the display device 16 displays a warning by changing the color and the indicator stepwise in accordance with the risk index that has been corrected and converted.
  • the sound output device 17 outputs a warning sound according to a stepwise change in sound quality, volume, and audio content in accordance with the risk index that has been corrected and converted.
  • the operating device 15 regulates the operation of the navigation device according to the risk index that has been corrected and converted.
  • the brake control unit 18 performs brake control according to the risk index that is corrected and converted.
  • the state acquisition unit 10 acquires the state of the vehicle
  • the index calculation unit 11 calculates the risk index according to the vehicle state acquired by the state acquisition unit 10
  • the index conversion unit 12 The risk index calculated by the index calculation unit 11 is converted by performing a correction operation using a threshold value and a continuous function value that continuously changes with the threshold as a reference. For this reason, it becomes possible to convert the value into a continuously changing value using a continuous function, and a more appropriate risk index can be set.
  • An electronic control device 101 that replaces the electronic control device 1 includes a control circuit 102 that replaces the control circuit 2.
  • the control circuit 102 executes the program stored in the storage unit 3, so that the function acquisition unit 10, the index calculation unit 11, the index conversion unit 12, and other indexes are function blocks that operate by the program mainly using hardware. Functions as the calculation unit 13, the prediction unit 19, and the support method determination unit 14 are provided. Since the electronic control device 101 is different from the electronic control device 1 in that the prediction unit 19 is provided, the prediction unit 19 will be described, and the description of the configuration of other blocks will be omitted.
  • the prediction unit 19 determines the next support timing based on the vehicle state such as the speed Vo of the own vehicle at a certain point in time, acceleration information, the relative speed Vr with the preceding vehicle, and the risk index corrected and converted by the index conversion unit 12. This state is for predicting which state is to be changed at the time of, and is configured to predict the correction calculation at the time of the next support timing.
  • the prediction unit 19 predicts the state at the next time using the value converted by the index conversion unit 12 and performs a correction operation. At this time, the prediction unit 19 predicts a value that takes into account the past state by performing efficient training using a learning method such as a Bayes classifier.
  • state A is a safe state
  • state B is a warning state
  • state C is a dangerous state.
  • the warning state B is recognized, it is estimated that the danger is approaching when the safety state A shifts to the warning state B, but the safety state is safe when the danger state C shifts to the warning state B. Is estimated to be approaching. Therefore, even if the state at a certain point in time is the alert state B, it is desirable to change the support method between when approaching the dangerous state C and when moving away from the dangerous state C. That is, it becomes a more useful index by calculating the value of the risk index taking into account the past state.
  • step T1 the state acquisition unit 10 determines the information on the speed Vo of the own vehicle, the acceleration information, the inter-vehicle distance D with the preceding vehicle, and the relative speed Vr according to the sensor information from the sensor group 4.
  • Information on the vehicle state of the host vehicle is acquired as the previous vehicle state.
  • the vehicle state at time t1 is acquired.
  • the state acquisition part 10 memorize
  • the index calculation unit 11 calculates the risk index as a previous risk index according to the vehicle state information of the host vehicle at time t1.
  • the risk index for example, various indexes such as the risk recognition index KdB, the inter-vehicle distance D, the calculated value of the driving load, the TTC, or the brake discriminant shown in the above-described equation (1) can be applied.
  • step T4 the index conversion unit 12 corrects and converts the previous risk index calculated here with a threshold value and a function. Since the conversion process here is the same as the correction calculation process in step S3 of the first embodiment, a description thereof will be omitted.
  • the function is preferably a cumulative distribution function such as a sigmoid function or a probability density function such as a normal distribution.
  • step T5 the index conversion unit 12 stores the processed value converted by the correction calculation in step T4 in the storage unit 3.
  • step T6 the prediction unit 19 converts the information about the speed Vo of the own vehicle acquired at time t1, the acceleration information of the own vehicle, the previous vehicle state such as the relative speed Vr with the preceding vehicle, and the index conversion unit 12. Then, the state at the time t2 as a later time point is predicted and corrected from the risk index value stored in the storage unit 3 in step T5, so that the state transitions to the state at the next support timing time t2. Predict what to do. For example, when the probability density function is used, this correction calculation process is performed based on the driving situation at a certain time t1 at which time (for example, the safety state A, the warning state B, and the dangerous state C) at the time t2 of the next support timing. The probability of transition is calculated. That is, when the three states A to C are allocated in advance, it is possible to predict what state A to C will be transferred to at what time at the time t1 with what probability A to C.
  • step T7 the state acquisition unit 10 determines the vehicle's speed Vo information, acceleration information, inter-vehicle distance D, relative speed Vr relative to the preceding vehicle, etc. according to the sensor information from the sensor group 4.
  • the vehicle state information is acquired as the rear vehicle state, and is stored in the storage unit 3 in step T8.
  • step T9 the index calculation unit 11 calculates the risk index as a rear risk index according to the information on the vehicle state of the host vehicle at time t2.
  • the index conversion unit 12 converts the post-risk index calculated here by performing a correction operation using a threshold and a continuous function that continuously changes with the threshold as a reference, and stores the converted value in step T11.
  • the converted value calculated here is a state probability existing in the states A, B, and C.
  • step T12 the index conversion unit 12 performs a correction operation on the value after the conversion in step T11 in accordance with the correction operation that is predicted in step T6.
  • the index conversion unit 12 can reflect the state transition probability of shifting to the states A, B, and C at the time t1 in the converted value of the post-risk index.
  • a converted value converted using a known index for example, risk perception index KdB
  • the index conversion unit 12 multiplies the scores according to the states A, B, and C, adds them, and integrates them to finally make one numerical value.
  • the method for calculating this single numerical value is the same as in the first embodiment.
  • the post-risk index is converted to reflect the state transition probability of transitioning to each of the states A to C at the time t1 and the state probability existing in each of the states A to C at the time t2.
  • a numerical value can be obtained, and further, one numerical value reflecting the front vehicle state and the rear vehicle state can be obtained.
  • the support method determination unit 14 determines the level of risk (for example, the level of safety, normal, risk, etc.) based on the risk index corrected and converted in step T12, and the support method is determined in step T13. To decide.
  • the support method determination unit 14 causes the operation device 15, the display device 16, the sound output device 17, the brake control unit 18, and the like to perform the determined support method. At this time, these devices 15 to 18 perform step-by-step warning display, warning sound output, navigation device operation restriction, or brake control according to the risk index that has been corrected and converted.
  • the risk index value can be corrected by continuously predicting, and the support process can be continuously performed.
  • the form which calculates the risk index of the time t2 using the risk index of the immediately previous time t1 is shown, it is not limited to the timing of the immediately previous time t1 by performing in this way continuously, but the previous time It is also possible to determine a support method using a risk index at a timing before t1. In other words, the support method may be determined using at least one vehicle state and a risk index calculated according to these vehicle states.
  • the post-risk index at time t2 is corrected and converted using a threshold value and a function, and the value converted by correcting the risk index after this is converted,
  • the correction calculation is performed according to the correction calculation predicted by the prediction unit 19.
  • the post-risk index is converted to reflect the state transition probability of transitioning to each of the states A to C at the time t1 and the state probability existing in each of the states A to C at the time t2.
  • a numerical value can be obtained, and one numerical value reflecting the front vehicle state and the rear vehicle state can be set as a risk index, and a support method can be determined based on this numerical value. Thereby, a more appropriate risk index can be set.
  • a mode in which the value after the risk index correction processing is calculated based on the state transition probability at the previous time point t1 and the state probability observed at the time point t2 is shown. Based on the state transition probability at t1 and the state probability observed at the current time t2, the state probability considering the state at the past time point t1 may be obtained, and then the value after the risk index correction processing may be obtained.

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US10220858B2 (en) 2019-03-05

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