WO2020225868A1 - Driving assistance device and driving assistance method - Google Patents

Driving assistance device and driving assistance method Download PDF

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Publication number
WO2020225868A1
WO2020225868A1 PCT/JP2019/018360 JP2019018360W WO2020225868A1 WO 2020225868 A1 WO2020225868 A1 WO 2020225868A1 JP 2019018360 W JP2019018360 W JP 2019018360W WO 2020225868 A1 WO2020225868 A1 WO 2020225868A1
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WIPO (PCT)
Prior art keywords
blind spot
accident
vehicle
information
driver
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PCT/JP2019/018360
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French (fr)
Japanese (ja)
Inventor
伶奈 西依
稔康 新保
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三菱電機株式会社
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Application filed by 三菱電機株式会社 filed Critical 三菱電機株式会社
Priority to JP2021518244A priority Critical patent/JP7282167B2/en
Priority to PCT/JP2019/018360 priority patent/WO2020225868A1/en
Publication of WO2020225868A1 publication Critical patent/WO2020225868A1/en

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    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems

Definitions

  • the present invention relates to a driving support device and a driving support method that give appropriate notification when traveling in a point where a blind spot accident has occurred.
  • Patent Document a technique for not notifying the driver of information about the point where the dangerous reaction is detected is disclosed (for example, Patent Document). 2).
  • Patent Documents 1 to 3 do not mention the association between the driver's visual behavior at the time of an accident and the cause of the accident. Therefore, when traveling at the point where the accident occurred, there is a possibility of notifying the visual behavior unrelated to the cause of the accident, and it cannot be said that the driver is properly notified.
  • Patent Documents 1 to 3 it is not possible to appropriately notify the information regarding the blind spot accident when traveling at the point where the blind spot accident has occurred.
  • the present invention has been made to solve such a problem, and is a driving support device and a driving support capable of appropriately notifying information about the blind spot accident when traveling at a point where the blind spot accident has occurred.
  • the purpose is to provide a method.
  • the driving support device includes a own vehicle position information acquisition unit that acquires own vehicle position information indicating the current position of the own vehicle, and a line of sight including the line of sight of the driver of the own vehicle.
  • Blind spot accident information that acquires blind spot accident information that is information on blind spot accidents caused by blind spots at points corresponding to the current position of the own vehicle acquired by the line-of-sight information acquisition unit that acquires information and the own vehicle position information acquisition unit.
  • the line-of-sight direction of the driver of the own vehicle is the direction of the blind spot at the point where the blind spot accident occurs.
  • the notification unit is provided to notify the driver of the own vehicle of the blind spot direction.
  • the driving support device of the driver of the own vehicle at the point where the blind spot accident occurs based on the blind spot accident information acquired by the blind spot accident information acquisition unit and the line-of-sight information acquired by the line-of-sight information acquisition unit.
  • the line-of-sight direction is not the blind spot direction, which is the direction of the blind spot
  • the driver of the own vehicle is notified of the blind spot direction. It will be possible.
  • FIG. 1 is a block diagram showing an example of the configuration of the driving support device 1 according to the first embodiment. Note that FIG. 1 shows the minimum necessary configuration for configuring the driving support device according to the first embodiment.
  • the driving support device 1 includes a own vehicle position information acquisition unit 2, a line-of-sight information acquisition unit 3, a blind spot accident information acquisition unit 4, and a notification unit 5.
  • the own vehicle position information acquisition unit 2 acquires the own vehicle position information indicating the current position of the own vehicle.
  • the line-of-sight information acquisition unit 3 acquires line-of-sight information including the line-of-sight direction of the driver of the own vehicle.
  • the blind spot accident information acquisition unit 4 acquires blind spot accident information, which is information on a blind spot accident, at a point corresponding to the current position of the own vehicle acquired by the own vehicle position information acquisition unit 2. Based on the blind spot accident information acquired by the blind spot accident information acquisition unit 4 and the line-of-sight information acquired by the line-of-sight information acquisition unit 3, the notification unit 5 determines the line-of-sight direction of the driver of the own vehicle at the point where the blind spot accident occurs. When it is not the blind spot direction, which is the direction of the blind spot, the driver of the own vehicle is notified of the blind spot direction.
  • FIG. 2 shows an example of a blind spot accident when viewed from the inside of the own vehicle.
  • FIG. 3 shows the blind spot accident shown in FIG. 2 on a map.
  • the arrows indicate the direction of the driver's line of sight.
  • the "accident cause” indicates that the accident cause exists at a position that becomes a blind spot of the driver's line of sight.
  • the triangular mark indicates the own vehicle.
  • An accident that occurs due to a blind spot in the driver's line of sight is called a blind spot accident.
  • the direction in which the cause of the blind spot accident as seen by the driver exists is called the blind spot direction.
  • Blind spot accidents are roughly divided into cases caused by moving objects and cases caused by stationary objects.
  • Examples of blind spot accidents caused by moving objects include cases where a bicycle jumps out of the blind spot of the driver's line of sight and comes into contact with the own vehicle.
  • examples of the blind spot accident caused by a stationary object include a case where the own vehicle comes into contact with an obstacle existing in the blind spot of the driver's line of sight.
  • FIG. 4 is a block diagram showing an example of the configuration of the driving support device 6 according to another configuration. It is assumed that the driving support device 6 is mounted on the own vehicle.
  • the driving support device 6 includes a own vehicle position information acquisition unit 2, a line-of-sight information acquisition unit 3, a blind spot accident information acquisition unit 4, a notification unit 5, and an accident information generation unit 7. ing.
  • the own vehicle position information acquisition unit 2 acquires the current position information received from a GNSS (Global Navigation Satellite System) satellite (not shown) as the own vehicle position information.
  • GNSS Global Navigation Satellite System
  • the line-of-sight information acquisition unit 3 acquires line-of-sight information including the line-of-sight direction of the driver of the own vehicle from a line-of-sight detection device (not shown).
  • the line-of-sight detection device has, for example, a camera, and detects the line-of-sight direction of the driver by performing image processing on the eyes of the driver of the own vehicle photographed by the camera.
  • the detection of the driver's line-of-sight direction by image processing may be performed by the line-of-sight information acquisition unit 3 instead of the line-of-sight detection device.
  • the blind spot accident information acquisition unit 4 acquires blind spot accident information at a point corresponding to the current position of the own vehicle acquired by the own vehicle position information acquisition unit 2 from the accident information collection unit 8.
  • the accident information collection unit 8 is provided outside the own vehicle, and collects and stores accident information including blind spot accident information. Specifically, the accident information collecting unit 8 acquires accident information caused by the vehicle from a plurality of vehicles including the own vehicle. The accident information includes at least the position of the point where the accident occurred and the direction of the driver's line of sight at the time of the accident. The accident information collecting unit 8 extracts and stores blind spot accidents from the acquired accident information. In this way, the accident information collecting unit 8 may store the accident information acquired from the vehicle for each type of accident.
  • the notification unit 5 determines the line-of-sight direction of the driver of the own vehicle at the point where the blind spot accident occurs. When it is not in the blind spot direction, the driver of the own vehicle is notified of the blind spot direction.
  • the accident information generation unit 7 When the own vehicle causes an accident, the accident information generation unit 7 generates accident information including at least the position of the point where the accident occurred and the direction of the driver's line of sight at the time of the accident. Then, the accident information generation unit 7 transmits the generated accident information to the accident information collection unit 8.
  • the blind spot accident information acquisition unit 4 may extract the blind spot accident information from the accident information acquired from the accident information collection unit 8.
  • the driving support device 6 may include an accident information collecting unit 8.
  • the accident information collecting unit 8 may acquire and store only the accident information related to the accident caused by the own vehicle from the accident information generating unit 7, and acquire the information related to the accident caused by the other vehicle from the other vehicle. And may be memorized, or these may be combined.
  • FIG. 5 is a flowchart showing a transmission operation of the driving support device 6. It is assumed that the transmission operation shown in FIG. 5 is executed while the own vehicle is running.
  • step S11 the driving support device 6 determines whether or not the own vehicle has caused an accident based on the information acquired from a camera, a sensor, or the like (not shown). If the own vehicle causes an accident, the process proceeds to step S12. On the other hand, if the own vehicle has not caused an accident, the process of step S11 is repeated.
  • the accident information generation unit 7 acquires the own vehicle position information from the own vehicle position information acquisition unit 2, acquires the line of sight information from the line of sight information acquisition unit 3, and includes the acquired position information and the line of sight information. Generate information. That is, the accident information generation unit 7 acquires the position information of the point where the accident occurred from the own vehicle position information acquisition unit 2, and also acquires the accident information including the driver's line-of-sight direction at the time of the accident from the line-of-sight information acquisition unit 3. Acquire and generate accident information including this information. Then, the accident information generation unit 7 transmits the generated accident information to the accident information collection unit 8.
  • FIG. 6 is a flowchart showing the notification operation of the driving support device 6. It is assumed that the notification operation shown in FIG. 6 is executed while the own vehicle is running.
  • step S21 the notification unit 5 causes a blind spot accident in the own vehicle based on the own vehicle position information acquired by the own vehicle position information acquisition unit 2 and the blind spot accident information acquired by the blind spot accident information acquisition unit 4. Determine if you have approached the point you visited. Here, approaching means that the own vehicle exists within a predetermined range from the point where the blind spot accident occurred. When approaching the point where the blind spot accident occurred, the process proceeds to step S22. On the other hand, if it is not close to the point where the blind spot accident occurred, the process of step S21 is repeated.
  • step S22 whether the driver of the own vehicle is looking in the blind spot direction based on the line-of-sight information acquired by the line-of-sight information acquisition unit 3 and the blind spot accident information acquired by the blind spot accident information acquisition unit 4. Judge whether or not. Specifically, in the notification unit 5, when the line-of-sight direction acquired by the line-of-sight information acquisition unit 3 and the blind spot direction acquired by the blind spot accident information acquisition unit 4 match, the driver of the own vehicle sets the blind spot direction. Judge that you are watching. It should be noted that the coincidence of the line-of-sight direction and the blind spot direction may be regarded as not only when they are completely coincident but also when the line-of-sight direction and the blind spot direction exist within a predetermined angle range. If the driver of the own vehicle is looking in the blind spot direction, the process returns to step S21. On the other hand, if the driver of the own vehicle is not looking in the blind spot direction, the process proceeds to step S23.
  • step S23 the notification unit 5 notifies the driver of the own vehicle of the blind spot direction. Specifically, the notification unit 5 displays an object indicating the blind spot direction on the HUD (Head Up Display) as shown in FIG. In the example of FIG. 7, the “!” Mark is an object indicating the blind spot direction as seen by the driver.
  • HUD Head Up Display
  • the notification unit 5 is not limited to displaying the object on the HUD as shown in FIG. 7, and may display an object indicating the blind spot direction on the map, or may notify the blind spot direction by voice.
  • the driver when the driver travels at the point where the blind spot accident has occurred, the driver is notified of the blind spot direction when the driver is not looking in the blind spot direction.
  • the driver's line of sight can be guided in the blind spot direction, and the driver can be alerted to the point where the blind spot accident has occurred. That is, it is possible to appropriately notify the information regarding the blind spot accident when traveling at the point where the blind spot accident has occurred.
  • FIG. 8 is a block diagram showing an example of the configuration of the driving support device 9 according to the second embodiment.
  • the driving support device 9 is characterized by including a sensor information acquisition unit 10. Since other configurations are the same as those of the driving support device 6 shown in FIG. 4 described in the first embodiment, detailed description thereof will be omitted here.
  • the sensor information acquisition unit 10 acquires sensor information, which is a detection result of the sensor, from a sensor (not shown) provided in the own vehicle.
  • the sensor detects an object existing around the own vehicle including the blind spot direction.
  • the object detected by the sensor may be either a moving object or a stationary object.
  • the notification unit 5 When the driver of the own vehicle cannot see the blind spot direction and there is an object detected by the sensor in the blind spot direction, the notification unit 5 notifies the driver of the own vehicle of the existence of the object.
  • FIG. 9 is a flowchart showing the notification operation of the driving support device 9.
  • the notification operation shown in FIG. 9 is assumed to be performed while the own vehicle is traveling. Further, since step S31, step S36, and step S37 in FIG. 9 are the same as steps S21 to S23 in FIG. 6, description thereof will be omitted here. Hereinafter, steps S32 to S35 will be described.
  • step S32 the notification unit 5 determines whether or not the driver can confirm the blind spot direction. For example, the notification unit 5 confirms the blind spot direction when the position of the blind spot at the point where the blind spot accident occurs is a position that cannot be seen by the driver of the own vehicle currently traveling or is difficult to see. You may decide that it is impossible to do so. If the driver can confirm the blind spot direction, the process proceeds to step S36. On the other hand, if it is impossible for the driver to confirm the blind spot direction, the process proceeds to step S33.
  • step S33 the sensor information acquisition unit 10 acquires sensor information, which is the detection result of the sensor, from the sensor provided in the own vehicle.
  • step S34 the notification unit 5 determines whether or not an object exists at a position that becomes a blind spot at the point where the blind spot accident occurs, based on the sensor information acquired by the sensor information acquisition unit 10. If an object exists at a position that becomes a blind spot, the process proceeds to step S35. On the other hand, if there is no object at the position of the blind spot, the process returns to step S31.
  • the object existing at the above-mentioned blind spot may be an object that may interfere with the running of the own vehicle. For example, it may be determined that a moving body moving toward the road on which the own vehicle is traveling is an object that may interfere with the traveling of the own vehicle. Further, it may be determined that a stationary object protruding from the road on which the own vehicle is traveling is an object that may interfere with the traveling of the own vehicle.
  • the sensitivity or directivity of the sensor is specialized in the blind spot direction, the threshold value of evaluation by the sensor is changed, or the detection frequency by the sensor is changed. May be good.
  • the change in the detection frequency by the sensor means, for example, when the sensor is a camera, the frame rate of the image captured by the camera is changed. In this way, when determining whether or not an object exists at a position that becomes a blind spot, monitoring by a sensor may be strengthened.
  • the notification unit 5 notifies the driver of the own vehicle that an object exists at a position that becomes a blind spot.
  • the notification unit 5 may display an object indicating that the object exists at the position of the blind spot on the HUD or a map, or may notify by voice that the object exists at the position of the blind spot. ..
  • the driver when driving in a point where a blind spot accident has occurred, if the driver is not looking in the blind spot direction, the driver is notified of the blind spot direction and the driver confirms the blind spot direction. If this is not possible, the blind spot direction is monitored by a sensor. As a result, even when it is impossible for the driver to confirm the blind spot direction, it is possible to quickly detect an object existing at the position of the blind spot and notify the driver.
  • the third embodiment is characterized in that the blind spot accident information includes accident partner information indicating whether the blind spot accident partner is a moving body or a stationary object. Since other configurations and operations are the same as those of the driving support device 6 described in the first embodiment or the driving support device 9 described in the second embodiment, detailed description thereof will be omitted here.
  • Examples of blind spot accidents when the other party is a moving object include an accident in which a moving object jumping out of a blind spot and the own vehicle come into contact with each other. Further, as a blind spot accident when the other party is a stationary object, an accident in which the own vehicle comes into contact with a stationary object existing at a position of the blind spot can be mentioned.
  • the accident information collecting unit 8 stores the accident partner information indicating whether the partner of such a blind spot accident is a moving object or a stationary object, including the accident partner information in the blind spot accident information.
  • the notification unit 5 in the driving support devices 6 and 9 may give a notification corresponding to each of the moving body and the stationary object based on the accident partner information.
  • the notification unit 5 may notify the driver of the own vehicle by display or voice that there is a possibility that a moving object or a stationary object exists at a position that becomes a blind spot.
  • the notification unit 5 in the driving support device 9 may switch between notifying the driver of the own vehicle or strengthening the monitoring by the sensor based on the accident partner information. At this time, the notification unit 5 may change the detection range of the sensor based on the accident partner information.
  • the notification unit 5 may change the notification to the driver of the own vehicle based on the driver information including at least one of the age and gender of the driver of the vehicle causing the blind spot accident. For example, the notification unit 5 lowers the priority of notification to the driver of the own vehicle when the driver of the vehicle causing the blind spot accident is an elderly person and the driver of the own vehicle is a young person. You may.
  • the age of the driver of the own vehicle may be registered in advance in the driving support devices 6 and 9, and the age of the driver is determined by image processing the image of the driver taken by a camera (not shown). You may estimate.
  • more appropriate notification can be made by using the accident partner information, the driver information, or both of these information.
  • the notification unit 5 in the driving support devices 6 and 9 notifies the driver of the blind spot direction when traveling at the point where the blind spot accident has occurred, and displays an image of the blind spot direction taken by a camera (not shown) on the HUD or the like.
  • the fourth embodiment not only the notification of the blind spot direction but also the image taken in the blind spot direction is displayed. Therefore, it is possible to give a more appropriate notification when traveling at the point where the blind spot accident has occurred.
  • a processing circuit for The processing circuit is a processor (CPU (Central Processing Unit), central processing unit, processing unit, arithmetic unit, microprocessor, microcomputer, DSP (Digital) that executes programs stored in memory, even if it is dedicated hardware. It may also be called a Signal Processor).
  • CPU Central Processing Unit
  • processing unit processing unit
  • arithmetic unit microprocessor
  • microcomputer DSP (Digital) that executes programs stored in memory, even if it is dedicated hardware. It may also be called a Signal Processor).
  • the processing circuit 11 is, for example, a single circuit, a composite circuit, a programmed processor, a parallel programmed processor, or an ASIC (Application Specific Integrated Circuit). , FPGA (Field Programmable Gate Array), or a combination of these.
  • the processing circuit 11 may realize the functions of the own vehicle position information acquisition unit 2, the line-of-sight information acquisition unit 3, the blind spot accident information acquisition unit 4, the notification unit 5, the accident information generation unit 7, and the sensor information acquisition unit 10. , Each function may be collectively realized by the processing circuit 11.
  • the processing circuit 11 is the processor 12 shown in FIG. 11, the own vehicle position information acquisition unit 2, the line-of-sight information acquisition unit 3, the blind spot accident information acquisition unit 4, the notification unit 5, the accident information generation unit 7, and the sensor information acquisition unit
  • Each of the ten functions is realized by software, firmware, or a combination of software and firmware.
  • the software or firmware is described as a program and stored in the memory 13.
  • the processor 12 realizes each function by reading and executing the program recorded in the memory 13. That is, the driving support devices 1, 6 and 9 have a step of acquiring own vehicle position information, a step of acquiring line-of-sight information, a step of acquiring blind spot accident information, a step of notifying the blind spot direction, and a step of generating accident information.
  • a memory 13 for storing a program for which the step of acquiring the sensor information will be executed as a result is provided.
  • these programs computerize the procedures or methods of the own vehicle position information acquisition unit 2, the line-of-sight information acquisition unit 3, the blind spot accident information acquisition unit 4, the notification unit 5, the accident information generation unit 7, and the sensor information acquisition unit 10. It can be said that it is to be executed by.
  • the memory is, for example, non-volatile or volatile such as RAM (RandomAccessMemory), ROM (ReadOnlyMemory), flash memory, EPROM (ErasableProgrammableReadOnlyMemory), and EEPROM (ElectricallyErasableProgrammableReadOnlyMemory). It may be a sex semiconductor memory, a magnetic disk, a flexible disk, an optical disk, a compact disk, a DVD (Digital Versatile Disc), or any storage medium that will be used in the future.
  • the own vehicle position information acquisition unit 2 the line-of-sight information acquisition unit 3, the blind spot accident information acquisition unit 4, the notification unit 5, the accident information generation unit 7, and the sensor information acquisition unit 10 are dedicated hardware. It may be realized by hardware and partly by software or firmware.
  • the processing circuit can realize each of the above-mentioned functions by hardware, software, firmware, or a combination thereof.
  • each embodiment can be freely combined, and each embodiment can be appropriately modified or omitted.
  • 1 Driving support device 2 Own vehicle position information acquisition unit, 3 Line-of-sight information acquisition unit, 4 Blind spot accident information acquisition unit, 5 Notification unit, 6 Driving support device, 7 Accident information transmission unit, 8 Blind spot accident information collection unit, 9 Driving Support device, 10 sensor information acquisition unit, 11 processing circuit, 12 processor, 13 memory.

Abstract

The purpose of the present invention is to provide a driving assistance device and a driving assistance method capable of appropriately notifying information relating to a blind spot accident when traveling in a site at which the blind spot accident occurred. The driving assistance device of the present invention comprises: a host vehicle position information acquisition unit that acquires host vehicle position information showing the current position of a host vehicle; a line-of-sight information acquisition unit that acquires line-of-sight information including the line-of-sight direction of a driver of the host vehicle; a blind spot accident information acquisition unit that acquires blind spot accident information, which is information relating to a blind spot accident that occurred due to a blind spot in a site corresponding to the current position of the host vehicle acquired by the host vehicle position information acquisition unit; and a notification unit that, on the basis of the blind spot accident information acquired by the blind spot accident information acquisition unit and the line-of-sight information acquired by the line-of-sight information acquisition unit, when the line-of-sight direction of the driver of the host vehicle at the site at which the blind spot accident occurred is not a blind spot direction that is the direction of the blind spot, notifies the driver of the host vehicle of the blind spot direction.

Description

運転支援装置および運転支援方法Driving support device and driving support method
　本発明は、死角事故が発生した地点を走行するときに適切な通知を行う運転支援装置および運転支援方法に関する。 The present invention relates to a driving support device and a driving support method that give appropriate notification when traveling in a point where a blind spot accident has occurred.
　従来、運転者が車両の運転中に危険を感じたことを示す危険反応が生じた地点と、そのときの車両の周辺状況とを記録し、以降に危険反応が生じた地点を走行するときに危険反応があったことを運転者に通知する技術が開示されている（例えば、特許文献１参照）。 Conventionally, when the driver records the point where a dangerous reaction occurs while driving the vehicle and the surrounding condition of the vehicle at that time, and then travels at the point where the dangerous reaction occurs. A technique for notifying a driver that a dangerous reaction has occurred is disclosed (see, for example, Patent Document 1).
　また、運転者が危険反応した要因が運転者の不注意によるものであるとき、当該危険反応を検出した地点に関する情報を運転者に通知しないようにする技術が開示されている（例えば、特許文献２参照）。 Further, when the cause of the driver's dangerous reaction is due to the driver's carelessness, a technique for not notifying the driver of information about the point where the dangerous reaction is detected is disclosed (for example, Patent Document). 2).
　さらに、運転者の視認行動を収集および分析して任意の地点における運転者の視認行動パターンを導出し、当該地点を走行する運転者が確認すべき視認行動を報知する技術が開示されている（例えば、特許文献３参照）。 Further, a technique is disclosed in which a driver's visual behavior is collected and analyzed to derive a driver's visual behavior pattern at an arbitrary point, and a technique for notifying a driver's visual behavior to be confirmed at the relevant point is disclosed. For example, see Patent Document 3).
特許第４３９６５９７号公報Japanese Patent No. 4396597 特開２０１４－８１９４７号公報Japanese Unexamined Patent Publication No. 2014-81947 特開２００８－１５８７９１号公報Japanese Unexamined Patent Publication No. 2008-158791
　特許文献１～３では、事故発生時における運転者の視認行動と事故発生要因との関連付けについて言及されていない。従って、事故が発生した地点を走行するときに、事故発生要因とは関係のない視認行動を報知する可能性があり、運転者に適切な通知を行っているとはいえなかった。 Patent Documents 1 to 3 do not mention the association between the driver's visual behavior at the time of an accident and the cause of the accident. Therefore, when traveling at the point where the accident occurred, there is a possibility of notifying the visual behavior unrelated to the cause of the accident, and it cannot be said that the driver is properly notified.
　種々の事故のうち、特に死角が原因で発生する死角事故に関する情報を通知することは、運転者にとって有用である。しかし、特許文献１～３では、死角事故が発生した地点を走行するときに当該死角事故に関する情報を適切に通知することができない。 Of the various accidents, it is especially useful for the driver to notify the information about the blind spot accident caused by the blind spot. However, in Patent Documents 1 to 3, it is not possible to appropriately notify the information regarding the blind spot accident when traveling at the point where the blind spot accident has occurred.
　本発明は、このような問題を解決するためになされたものであり、死角事故が発生した地点を走行するときに当該死角事故に関する情報を適切に通知することが可能な運転支援装置および運転支援方法を提供することを目的とする。 The present invention has been made to solve such a problem, and is a driving support device and a driving support capable of appropriately notifying information about the blind spot accident when traveling at a point where the blind spot accident has occurred. The purpose is to provide a method.
　上記の課題を解決するために、本発明による運転支援装置は、自車両の現在位置を示す自車両位置情報を取得する自車両位置情報取得部と、自車両の運転者の視線方向を含む視線情報を取得する視線情報取得部と、自車両位置情報取得部が取得した自車両の現在位置に対応する地点において死角が原因で発生した死角事故に関する情報である死角事故情報を取得する死角事故情報取得部と、死角事故情報取得部が取得した死角事故情報と、視線情報取得部が取得した視線情報とに基づいて、死角事故が発生した地点において自車両の運転者の視線方向が死角の方向である死角方向でないとき、当該死角方向を自車両の運転者に通知する通知部とを備える。 In order to solve the above problems, the driving support device according to the present invention includes a own vehicle position information acquisition unit that acquires own vehicle position information indicating the current position of the own vehicle, and a line of sight including the line of sight of the driver of the own vehicle. Blind spot accident information that acquires blind spot accident information that is information on blind spot accidents caused by blind spots at points corresponding to the current position of the own vehicle acquired by the line-of-sight information acquisition unit that acquires information and the own vehicle position information acquisition unit. Based on the blind spot accident information acquired by the acquisition unit, the blind spot accident information acquisition unit, and the line-of-sight information acquired by the line-of-sight information acquisition unit, the line-of-sight direction of the driver of the own vehicle is the direction of the blind spot at the point where the blind spot accident occurs. When it is not the blind spot direction, the notification unit is provided to notify the driver of the own vehicle of the blind spot direction.
　本発明によると、運転支援装置は、死角事故情報取得部が取得した死角事故情報と、視線情報取得部が取得した視線情報とに基づいて、死角事故が発生した地点において自車両の運転者の視線方向が死角の方向である死角方向でないとき、当該死角方向を自車両の運転者に通知するため、死角事故が発生した地点を走行するときに当該死角事故に関する情報を適切に通知することが可能となる。 According to the present invention, the driving support device of the driver of the own vehicle at the point where the blind spot accident occurs based on the blind spot accident information acquired by the blind spot accident information acquisition unit and the line-of-sight information acquired by the line-of-sight information acquisition unit. When the line-of-sight direction is not the blind spot direction, which is the direction of the blind spot, the driver of the own vehicle is notified of the blind spot direction. It will be possible.
　本発明の目的、特徴、態様、および利点は、以下の詳細な説明と添付図面とによって、より明白となる。 The object, features, aspects, and advantages of the present invention will be made clearer by the following detailed description and accompanying drawings.
本発明の実施の形態１による運転支援装置の構成の一例を示すブロック図である。It is a block diagram which shows an example of the structure of the operation support device by Embodiment 1 of this invention. 本発明の実施の形態１による死角事故を説明するための図である。It is a figure for demonstrating the blind spot accident by Embodiment 1 of this invention. 本発明の実施の形態１による死角事故を説明するための図である。It is a figure for demonstrating the blind spot accident by Embodiment 1 of this invention. 本発明の実施の形態１による運転支援装置の構成の一例を示すブロック図である。It is a block diagram which shows an example of the structure of the operation support device by Embodiment 1 of this invention. 本発明の実施の形態１による運転支援装置の動作の一例を示すフローチャートである。It is a flowchart which shows an example of the operation of the driving support device by Embodiment 1 of this invention. 本発明の実施の形態１による運転支援装置の動作の一例を示すフローチャートである。It is a flowchart which shows an example of the operation of the driving support device by Embodiment 1 of this invention. 本発明の実施の形態１による通知の一例を示す図である。It is a figure which shows an example of the notification by Embodiment 1 of this invention. 本発明の実施の形態２による運転支援装置の構成の一例を示すブロック図である。It is a block diagram which shows an example of the structure of the operation support device by Embodiment 2 of this invention. 本発明の実施の形態２による運転支援装置の動作の一例を示すフローチャートである。It is a flowchart which shows an example of the operation of the driving support device by Embodiment 2 of this invention. 本発明の実施の形態による運転支援装置のハードウェア構成の一例を示すブロック図である。It is a block diagram which shows an example of the hardware composition of the driving support device by embodiment of this invention. 本発明の実施の形態による運転支援装置のハードウェア構成の一例を示すブロック図である。It is a block diagram which shows an example of the hardware composition of the driving support device by embodiment of this invention.
　本発明の実施の形態について、図面に基づいて以下に説明する。 An embodiment of the present invention will be described below with reference to the drawings.
　＜実施の形態１＞
　＜１－１．構成＞
　図１は、本実施の形態１による運転支援装置１の構成の一例を示すブロック図である。なお、図１では、本実施の形態１による運転支援装置を構成する必要最小限の構成を示している。 <Embodiment 1>
<1-1. Configuration>
FIG. 1 is a block diagram showing an example of the configuration of the driving support device 1 according to the first embodiment. Note that FIG. 1 shows the minimum necessary configuration for configuring the driving support device according to the first embodiment.
　図１に示すように、運転支援装置１は、自車両位置情報取得部２と、視線情報取得部３と、死角事故情報取得部４と、通知部５とを備えている。 As shown in FIG. 1, the driving support device 1 includes a own vehicle position information acquisition unit 2, a line-of-sight information acquisition unit 3, a blind spot accident information acquisition unit 4, and a notification unit 5.
　自車両位置情報取得部２は、自車両の現在位置を示す自車両位置情報を取得する。視線情報取得部３は、自車両の運転者の視線方向を含む視線情報を取得する。死角事故情報取得部４は、自車両位置情報取得部２が取得した自車両の現在位置に対応する地点において死角事故に関する情報である死角事故情報を取得する。通知部５は、死角事故情報取得部４が取得した死角事故情報と、視線情報取得部３が取得した視線情報とに基づいて、死角事故が発生した地点において自車両の運転者の視線方向が死角の方向である死角方向でないとき、当該死角方向を自車両の運転者に通知する。 The own vehicle position information acquisition unit 2 acquires the own vehicle position information indicating the current position of the own vehicle. The line-of-sight information acquisition unit 3 acquires line-of-sight information including the line-of-sight direction of the driver of the own vehicle. The blind spot accident information acquisition unit 4 acquires blind spot accident information, which is information on a blind spot accident, at a point corresponding to the current position of the own vehicle acquired by the own vehicle position information acquisition unit 2. Based on the blind spot accident information acquired by the blind spot accident information acquisition unit 4 and the line-of-sight information acquired by the line-of-sight information acquisition unit 3, the notification unit 5 determines the line-of-sight direction of the driver of the own vehicle at the point where the blind spot accident occurs. When it is not the blind spot direction, which is the direction of the blind spot, the driver of the own vehicle is notified of the blind spot direction.
　ここで、死角事故について図２，３を用いて説明する。図２は、自車両の車内から見たときの死角事故の一例を示している。図３は、図２に示す死角事故を地図上で表したものである。 Here, the blind spot accident will be described with reference to FIGS. 2 and 3. FIG. 2 shows an example of a blind spot accident when viewed from the inside of the own vehicle. FIG. 3 shows the blind spot accident shown in FIG. 2 on a map.
　図２，３において、矢印は、運転者の視線方向を示している。「事故原因」は、運転者の視線の死角となる位置に事故原因が存在することを示している。また、図３において、三角印は、自車両を示している。このように、運転者の視線の死角が原因となって発生した事故のことを死角事故という。また、運転者から見た死角事故の原因が存在する方向を死角方向という。 In FIGS. 2 and 3, the arrows indicate the direction of the driver's line of sight. The "accident cause" indicates that the accident cause exists at a position that becomes a blind spot of the driver's line of sight. Further, in FIG. 3, the triangular mark indicates the own vehicle. An accident that occurs due to a blind spot in the driver's line of sight is called a blind spot accident. In addition, the direction in which the cause of the blind spot accident as seen by the driver exists is called the blind spot direction.
　死角事故は、移動体が原因で発生する場合と、静止物が原因で発生する場合とに大別される。移動体が原因で発生する死角事故としては、例えば、運転者の視線の死角から自転車が飛び出して自車両に接触する場合などが挙げられる。また、静止物が原因で発生する死角事故としては、例えば、運転者の視線の死角に存在する障害物に自車両が接触する場合などが挙げられる。 Blind spot accidents are roughly divided into cases caused by moving objects and cases caused by stationary objects. Examples of blind spot accidents caused by moving objects include cases where a bicycle jumps out of the blind spot of the driver's line of sight and comes into contact with the own vehicle. Further, examples of the blind spot accident caused by a stationary object include a case where the own vehicle comes into contact with an obstacle existing in the blind spot of the driver's line of sight.
　次に、図１に示す運転支援装置１を含む運転支援装置の他の構成について説明する。 Next, other configurations of the driving support device including the driving support device 1 shown in FIG. 1 will be described.
　図４は、他の構成に係る運転支援装置６の構成の一例を示すブロック図である。なお、運転支援装置６は、自車両に搭載されているものとする。 FIG. 4 is a block diagram showing an example of the configuration of the driving support device 6 according to another configuration. It is assumed that the driving support device 6 is mounted on the own vehicle.
　図４に示すように、運転支援装置６は、自車両位置情報取得部２と、視線情報取得部３と、死角事故情報取得部４と、通知部５と、事故情報生成部７とを備えている。 As shown in FIG. 4, the driving support device 6 includes a own vehicle position information acquisition unit 2, a line-of-sight information acquisition unit 3, a blind spot accident information acquisition unit 4, a notification unit 5, and an accident information generation unit 7. ing.
　自車両位置情報取得部２は、図示しないＧＮＳＳ（Global Navigation Satellite System）衛星から受信した現在の位置情報を、自車両位置情報として取得する。 The own vehicle position information acquisition unit 2 acquires the current position information received from a GNSS (Global Navigation Satellite System) satellite (not shown) as the own vehicle position information.
　視線情報取得部３は、図示しない視線検出装置から、自車両の運転者の視線方向を含む視線情報を取得する。視線検出装置は、例えばカメラを有しており、カメラが撮影した自車両の運転者の目を画像処理することによって、当該運転者の視線方向を検出する。なお、画像処理による運転者の視線方向の検出は、視線検出装置ではなく視線情報取得部３が行ってもよい。 The line-of-sight information acquisition unit 3 acquires line-of-sight information including the line-of-sight direction of the driver of the own vehicle from a line-of-sight detection device (not shown). The line-of-sight detection device has, for example, a camera, and detects the line-of-sight direction of the driver by performing image processing on the eyes of the driver of the own vehicle photographed by the camera. The detection of the driver's line-of-sight direction by image processing may be performed by the line-of-sight information acquisition unit 3 instead of the line-of-sight detection device.
　死角事故情報取得部４は、事故情報収集部８から、自車両位置情報取得部２が取得した自車両の現在位置に対応する地点における死角事故情報を取得する。 The blind spot accident information acquisition unit 4 acquires blind spot accident information at a point corresponding to the current position of the own vehicle acquired by the own vehicle position information acquisition unit 2 from the accident information collection unit 8.
　事故情報収集部８は、自車両の外部に設けられており、死角事故情報を含む事故情報を収集して記憶する。具体的には、事故情報収集部８は、自車両を含む複数の車両から当該車両が起こした事故情報を取得する。事故情報には、少なくとも事故が発生した地点の位置、および事故発生時の運転者の視線方向が含まれている。事故情報収集部８は、取得した事故情報から死角事故を抽出して記憶する。このように、事故情報収集部８は、車両から取得した事故情報を事故の種別ごとに記憶してもよい。 The accident information collection unit 8 is provided outside the own vehicle, and collects and stores accident information including blind spot accident information. Specifically, the accident information collecting unit 8 acquires accident information caused by the vehicle from a plurality of vehicles including the own vehicle. The accident information includes at least the position of the point where the accident occurred and the direction of the driver's line of sight at the time of the accident. The accident information collecting unit 8 extracts and stores blind spot accidents from the acquired accident information. In this way, the accident information collecting unit 8 may store the accident information acquired from the vehicle for each type of accident.
　通知部５は、死角事故情報取得部４が取得した死角事故情報と、視線情報取得部３が取得した視線情報とに基づいて、死角事故が発生した地点において自車両の運転者の視線方向が死角方向でないとき、当該死角方向を自車両の運転者に通知する。 Based on the blind spot accident information acquired by the blind spot accident information acquisition unit 4 and the line-of-sight information acquired by the line-of-sight information acquisition unit 3, the notification unit 5 determines the line-of-sight direction of the driver of the own vehicle at the point where the blind spot accident occurs. When it is not in the blind spot direction, the driver of the own vehicle is notified of the blind spot direction.
　事故情報生成部７は、自車両が事故を起こしたときに、少なくとも当該事故が発生した地点の位置、および事故発生時の運転者の視線方向を含む事故情報を生成する。そして、事故情報生成部７は、生成した事故情報を事故情報収集部８に送信する。 When the own vehicle causes an accident, the accident information generation unit 7 generates accident information including at least the position of the point where the accident occurred and the direction of the driver's line of sight at the time of the accident. Then, the accident information generation unit 7 transmits the generated accident information to the accident information collection unit 8.
　なお、図４では、事故情報収集部８が死角事故を抽出する場合について説明したが、これに限るものではない。例えば、死角事故情報取得部４が、事故情報収集部８から取得した事故情報から死角事故情報を抽出してもよい。 Note that, in FIG. 4, the case where the accident information collecting unit 8 extracts the blind spot accident has been described, but the present invention is not limited to this. For example, the blind spot accident information acquisition unit 4 may extract the blind spot accident information from the accident information acquired from the accident information collection unit 8.
　図４では、事故情報収集部８が運転支援装置６の外部に設けられている場合について説明したが、これに限るものではない。例えば、運転支援装置６が事故情報収集部８を備えてもよい。この場合、事故情報収集部８は、自車両が起こした事故に関する事故情報のみを事故情報生成部７から取得して記憶してもよく、他車両が起こした事故に関する情報を当該他車両から取得して記憶してもよく、これらを組み合わせてもよい。 In FIG. 4, the case where the accident information collecting unit 8 is provided outside the driving support device 6 has been described, but the present invention is not limited to this. For example, the driving support device 6 may include an accident information collecting unit 8. In this case, the accident information collecting unit 8 may acquire and store only the accident information related to the accident caused by the own vehicle from the accident information generating unit 7, and acquire the information related to the accident caused by the other vehicle from the other vehicle. And may be memorized, or these may be combined.
　＜１－２．動作＞
　以下では、運転支援装置６の動作について説明する。具体的には、事故が発生したときに事故情報を送信する送信動作と、死角事故が発生した地点を走行するときに運転者に通知する通知動作とについて説明する。 <1-2. Operation>
The operation of the driving support device 6 will be described below. Specifically, a transmission operation for transmitting accident information when an accident occurs and a notification operation for notifying the driver when traveling at a point where a blind spot accident has occurred will be described.
　＜１－２－１．送信動作＞
　図５は、運転支援装置６の送信動作を示すフローチャートである。なお、図５に示す送信動作は、自車両が走行中に実行されるものとする。 <1-2-1. Transmission operation>
FIG. 5 is a flowchart showing a transmission operation of the driving support device 6. It is assumed that the transmission operation shown in FIG. 5 is executed while the own vehicle is running.
　ステップＳ１１において、運転支援装置６は、図示しないカメラおよびセンサなどから取得した情報に基づいて、自車両が事故を起こしたか否かを判断する。自車両が事故を起こした場合は、ステップＳ１２に移行する。一方、自車両が事故を起こしていない場合は、ステップＳ１１の処理を繰り返す。 In step S11, the driving support device 6 determines whether or not the own vehicle has caused an accident based on the information acquired from a camera, a sensor, or the like (not shown). If the own vehicle causes an accident, the process proceeds to step S12. On the other hand, if the own vehicle has not caused an accident, the process of step S11 is repeated.
　ステップＳ１２において、事故情報生成部７は、自車両位置情報取得部２から自車両位置情報を取得するとともに、視線情報取得部３から視線情報を取得し、取得した位置情報および視線情報を含む事故情報を生成する。すなわち、事故情報生成部７は、事故が発生した地点の位置情報を自車両位置情報取得部２から取得するとともに、事故発生時の運転者の視線方向を含む事故情報を視線情報取得部３から取得し、これらの情報を含む事故情報を生成する。そして、事故情報生成部７は、生成した事故情報を事故情報収集部８に送信する。 In step S12, the accident information generation unit 7 acquires the own vehicle position information from the own vehicle position information acquisition unit 2, acquires the line of sight information from the line of sight information acquisition unit 3, and includes the acquired position information and the line of sight information. Generate information. That is, the accident information generation unit 7 acquires the position information of the point where the accident occurred from the own vehicle position information acquisition unit 2, and also acquires the accident information including the driver's line-of-sight direction at the time of the accident from the line-of-sight information acquisition unit 3. Acquire and generate accident information including this information. Then, the accident information generation unit 7 transmits the generated accident information to the accident information collection unit 8.
　＜１－２－２．通知動作＞
　図６は、運転支援装置６の通知動作を示すフローチャートである。なお、図６に示す通知動作は、自車両が走行中に実行されるものとする。 <1-2-2. Notification operation>
FIG. 6 is a flowchart showing the notification operation of the driving support device 6. It is assumed that the notification operation shown in FIG. 6 is executed while the own vehicle is running.
　ステップＳ２１において、通知部５は、自車両位置情報取得部２が取得した自車両位置情報と、死角事故情報取得部４が取得した死角事故情報とに基づいて、自車両が、死角事故が発生した地点に接近したか否かを判断する。ここで、接近とは、死角事故が発生した地点から予め定められた範囲内に自車両が存在することをいう。死角事故が発生した地点に接近した場合は、ステップＳ２２に移行する。一方、死角事故が発生した地点に接近していない場合は、ステップＳ２１の処理を繰り返す。 In step S21, the notification unit 5 causes a blind spot accident in the own vehicle based on the own vehicle position information acquired by the own vehicle position information acquisition unit 2 and the blind spot accident information acquired by the blind spot accident information acquisition unit 4. Determine if you have approached the point you visited. Here, approaching means that the own vehicle exists within a predetermined range from the point where the blind spot accident occurred. When approaching the point where the blind spot accident occurred, the process proceeds to step S22. On the other hand, if it is not close to the point where the blind spot accident occurred, the process of step S21 is repeated.
　ステップＳ２２において、通知部５は、視線情報取得部３が取得した視線情報と、死角事故情報取得部４が取得した死角事故情報とに基づいて、自車両の運転者が死角方向を見ているか否かを判断する。具体的には、通知部５は、視線情報取得部３が取得した視線方向と、死角事故情報取得部４が取得した死角方向とが一致しているとき、自車両の運転者が死角方向を見ていると判断する。なお、視線方向および死角方向の一致は、完全に一致する場合だけでなく、予め定められた角度範囲内に視線方向および死角方向が存在する場合も一致するとみなしてもよい。自車両の運転者が死角方向を見ている場合は、ステップＳ２１に戻る。一方、自車両の運転者が死角方向を見ていない場合は、ステップＳ２３に移行する。 In step S22, whether the driver of the own vehicle is looking in the blind spot direction based on the line-of-sight information acquired by the line-of-sight information acquisition unit 3 and the blind spot accident information acquired by the blind spot accident information acquisition unit 4. Judge whether or not. Specifically, in the notification unit 5, when the line-of-sight direction acquired by the line-of-sight information acquisition unit 3 and the blind spot direction acquired by the blind spot accident information acquisition unit 4 match, the driver of the own vehicle sets the blind spot direction. Judge that you are watching. It should be noted that the coincidence of the line-of-sight direction and the blind spot direction may be regarded as not only when they are completely coincident but also when the line-of-sight direction and the blind spot direction exist within a predetermined angle range. If the driver of the own vehicle is looking in the blind spot direction, the process returns to step S21. On the other hand, if the driver of the own vehicle is not looking in the blind spot direction, the process proceeds to step S23.
　ステップＳ２３において、通知部５は、死角方向を自車両の運転者に通知する。具体的には、通知部５は、図７に示すようにＨＵＤ（Head Up Display）に死角方向を示すオブジェクトを表示する。図７の例では、「！」マークは、運転者から見た死角方向を示すオブジェクトである。 In step S23, the notification unit 5 notifies the driver of the own vehicle of the blind spot direction. Specifically, the notification unit 5 displays an object indicating the blind spot direction on the HUD (Head Up Display) as shown in FIG. In the example of FIG. 7, the “!” Mark is an object indicating the blind spot direction as seen by the driver.
　なお、通知部５は、図７に示すようなＨＵＤにオブジェクトを表示することに限らず、地図上に死角方向を示すオブジェクトを表示してもよく、死角方向を音声で通知してもよい。 Note that the notification unit 5 is not limited to displaying the object on the HUD as shown in FIG. 7, and may display an object indicating the blind spot direction on the map, or may notify the blind spot direction by voice.
　＜１－３．効果＞
　本実施の形態１によれば、死角事故が発生した地点を走行する際、運転者が死角方向を見ていないときは当該死角方向を運転者に通知する。これにより、運転者の視線を死角方向に誘導し、死角事故が発生した地点について運転者に注意喚起することができる。すなわち、死角事故が発生した地点を走行するときに当該死角事故に関する情報を適切に通知することが可能となる。 <1-3. Effect>
According to the first embodiment, when the driver travels at the point where the blind spot accident has occurred, the driver is notified of the blind spot direction when the driver is not looking in the blind spot direction. As a result, the driver's line of sight can be guided in the blind spot direction, and the driver can be alerted to the point where the blind spot accident has occurred. That is, it is possible to appropriately notify the information regarding the blind spot accident when traveling at the point where the blind spot accident has occurred.
　＜実施の形態２＞
　＜２－１．構成＞
　図８は、本実施の形態２による運転支援装置９の構成の一例を示すブロック図である。 <Embodiment 2>
<2-1. Configuration>
FIG. 8 is a block diagram showing an example of the configuration of the driving support device 9 according to the second embodiment.
　図８に示すように、運転支援装置９は、センサ情報取得部１０を備えることを特徴としている。その他の構成は、実施の形態１で説明した図４に示す運転支援装置６と同様であるため、ここでは詳細な説明を省略する。 As shown in FIG. 8, the driving support device 9 is characterized by including a sensor information acquisition unit 10. Since other configurations are the same as those of the driving support device 6 shown in FIG. 4 described in the first embodiment, detailed description thereof will be omitted here.
　センサ情報取得部１０は、自車両に設けられた図示しないセンサから、当該センサの検出結果であるセンサ情報を取得する。センサは、死角方向を含む自車両の周辺に存在する物体を検出する。センサが検出する物体は、移動体または静止物のいずれであってもよい。 The sensor information acquisition unit 10 acquires sensor information, which is a detection result of the sensor, from a sensor (not shown) provided in the own vehicle. The sensor detects an object existing around the own vehicle including the blind spot direction. The object detected by the sensor may be either a moving object or a stationary object.
　通知部５は、自車両の運転者が死角方向を見ることができず、かつ死角方向にセンサが検出した物体が存在するとき、自車両の運転者に当該物体の存在を通知する。 When the driver of the own vehicle cannot see the blind spot direction and there is an object detected by the sensor in the blind spot direction, the notification unit 5 notifies the driver of the own vehicle of the existence of the object.
　＜２－２．動作＞
　運転支援装置９の動作のうち事故が発生したときに事故情報を送信する送信動作については、実施の形態１で説明した図５に示す動作と同じであるため、ここでは説明を省略する。以下では、死角事故が発生した地点を走行するときに運転者に通知する通知動作について説明する。 <2-2. Operation>
Of the operations of the driving support device 9, the transmission operation of transmitting accident information when an accident occurs is the same as the operation shown in FIG. 5 described in the first embodiment, and thus the description thereof will be omitted here. In the following, the notification operation for notifying the driver when traveling at the point where the blind spot accident has occurred will be described.
　図９は、運転支援装置９の通知動作を示すフローチャートである。なお、図９に示す通知動作は、自車両が走行中に動作するものとする。また、図９のステップＳ３１、ステップＳ３６、およびステップＳ３７は、図６のステップＳ２１～ステップＳ２３と同様であるため、ここでは説明を省略する。以下では、ステップＳ３２～ステップＳ３５について説明する。 FIG. 9 is a flowchart showing the notification operation of the driving support device 9. The notification operation shown in FIG. 9 is assumed to be performed while the own vehicle is traveling. Further, since step S31, step S36, and step S37 in FIG. 9 are the same as steps S21 to S23 in FIG. 6, description thereof will be omitted here. Hereinafter, steps S32 to S35 will be described.
　ステップＳ３２において、通知部５は、運転者が死角方向を確認することが可能であるか否かを判断する。例えば、通知部５は、死角事故が発生した地点における死角となる位置が、現在走行中の自車両の運転者からは見えない位置、または見づらい位置である場合に、運転者が死角方向を確認することが不可能であると判断してもよい。運転者が死角方向を確認することが可能である場合は、ステップＳ３６に移行する。一方、運転者が死角方向を確認することが不可能である場合は、ステップＳ３３に移行する。 In step S32, the notification unit 5 determines whether or not the driver can confirm the blind spot direction. For example, the notification unit 5 confirms the blind spot direction when the position of the blind spot at the point where the blind spot accident occurs is a position that cannot be seen by the driver of the own vehicle currently traveling or is difficult to see. You may decide that it is impossible to do so. If the driver can confirm the blind spot direction, the process proceeds to step S36. On the other hand, if it is impossible for the driver to confirm the blind spot direction, the process proceeds to step S33.
　ステップＳ３３において、センサ情報取得部１０は、自車両に設けられたセンサから、当該センサの検出結果であるセンサ情報を取得する。 In step S33, the sensor information acquisition unit 10 acquires sensor information, which is the detection result of the sensor, from the sensor provided in the own vehicle.
　ステップＳ３４において、通知部５は、センサ情報取得部１０が取得したセンサ情報に基づいて、死角事故が発生した地点において死角となる位置に物体が存在するか否かを判断する。死角となる位置に物体が存在する場合は、ステップＳ３５に移行する。一方、死角となる位置に物体が存在しない場合は、ステップＳ３１に戻る。 In step S34, the notification unit 5 determines whether or not an object exists at a position that becomes a blind spot at the point where the blind spot accident occurs, based on the sensor information acquired by the sensor information acquisition unit 10. If an object exists at a position that becomes a blind spot, the process proceeds to step S35. On the other hand, if there is no object at the position of the blind spot, the process returns to step S31.
　なお、上記の死角となる位置に存在する物体は、自車両の走行に干渉する可能性がある物体であればよい。例えば、自車両が走行中の道路に向かって移動中の移動体は、自車両の走行に干渉する可能性がある物体であると判断してもよい。また、自車両が走行中の道路にはみ出している静止物は、自車両の走行に干渉する可能性がある物体であると判断してもよい。 The object existing at the above-mentioned blind spot may be an object that may interfere with the running of the own vehicle. For example, it may be determined that a moving body moving toward the road on which the own vehicle is traveling is an object that may interfere with the traveling of the own vehicle. Further, it may be determined that a stationary object protruding from the road on which the own vehicle is traveling is an object that may interfere with the traveling of the own vehicle.
　死角となる位置に物体が存在するか否かを判断する際、センサの感度または指向性を死角方向に特化させる、センサによる評価の閾値を変える、またはセンサによる検出頻度を変更するなどしてもよい。ここで、センサによる検出頻度の変更とは、例えばセンサがカメラである場合は、カメラが撮影する映像のフレームレートを変更することである。このように、死角となる位置に物体が存在するか否かを判断するときは、センサによる監視を強化してもよい。 When determining whether or not an object exists at a blind spot, the sensitivity or directivity of the sensor is specialized in the blind spot direction, the threshold value of evaluation by the sensor is changed, or the detection frequency by the sensor is changed. May be good. Here, the change in the detection frequency by the sensor means, for example, when the sensor is a camera, the frame rate of the image captured by the camera is changed. In this way, when determining whether or not an object exists at a position that becomes a blind spot, monitoring by a sensor may be strengthened.
　ステップＳ３５において、通知部５は、死角となる位置に物体が存在することを自車両の運転者に通知する。例えば、通知部５は、死角となる位置に物体が存在することを示すオブジェクトをＨＵＤまたは地図上に表示してもよく、死角となる位置に物体が存在することを音声で通知してもよい。 In step S35, the notification unit 5 notifies the driver of the own vehicle that an object exists at a position that becomes a blind spot. For example, the notification unit 5 may display an object indicating that the object exists at the position of the blind spot on the HUD or a map, or may notify by voice that the object exists at the position of the blind spot. ..
　＜２－３．効果＞
　本実施の形態２によれば、死角事故が発生した地点を走行する際、運転者が死角方向を見ていないときは当該死角方向を運転者に通知し、運転者が死角方向を確認することが不可能であるときは当該死角方向をセンサで監視する。これにより、運転者が死角方向を確認することが不可能である場合であっても、死角となる位置に存在する物体を素早く検出して運転者に通知することができる。 <2-3. Effect>
According to the second embodiment, when driving in a point where a blind spot accident has occurred, if the driver is not looking in the blind spot direction, the driver is notified of the blind spot direction and the driver confirms the blind spot direction. If this is not possible, the blind spot direction is monitored by a sensor. As a result, even when it is impossible for the driver to confirm the blind spot direction, it is possible to quickly detect an object existing at the position of the blind spot and notify the driver.
　＜実施の形態３＞
　本実施の形態３では、死角事故情報が、死角事故の相手が移動体または静止物のいずれであるかを示す事故相手情報を含むことを特徴としている。その他の構成および動作は、実施の形態１で説明した運転支援装置６、または実施の形態２で説明した運転支援装置９と同様であるため、ここでは詳細な説明を省略する。 <Embodiment 3>
The third embodiment is characterized in that the blind spot accident information includes accident partner information indicating whether the blind spot accident partner is a moving body or a stationary object. Since other configurations and operations are the same as those of the driving support device 6 described in the first embodiment or the driving support device 9 described in the second embodiment, detailed description thereof will be omitted here.
　相手が移動体である場合の死角事故としては、例えば、死角となる位置から飛び出した移動体と自車両とが接触する事故などが挙げられる。また、相手が静止物である場合の死角事故としては、死角となる位置に存在する静止物に自車両が接触する事故などが挙げられる。事故情報収集部８は、このような死角事故の相手が移動体または静止物のいずれであるかを示す事故相手情報を死角事故情報に含めて記憶している。 Examples of blind spot accidents when the other party is a moving object include an accident in which a moving object jumping out of a blind spot and the own vehicle come into contact with each other. Further, as a blind spot accident when the other party is a stationary object, an accident in which the own vehicle comes into contact with a stationary object existing at a position of the blind spot can be mentioned. The accident information collecting unit 8 stores the accident partner information indicating whether the partner of such a blind spot accident is a moving object or a stationary object, including the accident partner information in the blind spot accident information.
　例えば、運転支援装置６，９における通知部５は、事故相手情報に基づいて、移動体および静止物のそれぞれに対応する通知を行ってもよい。具体的には、通知部５は、死角となる位置に移動体または静止物が存在する可能性があることを、表示または音声で自車両の運転者に通知してもよい。 For example, the notification unit 5 in the driving support devices 6 and 9 may give a notification corresponding to each of the moving body and the stationary object based on the accident partner information. Specifically, the notification unit 5 may notify the driver of the own vehicle by display or voice that there is a possibility that a moving object or a stationary object exists at a position that becomes a blind spot.
　また、例えば、運転支援装置９における通知部５は、事故相手情報に基づいて、自車両の運転者に通知するか、またはセンサによる監視を強化するかなどを切り替えてもよい。このとき、通知部５は、事故相手情報に基づいて、センサの検出範囲を変更してもよい。 Further, for example, the notification unit 5 in the driving support device 9 may switch between notifying the driver of the own vehicle or strengthening the monitoring by the sensor based on the accident partner information. At this time, the notification unit 5 may change the detection range of the sensor based on the accident partner information.
　なお、上記では、通知部５が事故相手情報に基づいて通知を変える場合について説明したが、これに限るものではない。通知部５は、死角事故を起こした車両の運転者の年齢および性別のうちの少なくとも１つを含む運転者情報に基づいて、自車両の運転者への通知を変えてもよい。例えば、通知部５は、死角事故を起こした車両の運転者が高齢者であり、かつ自車両の運転者が若年者であるとき、自車両の運転者への通知の優先度を下げるようにしてもよい。この場合、自車両の運転者の年齢は、運転支援装置６，９に予め登録しておいてもよく、図示しないカメラが運転者を撮影した映像を画像処理することによって当該運転者の年齢を推定してもよい。 In the above, the case where the notification unit 5 changes the notification based on the accident partner information has been described, but the present invention is not limited to this. The notification unit 5 may change the notification to the driver of the own vehicle based on the driver information including at least one of the age and gender of the driver of the vehicle causing the blind spot accident. For example, the notification unit 5 lowers the priority of notification to the driver of the own vehicle when the driver of the vehicle causing the blind spot accident is an elderly person and the driver of the own vehicle is a young person. You may. In this case, the age of the driver of the own vehicle may be registered in advance in the driving support devices 6 and 9, and the age of the driver is determined by image processing the image of the driver taken by a camera (not shown). You may estimate.
　以上のことから、本実施の形態３によれば、事故相手情報、運転者情報、またはこれらの両方の情報を用いて、より適切な通知を行うことができる。 From the above, according to the third embodiment, more appropriate notification can be made by using the accident partner information, the driver information, or both of these information.
　＜実施の形態４＞
　実施の形態１，２では、死角事故が発生した地点を走行する際に、運転者が死角方向を見ていないときは当該死角方向を運転者に通知する場合について説明した。本実施の形態４では、死角方向を運転者に通知するとともに、死角方向を撮影した画像を表示することを特徴としている。その他の構成および動作は、実施の形態１で説明した運転支援装置６、または実施の形態２で説明した運転支援装置９と同様であるため、ここでは詳細な説明を省略する。 <Embodiment 4>
In the first and second embodiments, a case where the driver is notified of the blind spot direction when the driver is not looking at the blind spot direction when traveling at the point where the blind spot accident has occurred has been described. The fourth embodiment is characterized in that the driver is notified of the blind spot direction and an image of the blind spot direction is displayed. Since other configurations and operations are the same as those of the driving support device 6 described in the first embodiment or the driving support device 9 described in the second embodiment, detailed description thereof will be omitted here.
　運転支援装置６，９における通知部５は、死角事故が発生した地点を走行する際、死角方向を運転者に通知するとともに、図示しないカメラが撮影した死角方向の画像をＨＵＤなどに表示する。 The notification unit 5 in the driving support devices 6 and 9 notifies the driver of the blind spot direction when traveling at the point where the blind spot accident has occurred, and displays an image of the blind spot direction taken by a camera (not shown) on the HUD or the like.
　以上のことから、本実施の形態４によれば、死角方向の通知だけでなく、死角方向を撮影した画像を表示する。従って、死角事故が発生した地点を走行する際により適切な通知を行うことができる。 From the above, according to the fourth embodiment, not only the notification of the blind spot direction but also the image taken in the blind spot direction is displayed. Therefore, it is possible to give a more appropriate notification when traveling at the point where the blind spot accident has occurred.
　＜ハードウェア構成＞
　各実施の形態１～４で説明した運転支援装置１，６，９における自車両位置情報取得部２、視線情報取得部３、死角事故情報取得部４、通知部５、事故情報生成部７、およびセンサ情報取得部１０の各機能は、処理回路により実現される。すなわち、運転支援装置１，６，９は、自車両位置情報を取得し、視線情報を取得し、死角事故情報を取得し、死角方向を通知し、事故情報を生成し、センサ情報を取得するための処理回路を備える。処理回路は、専用のハードウェアであっても、メモリに格納されるプログラムを実行するプロセッサ（ＣＰＵ（Central Processing Unit）、中央処理装置、処理装置、演算装置、マイクロプロセッサ、マイクロコンピュータ、ＤＳＰ（Digital Signal Processor）ともいう）であってもよい。 <Hardware configuration>
Own vehicle position information acquisition unit 2, line-of-sight information acquisition unit 3, blind spot accident information acquisition unit 4, notification unit 5, accident information generation unit 7, in the driving support devices 1, 6 and 9 described in the first to fourth embodiments. And each function of the sensor information acquisition unit 10 is realized by a processing circuit. That is, the driving support devices 1, 6 and 9 acquire the own vehicle position information, the line-of-sight information, the blind spot accident information, notify the blind spot direction, generate the accident information, and acquire the sensor information. A processing circuit for The processing circuit is a processor (CPU (Central Processing Unit), central processing unit, processing unit, arithmetic unit, microprocessor, microcomputer, DSP (Digital) that executes programs stored in memory, even if it is dedicated hardware. It may also be called a Signal Processor).
　処理回路が専用のハードウェアである場合、図１０に示すように、処理回路１１は、例えば、単一回路、複合回路、プログラム化したプロセッサ、並列プログラム化したプロセッサ、ＡＳＩＣ（Application Specific Integrated Circuit）、ＦＰＧＡ（Field Programmable Gate Array）、またはこれらを組み合わせたものが該当する。自車両位置情報取得部２、視線情報取得部３、死角事故情報取得部４、通知部５、事故情報生成部７、およびセンサ情報取得部１０の各機能を処理回路１１で実現してもよく、各機能をまとめて処理回路１１で実現してもよい。 When the processing circuit is dedicated hardware, as shown in FIG. 10, the processing circuit 11 is, for example, a single circuit, a composite circuit, a programmed processor, a parallel programmed processor, or an ASIC (Application Specific Integrated Circuit). , FPGA (Field Programmable Gate Array), or a combination of these. The processing circuit 11 may realize the functions of the own vehicle position information acquisition unit 2, the line-of-sight information acquisition unit 3, the blind spot accident information acquisition unit 4, the notification unit 5, the accident information generation unit 7, and the sensor information acquisition unit 10. , Each function may be collectively realized by the processing circuit 11.
　処理回路１１が図１１に示すプロセッサ１２である場合、自車両位置情報取得部２、視線情報取得部３、死角事故情報取得部４、通知部５、事故情報生成部７、およびセンサ情報取得部１０の各機能は、ソフトウェア、ファームウェア、またはソフトウェアとファームウェアとの組み合わせにより実現される。ソフトウェアまたはファームウェアは、プログラムとして記述され、メモリ１３に格納される。プロセッサ１２は、メモリ１３に記録されたプログラムを読み出して実行することにより、各機能を実現する。すなわち、運転支援装置１，６，９は、自車両位置情報を取得するステップ、視線情報を取得するステップ、死角事故情報を取得するステップ、死角方向を通知するステップ、事故情報を生成するステップ、センサ情報を取得するステップが結果的に実行されることになるプログラムを格納するためのメモリ１３を備える。また、これらのプログラムは、自車両位置情報取得部２、視線情報取得部３、死角事故情報取得部４、通知部５、事故情報生成部７、およびセンサ情報取得部１０の手順または方法をコンピュータに実行させるものであるともいえる。ここで、メモリとは、例えば、ＲＡＭ（Random Access Memory）、ＲＯＭ（Read Only Memory）、フラッシュメモリ、ＥＰＲＯＭ（Erasable Programmable Read Only Memory）、ＥＥＰＲＯＭ（Electrically Erasable Programmable Read Only Memory）等の不揮発性または揮発性の半導体メモリ、磁気ディスク、フレキシブルディスク、光ディスク、コンパクトディスク、ＤＶＤ（Digital Versatile Disc）等、または、今後使用されるあらゆる記憶媒体であってもよい。 When the processing circuit 11 is the processor 12 shown in FIG. 11, the own vehicle position information acquisition unit 2, the line-of-sight information acquisition unit 3, the blind spot accident information acquisition unit 4, the notification unit 5, the accident information generation unit 7, and the sensor information acquisition unit Each of the ten functions is realized by software, firmware, or a combination of software and firmware. The software or firmware is described as a program and stored in the memory 13. The processor 12 realizes each function by reading and executing the program recorded in the memory 13. That is, the driving support devices 1, 6 and 9 have a step of acquiring own vehicle position information, a step of acquiring line-of-sight information, a step of acquiring blind spot accident information, a step of notifying the blind spot direction, and a step of generating accident information. A memory 13 for storing a program for which the step of acquiring the sensor information will be executed as a result is provided. In addition, these programs computerize the procedures or methods of the own vehicle position information acquisition unit 2, the line-of-sight information acquisition unit 3, the blind spot accident information acquisition unit 4, the notification unit 5, the accident information generation unit 7, and the sensor information acquisition unit 10. It can be said that it is to be executed by. Here, the memory is, for example, non-volatile or volatile such as RAM (RandomAccessMemory), ROM (ReadOnlyMemory), flash memory, EPROM (ErasableProgrammableReadOnlyMemory), and EEPROM (ElectricallyErasableProgrammableReadOnlyMemory). It may be a sex semiconductor memory, a magnetic disk, a flexible disk, an optical disk, a compact disk, a DVD (Digital Versatile Disc), or any storage medium that will be used in the future.
　なお、自車両位置情報取得部２、視線情報取得部３、死角事故情報取得部４、通知部５、事故情報生成部７、およびセンサ情報取得部１０の各機能について、一部を専用のハードウェアで実現し、一部をソフトウェアまたはファームウェアで実現するようにしてもよい。 It should be noted that some of the functions of the own vehicle position information acquisition unit 2, the line-of-sight information acquisition unit 3, the blind spot accident information acquisition unit 4, the notification unit 5, the accident information generation unit 7, and the sensor information acquisition unit 10 are dedicated hardware. It may be realized by hardware and partly by software or firmware.
　このように、処理回路は、ハードウェア、ソフトウェア、ファームウェア、またはこれらの組み合わせによって、上述の各機能を実現することができる。 In this way, the processing circuit can realize each of the above-mentioned functions by hardware, software, firmware, or a combination thereof.
　なお、本発明は、その発明の範囲内において、各実施の形態を自由に組み合わせたり、各実施の形態を適宜、変形、省略することが可能である。 It should be noted that, within the scope of the present invention, each embodiment can be freely combined, and each embodiment can be appropriately modified or omitted.
　本発明は詳細に説明されたが、上記した説明は、すべての態様において、例示であって、この発明がそれに限定されるものではない。例示されていない無数の変形例が、この発明の範囲から外れることなく想定され得るものと解される。 Although the present invention has been described in detail, the above description is exemplary in all embodiments and the present invention is not limited thereto. It is understood that a myriad of variations not illustrated can be envisioned without departing from the scope of the invention.
　１　運転支援装置、２　自車両位置情報取得部、３　視線情報取得部、４　死角事故情報取得部、５　通知部、６　運転支援装置、７　事故情報送信部、８　死角事故情報収集部、９　運転支援装置、１０　センサ情報取得部、１１　処理回路、１２　プロセッサ、１３　メモリ。 1 Driving support device, 2 Own vehicle position information acquisition unit, 3 Line-of-sight information acquisition unit, 4 Blind spot accident information acquisition unit, 5 Notification unit, 6 Driving support device, 7 Accident information transmission unit, 8 Blind spot accident information collection unit, 9 Driving Support device, 10 sensor information acquisition unit, 11 processing circuit, 12 processor, 13 memory.

Claims (8)

  1. 　自車両の現在位置を示す自車両位置情報を取得する自車両位置情報取得部と、
    　前記自車両の運転者の視線方向を含む視線情報を取得する視線情報取得部と、
    　前記自車両位置情報取得部が取得した前記自車両の現在位置に対応する地点において死角が原因で発生した死角事故に関する情報である死角事故情報を取得する死角事故情報取得部と、
    　前記死角事故情報取得部が取得した前記死角事故情報と、前記視線情報取得部が取得した前記視線情報とに基づいて、前記死角事故が発生した地点において前記自車両の運転者の視線方向が前記死角の方向である死角方向でないとき、当該死角方向を前記自車両の運転者に通知する通知部と、
    を備える、運転支援装置。     The own vehicle position information acquisition unit that acquires the own vehicle position information indicating the current position of the own vehicle, and
    A line-of-sight information acquisition unit that acquires line-of-sight information including the line-of-sight direction of the driver of the own vehicle, and
    A blind spot accident information acquisition unit that acquires blind spot accident information that is information on a blind spot accident caused by a blind spot at a point corresponding to the current position of the own vehicle acquired by the own vehicle position information acquisition unit.
    Based on the blind spot accident information acquired by the blind spot accident information acquisition unit and the line-of-sight information acquired by the line-of-sight information acquisition unit, the line-of-sight direction of the driver of the own vehicle is the said at the point where the blind spot accident occurs. A notification unit that notifies the driver of the own vehicle of the blind spot direction when it is not the blind spot direction, which is the direction of the blind spot.
    A driving support device equipped with.
  2. 　前記死角事故情報は、少なくとも１つの他車両に関する前記死角事故情報を含むことを特徴とする、請求項１に記載の運転支援装置。 The driving support device according to claim 1, wherein the blind spot accident information includes the blind spot accident information relating to at least one other vehicle.
  3. 　前記死角事故情報は、前記自車両に関する前記死角事故情報を含むことを特徴とする、請求項１に記載の運転支援装置。 The driving support device according to claim 1, wherein the blind spot accident information includes the blind spot accident information relating to the own vehicle.
  4. 　前記死角方向に存在する物体を検出するセンサから検出結果であるセンサ情報を取得するセンサ情報取得部をさらに備え、
    　前記通知部は、前記自車両の運転者が前記死角方向を見ることができず、かつ前記死角方向に前記物体が存在するとき、前記自車両の運転者に前記物体の存在を通知することを特徴とする、請求項１に記載の運転支援装置。     Further provided with a sensor information acquisition unit that acquires sensor information that is a detection result from a sensor that detects an object existing in the blind spot direction.
    When the driver of the own vehicle cannot see the blind spot direction and the object is present in the blind spot direction, the notification unit notifies the driver of the own vehicle of the existence of the object. The driving support device according to claim 1, which is characterized.
  5. 　前記死角事故情報は、前記死角事故を起こした車両の運転者の年齢および性別のうちの少なくとも１つを含む運転者情報を含むことを特徴とする、請求項１に記載の運転支援装置。 The driving support device according to claim 1, wherein the blind spot accident information includes driver information including at least one of the age and gender of the driver of the vehicle that caused the blind spot accident.
  6. 　前記通知部は、前記運転者情報に基づいて前記死角方向を前記自車両の運転者に通知することを特徴とする、請求項５に記載の運転支援装置。 The driving support device according to claim 5, wherein the notification unit notifies the driver of the own vehicle of the blind spot direction based on the driver information.
  7. 　前記死角事故情報は、前記死角事故の相手が移動体または静止物のいずれであるかを示す事故相手情報を含み、
    　前記通知部は、前記事故相手情報に基づいて前記死角方向を前記自車両の運転者に通知することを特徴とする、請求項１に記載の運転支援装置。     The blind spot accident information includes accident partner information indicating whether the partner of the blind spot accident is a moving object or a stationary object.
    The driving support device according to claim 1, wherein the notification unit notifies the driver of the own vehicle of the blind spot direction based on the accident partner information.
  8. 　自車両の現在位置を示す自車両位置情報を取得し、
    　前記自車両の運転者の視線方向を含む視線情報を取得し、
    　取得した前記自車両の現在位置に対応する地点において死角が原因で発生した死角事故に関する情報である死角事故情報を取得し、
    　取得した前記死角事故情報と、取得した前記視線情報とに基づいて、前記死角事故が発生した地点において前記自車両の運転者の視線方向が前記死角の方向である死角方向でないとき、当該死角方向を前記自車両の運転者に通知する、運転支援方法。     Acquire the own vehicle position information indicating the current position of the own vehicle,
    The line-of-sight information including the line-of-sight direction of the driver of the own vehicle is acquired, and the line-of-sight information is acquired.
    Acquire blind spot accident information, which is information on blind spot accidents caused by blind spots at the acquired points corresponding to the current position of the own vehicle.
    Based on the acquired blind spot accident information and the acquired line-of-sight information, when the line-of-sight direction of the driver of the own vehicle is not the blind spot direction at the point where the blind spot accident occurs, the blind spot direction A driving support method for notifying the driver of the own vehicle.
PCT/JP2019/018360 2019-05-08 2019-05-08 Driving assistance device and driving assistance method WO2020225868A1 (en)

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