WO2017061500A1

WO2017061500A1 - Driving condition detection apparatus

Info

Publication number: WO2017061500A1
Application number: PCT/JP2016/079687
Authority: WO
Inventors: 三島　康之
Original assignee: いすゞ自動車株式会社
Priority date: 2015-10-07
Filing date: 2016-10-05
Publication date: 2017-04-13
Also published as: JP2017072962A; JP6582844B2

Abstract

A driving condition detection apparatus 10 according to the present invention comprises a first acquisition unit 121 that acquires a plurality of vehicle position information that indicates a position of a vehicle 1, a second acquisition unit 122 that acquires linear information that indicates a linear shape of the road on which the vehicle 1 is travelling, and a detection unit 123 that detects the driving condition of the vehicle 1 being in an unsteady state on the basis of the vehicle position information and the linear information. The linear information comprises a plurality of road position information indicating road positions, and the detection unit 123 detects an unsteady state on the basis of changes in the difference between the position of the vehicle 1 indicated by the respective plurality of vehicle position information and the road position corresponding to the position of the vehicle 1.

Description

Operating state detection device

This disclosure relates to a driving state detection device.

Conventionally, based on information acquired by a sensor provided in a vehicle, it is performed to determine a driving state of the vehicle such as a driver's dozing state or a wobbling state of driving operation. For example, in Patent Document 1, a travel locus of a vehicle is calculated based on the yaw rate and the vehicle speed of the vehicle detected by the yaw rate sensor and the vehicle speed sensor included in the vehicle, and the travel locus and the travel path of the vehicle acquired from the navigation system are calculated. An apparatus for detecting a driver's dozing state based on road alignment is disclosed.

Japanese Unexamined Patent Publication No. 2010-102538

However, the traveling locus of the vehicle calculated by the sensor is merely an estimate, and there is a problem that an accurate traveling locus cannot always be obtained. For this reason, the apparatus in Patent Document 1 has a problem that it may erroneously detect the driving state of the vehicle.

Therefore, the present disclosure has been made in view of these points, and an object thereof is to provide a driving state detection device that can accurately detect the driving state of a vehicle.

In the aspect of the present disclosure, the driving state detection device includes a first acquisition unit that acquires a plurality of vehicle position information indicating the position of the vehicle, and a second information that acquires the linear information indicating the alignment of the road on which the vehicle is traveling. An acquisition means, and a detection means for detecting that the driving state of the vehicle is a wobble state based on the vehicle position information and the linear information.
By doing in this way, the driving state detection device acquires vehicle position information indicating the position of the vehicle without estimating the position of the vehicle using the sensor, and detects the wobbling state based on the vehicle position information. The driving state of the vehicle can be detected with high accuracy.

The linear information includes a plurality of road position information indicating a road position, and the detection unit changes a difference between a vehicle position indicated by each of the plurality of vehicle position information and a road position corresponding to the vehicle position. The wobbling state may be detected based on the above.
When the vehicle is in a wobble state, the vehicle does not travel with a certain distance from the center line or white line of the road, and the difference between the road position and the vehicle position changes greatly. Therefore, the driving state detection device can accurately detect the wobbling state by using the change in the difference.

The detection means extracts a first feature point indicating at least one of an apex and an inflection point in a traveling locus of the vehicle based on a plurality of the vehicle position information, and an apex in the road linearity based on the linear information And a second feature point indicating at least one of the inflection points is extracted, and the wobbling state is detected based on the relationship between the extracted plurality of first feature points and the plurality of second feature points. Good.
By doing in this way, the driving | running state detection apparatus can detect a wobble state efficiently based only on the feature point which shows the characteristic of the driving | running | working locus | trajectory of a vehicle and the linear shape of a road.

The detecting means detects the wobbling state based on a trajectory pattern included in a travel trajectory of the vehicle based on a plurality of the vehicle position information and a linear pattern included in the alignment of the road based on the linear information. May be.
By doing in this way, the driving | running state detection apparatus can detect a wobble state easily by comparing patterns.

The detection means performs frequency analysis on a traveling locus of the vehicle based on a plurality of the vehicle position information, performs frequency analysis on the linearity of the road based on the linear information, and performs the wobbling state based on a difference in each frequency distribution. May be detected.
By doing in this way, the driving | running state detection apparatus can identify the frequency component corresponding to wandering based on the difference of each frequency distribution, and can detect a wandering state accurately.

In another aspect of the present disclosure, the driving state detection device includes a processor and a memory in which a command is recorded. When the command is executed by the processor, the driving state detection device performs the following operation on the driving state detection device. Let it run:
A plurality of vehicle position information indicating the position of the vehicle is acquired using a position information acquisition device mounted on the vehicle,
With reference to the map information stored in the memory, linear information including road position information corresponding to the vehicle position indicated by the acquired vehicle position information is acquired,
Based on the vehicle position information and the linear information, it is detected that the driving state of the vehicle is a wobbling state.

According to the present disclosure, there is an effect that the driving state of the vehicle can be detected with high accuracy.

FIG. 1 is a diagram illustrating a configuration of an operation state detection device. FIG. 2 is a diagram illustrating an example of calculating a difference between a vehicle position and a road position. FIG. 3 is a flowchart illustrating a processing procedure when the driving state detection device detects a wobbling state. FIG. 4 is a diagram illustrating an example in which a wobbling state is detected based on a trajectory pattern and a linear pattern. FIG. 5A is a diagram illustrating an example of a linear frequency distribution of a road corresponding to linear information. FIG. 5B is a diagram illustrating an example of the frequency distribution of the travel locus when the fluctuation is small. FIG. 5C is a diagram illustrating an example of the frequency distribution of the travel locus when the fluctuation is large.

[Configuration of Driving State Detection Device 10]
Hereinafter, the driving | running state detection apparatus 10 which concerns on one Embodiment of this indication is demonstrated. FIG. 1 is a diagram illustrating a configuration of the driving state detection device 10. The driving state detection device 10 is, for example, a computer that is mounted on the vehicle 1 and detects that the driving state of the vehicle 1 is a wobbling state.
The driving state detection device 10 includes a storage unit 11 that includes a RAM, a ROM, and the like, and a control unit 12 that includes a CPU (Central Processing Unit) and the like.

The storage unit 11 stores various programs for causing the control unit 12 to function. The storage unit 11 stores digital map information used in the navigation system of the vehicle 1. The digital map information includes a plurality of pieces of linear information indicating the road alignment. Each of the plurality of linear information includes, for example, a plurality of road position information indicating the road position corresponding to the position of the center line of the road and the lane position of the road. In this specification, “linear” means the shape of a line, and “road alignment” means the shape of a line connecting the center line or lane position of the road.

As illustrated in FIG. 1, the control unit 12 includes a first acquisition unit 121, a second acquisition unit 122, a detection unit 123, and a notification unit 124.
The first acquisition unit 121 acquires a plurality of vehicle position information indicating the position of the vehicle 1 (hereinafter referred to as a vehicle position). Specifically, the first acquisition unit 121 uses a global navigation satellite system (GNSS) used in a navigation system (not shown) of the vehicle 1 to perform a predetermined time ( For example, by receiving vehicle position information from an artificial satellite every 100 ms), a plurality of vehicle position information is acquired.

The second acquisition unit 122 acquires linear information indicating the alignment of the road on which the vehicle 1 is traveling. Specifically, when the first acquisition unit 121 acquires the vehicle position information, the second acquisition unit 122 refers to the digital map information stored in the storage unit 11 and sets the vehicle position indicated by the acquired vehicle position information. Linear information including corresponding road position information is acquired. For example, the second acquisition unit 122 compares a line formed by connecting a plurality of vehicle positions (hereinafter referred to as “traveling locus”) with a road position indicated by the plurality of road position information, and determines a predetermined amount from the traveling locus. Linear information indicating a road position within the distance is acquired. When there are a plurality of pieces of linear information including road position information corresponding to the vehicle position, the second acquisition unit 122 identifies the traveling direction of the vehicle 1 based on the plurality of vehicle position information acquired by the first acquisition unit 121. Then, linear information corresponding to the specified traveling direction is acquired from the plurality of linear information having different directions.

Note that the second acquisition unit 122 may acquire linear information at a time interval longer than the time interval at which the first acquisition unit 121 acquires vehicle position information.
In addition, when the vehicle 1 includes a communication unit that performs wireless communication with an external device or the like, the second acquisition unit 122 may acquire linear information from the external device via the communication unit.

The detection part 123 detects that the driving | running state of the vehicle 1 is a wobble state based on the acquired vehicle position information and linear information. Specifically, the detection unit 123 is a road corresponding to the vehicle position among the vehicle position indicated by each of the plurality of vehicle position information and the plurality of road positions included in the linear information acquired by the second acquisition unit 122. A difference from the position is calculated, and based on the magnitude of the difference, it is detected that the driving state is a wobbling state.

FIG. 2 is a diagram showing an example of calculating the difference between the vehicle position and the road position. In FIG. 2, a line LV is a travel locus of the vehicle 1, and a line LR is a linear shape of a road on which the vehicle 1 travels. In the line LV, vehicle positions PV1, PV2, PV3, PV4, and PV5 corresponding to each of the plurality of vehicle position information acquired by the first acquisition unit 121 are shown. The line LR shows a plurality of road positions PR1, PR2, PR3, PR4 and PR5 included in the linear information.

The detection unit 123 calculates the difference in position from the nearest road position for each of the plurality of vehicle positions PV1, PV2, PV3, PV4, and PV5. In the example illustrated in FIG. 2, the detection unit 123 includes a difference E1 between the vehicle position PV1 and the road position PR1, a difference E2 between the vehicle position PV2 and the road position PR2, a difference E3 between the vehicle position PV3 and the road position PR3, and the vehicle position. A difference E4 between PV4 and road position PR4 and a difference E5 between vehicle position PV5 and road position PR5 are calculated.

The detection unit 123 detects a wobbling state based on a change in the difference calculated for each of a plurality of vehicle position information acquired within a predetermined time from the current time. Specifically, the detection unit 123 changes the difference between two differences calculated for the adjacent vehicle positions for each of the vehicle positions corresponding to a plurality of vehicle position information acquired within a predetermined time from the current time. Is calculated. In the example shown in FIG. 2, the detection unit 123 uses, as the change amount, the absolute value of the difference E1−the difference E2, the absolute value of the difference E2−the difference E3, the absolute value of the difference E3−the difference E4, and the absolute value of the difference E4−the difference E5. Calculate the value.

The detection unit 123 detects the wobbling state when the total of the plurality of calculated change amounts is larger than a predetermined amount. In this case, the detection unit 123 detects the wobbling state on condition that the maximum value of the calculated change amount exceeds the first threshold value and the minimum value of the calculated change amount is equal to or less than the second threshold value. May be. By doing in this way, the driving | running state detection apparatus 10 can detect a wobbling state accurately based on the vehicle position changing with respect to the position of the road which linear information shows.

The notification unit 124 notifies the driver of the vehicle 1 that the wobbling state has been detected in response to the detection unit 123 detecting the wobbling state. For example, the notification unit 124 outputs a warning sound indicating that a wobbling state is detected from a speaker (not shown) provided in the vehicle 1, or a display (not shown) of a navigation system provided in the vehicle 1. By displaying a warning screen indicating that the wobbling state has been detected, the driver of the vehicle 1 is informed that the wobbling state has been detected.
By doing in this way, the driving | running state detection apparatus 10 can make the driver of the vehicle 1 recognize that it is a wobble state, and can concentrate on a driving | operation.

[Flowchart for detection of wobbling state]
FIG. 3 is a flowchart showing a processing procedure when the driving state detection device 10 detects a wobbling state.

First, the first acquisition unit 121 acquires vehicle position information (S10).
Subsequently, the second acquisition unit 122 acquires one piece of linear information from the digital map information stored in the storage unit 11 based on the vehicle position information acquired in S10 (S20).

Subsequently, the detection unit 123 specifies a road position corresponding to the vehicle position indicated by the vehicle position information acquired in S10 among the plurality of road positions included in the acquired linear information (S30).
Subsequently, the detection unit 123 calculates a difference between the vehicle position and the road position (S40).

Subsequently, the detection unit 123 determines whether or not the change amount of the difference calculated for each of the plurality of vehicle position information acquired within a predetermined time from the current time is greater than a predetermined amount ( S50). The detection unit 123 moves the process to S10 when the change amount of the difference is equal to or smaller than the predetermined amount, and moves the process to S60 when the change amount of the difference is larger than the predetermined amount.
The notification unit 124 notifies the driver of the vehicle 1 that the wobbling state has been detected in S60, and then moves the process to S10.

(Variation 1 of the detection method of the wobbling state)
In the above-described embodiment, the detection unit 123 detects the wobbling state based on the change in the difference between the vehicle position indicated by each of the plurality of vehicle position information and the road position corresponding to the vehicle position. Absent.

The detection unit 123 extracts a first feature point indicating at least one of a vertex and an inflection point in a curve indicated by a travel locus of the vehicle 1 based on a plurality of vehicle position information, and the road linearity based on the linear information is detected. A second feature point indicating at least one of a vertex and an inflection point is extracted from the curve shown, and a wobbling state is detected based on the relationship between the extracted first feature points and the plurality of second feature points. May be.

In this case, the detection unit 123 detects a wobbling state when the number of the extracted first feature points is different from the number of the extracted second feature points, or the position indicated by the plurality of first feature points. And the wobbling state is detected based on the difference between the positions of the plurality of second feature points. By doing in this way, the driving | running state detection apparatus 10 can detect a wobbling state efficiently only based on the feature point which shows the driving | running locus | trajectory of the vehicle 1, and the linear shape feature of a road.

(Modification 2 of the detection method of the wobbling state)
Further, the detection unit 123 may detect a wobbling state based on a trajectory pattern included in the travel trajectory of the vehicle 1 based on a plurality of vehicle position information and a linear pattern included in the road alignment based on linear information. Good. For example, the detection unit 123 specifies the trajectory pattern of the vehicle 1 corresponding to the travel section of the vehicle 1 and the linear pattern of the road corresponding to the travel section at predetermined time intervals (for example, every 10 seconds). And the detection part 123 defines the area | region for detecting a wandering state based on the specified linear pattern, and detects a wandering state when at least one part of the specified locus | trajectory pattern remove | deviates from the said area | region.

For example, as illustrated in FIG. 4, the detection unit 123 defines two border lines LR1 and a border line LR2 that are separated from each other by a predetermined position with respect to the line LR indicating the specified linear pattern, and these border lines An area between LR1 and border line LR2 is defined as an area for detecting a wobbling state. And the detection part 123 detects a wandering state, when at least one part of the specified locus | trajectory pattern remove | deviates from the said area | region. In the example shown in FIG. 4, since a part of the line LV indicating the trajectory pattern of the vehicle 1 is out of the region, the detection unit 123 detects the wobbling state. By doing in this way, the detection part 123 can detect a wobble state easily by comparing patterns.
In addition, the detection unit 123 may calculate the degree of coincidence between the identified trajectory pattern and the linear pattern, and may determine that the wobbling state is obtained when the calculated degree of coincidence is equal to or less than a predetermined threshold.

(Modification 3 of detection method of wobbling state)
In addition, the detection unit 123 performs frequency analysis on the travel locus of the vehicle 1 based on a plurality of vehicle position information, performs frequency analysis on the road linearity based on the linear information, and detects a wobbling state based on the difference in frequency distribution between them. May be. Specifically, the detection unit 123 applies a bandpass filter (for example, a moving average filter) to each of the trajectory information indicating the traveling trajectory of the vehicle 1 and the linear information indicating the road alignment, and obtains a noise component (for example, acquisition). Small errors included in the positional information and linear information). Thereafter, the detection unit 123 performs FFT (Fast Fourier Transform) on the trajectory information and the linear information after applying the bandpass filter, and calculates a frequency distribution (frequency spectrum) corresponding to the trajectory information and the linear information. And the detection part 123 detects a wobble state based on the difference in each frequency distribution.

5A to 5C are diagrams showing examples of frequency distribution. FIG. 5A shows the linear frequency distribution of the road corresponding to the linear information. FIG. 5B shows the frequency distribution of the travel locus when the fluctuation is small. FIG. 5C shows the frequency distribution of the travel locus when the fluctuation is large. As is clear from comparison between FIG. 5B and FIG. 5C, in the frequency distribution in the case of the wobble state, a peak exists at a higher frequency than the frequency distribution corresponding to the road alignment. Therefore, the detection unit 123 detects the wobbling state when the frequency distribution of the trajectory information includes a distribution of a predetermined frequency or higher that is not included in the frequency distribution of the linear information.
By doing in this way, the driving | running state detection apparatus 10 can identify the frequency component corresponding to wandering based on the difference of each frequency distribution, and can detect a wandering state accurately.

[Effect in this embodiment]
As described above, the driving state detection device 10 acquires the first acquisition unit 121 that acquires a plurality of vehicle position information indicating the vehicle position, and the second information that acquires the linear information indicating the alignment of the road on which the vehicle 1 is traveling. The acquisition part 122 and the detection part 123 which detects that the driving | running state of the vehicle 1 is a wobble state based on vehicle position information and linear information are provided.

By doing in this way, since the driving | running state detection apparatus 10 acquires the vehicle position information which shows a vehicle position, without estimating a vehicle position using a sensor, and detects a wandering state based on the said vehicle position information, The driving state of the vehicle 1 can be detected with high accuracy.

Further, the detection unit 123 of the driving state detection device 10 detects the wobbling state based on the change in the difference between the vehicle position indicated by each of the plurality of vehicle position information and the road position corresponding to the vehicle position. When the vehicle is in a wobble state, the vehicle 1 does not travel at a certain distance from the center line or white line of the road, and the difference between the road position and the vehicle position changes greatly. Therefore, the driving | running state detection apparatus 10 can detect a wobble state correctly by using the change of the said difference.

As mentioned above, although this invention was demonstrated using embodiment, the technical scope of this invention is not limited to the range as described in the said embodiment. It will be apparent to those skilled in the art that various modifications or improvements can be added to the above embodiment. It is apparent from the scope of the claims that the embodiments added with such changes or improvements can be included in the technical scope of the present invention.

This application is based on a Japanese patent application (Japanese Patent Application No. 2015-199076) filed on October 7, 2015, the contents of which are incorporated herein by reference.

The present invention has an effect that the driving state of the vehicle can be detected with high accuracy, and is useful for a driving state detection device and the like.

DESCRIPTION OF SYMBOLS 1 Vehicle 10 Driving | running state detection apparatus 11 Memory | storage part 12 Control part 121 1st acquisition part 122 2nd acquisition part 123 Detection part 124 Reporting | notification part

Claims

First acquisition means for acquiring a plurality of vehicle position information indicating the position of the vehicle;
Second acquisition means for acquiring linear information indicating the alignment of the road on which the vehicle is traveling;
Detecting means for detecting that the driving state of the vehicle is a wobbling state based on the vehicle position information and the linear information;
A driving state detection device comprising:
The linear information includes a plurality of road position information indicating a road position,
The detecting means detects the wobbling state based on a change in a difference between a vehicle position indicated by each of the plurality of vehicle position information and a road position corresponding to the position of the vehicle.
The driving | running state detection apparatus of Claim 1.
The detection means extracts a first feature point indicating at least one of an apex and an inflection point in a traveling locus of the vehicle based on a plurality of the vehicle position information, and an apex in the road linearity based on the linear information And extracting a second feature point indicating at least one of the inflection points, and detecting the wobbling state based on the relationship between the extracted plurality of first feature points and the plurality of second feature points. Features
The driving | running state detection apparatus of Claim 2.
The detection means detects the wobbling state based on a trajectory pattern included in a travel trajectory of the vehicle based on a plurality of the vehicle position information and a linear pattern included in the alignment of the road based on the linear information. It is characterized by
The driving | running state detection apparatus of Claim 1 or 2.
The detection means performs frequency analysis on a traveling locus of the vehicle based on a plurality of the vehicle position information, performs frequency analysis on the linearity of the road based on the linear information, and performs the wobbling state based on a difference in each frequency distribution. It is characterized by detecting
The driving | running state detection apparatus of Claim 1.