JP2010100138A - Driving support apparatus - Google Patents

Abstract

An object of the present invention is to suppress a driver's dependence and overconfidence with respect to a driving support device.
In this driving support device, a target route of an own vehicle is calculated in an ECU, a future route is estimated based on a traveling state of the own vehicle, and based on the target route and the future route. The propriety of the driver's avoidance operation and the appropriateness of the avoidance operation amount in the host vehicle 1 are determined. When it is determined that the avoidance operation is appropriate and the avoidance operation amount is inappropriate, the travel support device 17 is controlled by the ECU 13 to execute the travel support. On the other hand, when the avoidance operation is determined inappropriate, The alarm device 16 is controlled by the ECU 13 to issue an alarm. In other words, driving assistance is performed only when the driver's avoidance operation is appropriate but the avoidance operation amount is inappropriate, and when the avoidance operation is inappropriate, the driver's own appropriate avoidance operation is prompted by an alarm. It becomes.
[Selection] Figure 1

Description

  The present invention relates to a driving support device for avoiding a collision between an own vehicle such as an automobile and an obstacle.

As a conventional driving assistance device, for example, one described in Patent Document 1 is known. In such a driving support device, the reference lateral movement amount (future route) is obtained based on the vehicle behavior change of the host vehicle, and the necessary avoidance lateral movement amount (target route) for contact avoidance is obtained. Then, the target steering amount is obtained based on the comparison result between the reference lateral movement amount and the avoidance-needed lateral movement amount, and the steering device is automatically controlled (running control) according to the target steering amount.
JP 2000-66726 A

  Here, in the above driving assistance device, as described above, since the traveling control is always executed, the driver's dependence on the driving assistance device such that the collision is automatically avoided by the driving assistance device, for example. And overconfidence may increase.

  Then, let it be a subject to provide the driving assistance device which can control a driver's dependence and overconfidence.

  In order to solve the above problems, a driving support apparatus according to the present invention is a driving support apparatus for avoiding a collision with an obstacle, and includes a calculation means for calculating a target route of the own vehicle, and a future route of the own vehicle. A determination means for determining whether the driver's avoidance operation is appropriate and the avoidance operation amount is appropriate based on the target route calculated by the calculation means and the future route estimated by the estimation means. When the avoidance operation is determined to be appropriate and the avoidance operation amount is determined to be inappropriate by the means, the travel support means for supporting the traveling of the host vehicle so as to avoid the collision, and the determination means determined that the avoidance operation is inappropriate And a warning means for issuing a warning to the driver so as to avoid a collision.

  In this driving assistance device, although the driver's avoidance operation is appropriate, the driving assistance is performed only when the avoidance operation amount is inappropriate. When the avoidance operation is inappropriate, the alarm device issues a warning. Therefore, an appropriate avoidance operation by the driver himself is urged. Therefore, the dependence and overconfidence of the driver with respect to the driving support device can be suppressed.

  Further, it is preferable that the driving support means performs the driving control so that the target route and the future route are brought close to each other. In this case, as the driver's avoidance operation amount is appropriate, the degree of travel support is reduced, so that the travel support can be prevented from interfering with the driver's avoidance operation.

  In addition, it is preferable that the driving support means performs driving support that is not noticed by the driver. In this case, since it becomes difficult for the driver to recognize the operation of the driving support, the driver's dependence and overconfidence with respect to the driving support device can be further suppressed.

  Note that “driving support that is not noticed” is driving support in which the travel route is finely corrected so that it is not recognized by the driver, and the degree of discomfort (body sensitivity) for the driver is smaller than a predetermined value. It is. Here, “driver” means a general driver, and “predetermined value” is appropriately set based on, for example, ergonomics (the same applies to “driver” and “predetermined value” below). .

  In addition, the vehicle is provided with a detecting means for detecting the driver's arousal level, and the driving support means performs driving support that is not noticed by the driver when the awakening level detected by the detecting means is higher than a predetermined value. When the arousal level detected by the means is less than or equal to a predetermined value, it is preferable to provide driving support that is noticed by the driver. In this case, for example, when the driver is in a normal state of consciousness, the arousal level is assumed to be greater than a predetermined value, and driving assistance that is not noticed by the driver is performed. Overconfidence will be further suppressed. On the other hand, for example, when the driver is asleep or looking aside, the arousal level is set to a predetermined value or less, and driving assistance that is noticed by the driver is performed, so collision avoidance is reliably realized. At the same time, the driver's arousal level is improved.

  Note that “travel assistance that is noticed” is travel support in which the travel route is corrected so as to be recognized by the driver, and the degree of discomfort (body sensitivity) for the driver is greater than or equal to a predetermined value. .

  In addition, a determination unit that determines a driver operation unit that performs the driver's avoidance operation is provided, and the driving support unit selects and controls the driver operation unit that is determined by the determination unit, so that the driver is not noticed. It is preferable to perform such driving support. In this case, since it becomes more difficult for the driver to recognize the operation of the driving support, the driver's dependence and overconfidence with respect to the driving support device can be further suppressed.

  At this time, the driving support means, specifically, when the determining means determines a plurality of driver operation means, the plurality of driving means determined by the determining means according to the operation ratio of the driver in the plurality of driver operation means. The driver operating means may be controlled.

  ADVANTAGE OF THE INVENTION According to this invention, it becomes possible to suppress a driver's dependence and overconfidence with respect to a driving assistance device.

  Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings. In the following description, the same or equivalent elements will be denoted by the same reference numerals, and redundant description will be omitted.

[First Embodiment]
First, a first embodiment of the present invention will be described. FIG. 1 is a schematic configuration diagram showing a driving support apparatus according to the first embodiment of the present invention. As shown in FIG. 1, the driving support device 10 of the present embodiment is mounted on a host vehicle 1 such as an automobile and is for avoiding a collision with an obstacle. Obstacles include surrounding vehicles, pedestrians, and on / off road structures (eg, walls, utility poles and central separators). The driving assistance device 10 includes a periphery recognition sensor 11, a traveling state detection sensor 12, and an ECU (Electronic Control Unit) 13.

  The periphery recognition sensor 11 is for recognizing the periphery of the host vehicle 1, and here, as the periphery recognition sensor 11, a camera for recognizing a lane division line (white line) of a traveling lane and a surrounding obstacle are recognized. Millimeter wave sensors are used. The peripheral recognition sensor 11 is connected to the ECU 13 and outputs a recognition result to the ECU 13.

  The traveling state detection sensor 12 is for detecting the traveling state of the host vehicle 1, and here detects the vehicle state such as the vehicle speed and the yaw rate and the operation state of the driver as the traveling state. The traveling state detection sensor 12 is connected to the ECU 13 and outputs the detected traveling state to the ECU 13.

  The ECU 13 is configured mainly by a computer including a CPU, a ROM, and the like, for example, and is connected to the ECU 13 with a driving support device 17 that performs driving support for avoiding a collision with an obstacle. Specifically, a steering device 14 for steering the host vehicle 1 and a brake device 15 for braking the host vehicle 1 are connected to the ECU 13. The ECU 13 is connected to an alarm device (alarm means) 16 for issuing an alarm (including an alarm sound and an alarm display) to the driver of the host vehicle 1.

  The ECU 13 includes a target route calculation unit (calculation unit) 13a that calculates a target route, a future route estimation unit (estimation unit) 13b that estimates a future route, and a determination unit that determines whether the driver's avoidance operation and avoidance operation amount are appropriate. (Decision means) 13c and a control unit 13d that controls the operations of the devices 14 to 16 based on the determination result of the determination unit 13c.

  The ECU 13 determines the avoidance operation and the avoidance operation amount of the driver based on the recognition result by the periphery recognition sensor 11 and the travel state by the travel state detection sensor 12, and the avoidance operation is appropriate and the avoidance operation amount is inappropriate. In this case, at least one of the steering device 14 and the brake device 15 is controlled so as to assist (complement) collision avoidance, and the vehicle 1 is supported for driving. On the other hand, if the driver's avoidance operation is inappropriate, the alarm device 16 is activated. (Details will be described later).

  Next, the process of the drive assistance apparatus 10 demonstrated is demonstrated, referring the flowchart shown in FIG.

  In this driving support device 10, first, the periphery of the host vehicle 1 is recognized by the periphery recognition sensor 11, and the vehicle state of the host vehicle 1 is detected by the vehicle state detection sensor 12. Then, based on these recognition results and the running state, the ECU 13 executes the following processing.

  That is, as shown in FIG. 3, the positional relationship and relative speed between the host vehicle 1 and the obstacle M are calculated based on the recognition result and the running state, and the target as a target locus for avoiding the collision with the obstacle M is obtained. The route A is calculated (S1). The target route A here is a route that has the lowest possibility of collision with the obstacle M. Along with this, a future route B as a predicted trajectory of the host vehicle 1 is estimated based on the traveling state of the host vehicle 1 (S2).

  Subsequently, the target route A and the future route B are compared, and the suitability of the driver's avoidance operation for the obstacle M is determined (S3). Specifically, the distance X between the position PA on the target route A and the position PB on the future route B is obtained after a time T seconds necessary for the avoidance operation. Further, the rate of change ΔX of the distance X is obtained after time T seconds. When the obtained distance X and change rate ΔX are located in the avoidance operation inappropriate area N outside (large) the predetermined function f on the phase plane α shown in FIG. Determined. On the other hand, in other cases, it is determined that the avoidance operation is appropriate.

  Here, only with the above-described determination on the phase plane α (hereinafter referred to as “phase plane determination”), in some cases, there is a risk of erroneous determination due to instantaneous fluctuation due to noise or the like. For this reason, in the present embodiment, by using the history information of the past distance X, erroneous determination of the phase plane determination is suppressed, and the suitability of the avoidance operation is accurately determined. Specifically, for example, as shown in FIG. 4B, when the distance X is integrated from when the distance X exceeds a preset threshold value I and the integration value ΣX reaches a certain value or more, Phase plane determination is enabled (ON). Note that the phase plane determination described above may be valid when a predetermined time has elapsed Ti from when the distance X exceeds a preset threshold I.

  Subsequently, when it is determined that the avoidance operation is inappropriate, the alarm device 16 is activated, an alarm is output to the driver so as to avoid the collision, and the process is terminated (S4 → S5). When it is determined that the avoidance operation is appropriate, it is determined whether or not the avoidance operation amount is the degree (amount) of the avoidance operation by the driver (S6). Specifically, when the distance X (see FIG. 3) is smaller than a predetermined distance, it is determined that the avoidance operation amount is appropriate. Thereafter, the process is terminated as it is. On the other hand, when the distance X is equal to or greater than the predetermined distance, it is determined that the avoidance operation amount is inappropriate because the avoidance operation amount is insufficient from the necessary operation amount.

  When it is determined that the avoidance operation amount is inappropriate, travel support is performed so as to bring the target route A and the future route B closer to each other (decrease the difference between them). Only is supplemented (S7). Thereafter, the process is terminated. Here, in the present embodiment, driving assistance that is not noticed by the driver is executed, and for example, driving assistance shown in the following (1) and (2) is executed. In the following description, for the sake of convenience, such “running assistance not noticed by the driver” is referred to as “low-sensitivity running assistance”.

(1) When the steering operation amount is excessive When the driver's steering operation amount is excessive, the steering device 14 is controlled, and the speed increasing device in the steering device 14 is changed in a direction in which the steering response is delayed ( For example, the gear ratio is changed). As a result, the tire turning angle becomes smaller than the driver's avoidance operation amount without giving the driver a sense of incongruity, and the course of the host vehicle 1 is finely corrected.

(2) When the driver performs an avoidance operation in the middle of the curve When the driver performs an avoidance operation in the middle of the curve, for example, the road surface μ value estimated by the road surface μ estimation means (not shown) is When the speed is low, the actual steering angle is reduced by the speed increasing device of the steering device 14, and the brake amount between the inner tire and the outer tire is adjusted by the brake device 15. As a result, a yaw rate equal to the steering angle by the driver's avoidance operation is generated without causing the driver to feel uncomfortable.

  Note that any conventional means can be applied to the above-mentioned road surface μ estimation means. For general examples, see, for example, Japanese Patent Application Laid-Open Nos. 2001-133390 and 2002-274356. .

  As described above, in the driving support device 10 of the present embodiment, although the driver's avoidance operation is appropriate, the driving support is performed only when the avoidance operation amount is inappropriate. On the other hand, when the avoidance operation is inappropriate, an alarm is issued by the alarm device 16 and an appropriate avoidance operation by the driver himself is prompted. Therefore, the driver's dependence and overconfidence with respect to the driving assistance device 10 can be suppressed.

  Furthermore, as described above, the execution of the alarm is controlled based on the suitability of the avoidance operation determined by comparing the target route A and the future route B. That is, the execution of the warning is determined using the predicted value of the inappropriate amount of the driver's avoidance operation predicted not only in the current state but also in the future. Therefore, it is possible to suppress unnecessary warnings that are issued even though the driver appropriately performs the avoidance operation, and it is possible to reduce bothersomeness and discomfort to the driver.

  In the present embodiment, as described above, the travel control is performed so that the target route A and the future route B are close to each other. Therefore, the more the driver's avoidance operation amount is appropriate, the less the degree of travel support is, so that the travel support can be prevented from interfering with the driver's avoidance operation. As a result, collision avoidance can be realized more suitably and safely.

  In the present embodiment, as described above, the low-sensitivity driving support that is a driving support that is not noticed by the driver is performed. That is, the driving assistance is executed while raising the background of the driving of the driver. Therefore, since it becomes difficult for the driver to recognize the operation of driving support, the driver's dependence and overconfidence with respect to the driving support device 10 can be further suppressed.

  Note that the low-sensitivity driving support is not limited to the above-described one, and the driving route is finely corrected so as not to be recognized by the driver, or the degree of uncomfortable feeling (body sensitivity) for the driver is smaller than a predetermined value. If so, various types of driving assistance may be used. In the above, the travel support device 17 (the steering device 14 and the brake device 15) and the control unit 13d of the ECU 13 constitute a travel support means.

[Second Embodiment]
Next, a second embodiment of the present invention will be described. In the description of the present embodiment, differences from the first embodiment will be mainly described.

  FIG. 5 is a schematic block diagram showing a driving support apparatus according to the second embodiment of the present invention, and FIG. 6 is a flowchart showing processing of the driving support apparatus of FIG. As shown in FIG. 5, the driving support device 20 of the present embodiment is different from the driving support device 10 in that an ECU 23 having an operating device determination unit (discriminating means) 23e is provided instead of the ECU 13 (see FIG. 1). It is a point.

  The operation device determination unit 23e determines the operation device (driver operation means) that is the driving support device 17 and that performs the driver's avoidance operation. Here, the operation device determination unit 23e detects whether or not the avoidance operation by the driver is performed by the steering device 14 and the brake device 15, and determines at least one of the steering device 14 and the brake device 15 as the operation device. . And the control part 13d selects and controls the operating device discriminate | determined by the operating device discrimination | determination part 23e as a control object, and performs low sensitivity driving assistance.

  In the driving support device 20 of the present embodiment, when the avoidance operation amount is determined to be inappropriate (Yes in S6), the operation device is determined (S8). Then, the determined operating device is selected and controlled, and low-sensitivity driving support is executed (S9).

  Specifically, when it is determined that the driver is performing an avoidance operation by the steering device 14, the steering device 14 is selected and controlled, and necessary driving support is realized. Further, when it is determined that the driver is performing the avoidance operation by the brake device 15, the brake device 15 is selected and controlled, and necessary travel support is realized. Furthermore, when it is determined that the avoidance operation is being performed using both the steering device 14 and the brake device 15, the steering device 14 and the brake device 15 are selected, and the avoidance operation of the driver by the driver is performed. Depending on the ratio (operation ratio) (here, the same operation ratio), both the steering device 14 and the brake device 15 are controlled, and necessary travel support is realized.

  As described above, in the driving support device 20 of the present embodiment, the operating device is determined, and the determined operating device is selected and controlled to perform low-sensitivity driving support. Therefore, since it becomes more difficult for the driver to recognize the operation of driving support, the driver's dependence and overconfidence with respect to the driving support device 20 can be further suppressed.

[Third Embodiment]
Next, a third embodiment of the present invention will be described. In the description of the present embodiment, differences from the second embodiment will be mainly described.

  FIG. 7 is a schematic configuration diagram showing a driving support apparatus according to the third embodiment of the present invention, and FIG. 8 is a flowchart showing processing of the driving support apparatus of FIG. As shown in FIG. 5, the driving support device 30 of this embodiment is different from the driving support device 20 in that it further includes a driver state detection sensor 31 and replaces the ECU 23 (see FIG. 5) with the host vehicle 1. It is the point provided with ECU33 which has the arousal level detection part 33f which detects the arousal level of the driver | operator of.

  The driver state detection sensor 31 detects the state of the driver of the host vehicle 1, for example, an in-vehicle camera that detects the driver's eyes or blinks, a biosensor that detects the physiological state of the driver, and the like. Is used. The arousal level detection unit 33f estimates and detects the driver's arousal level based on the driver's state detected by the driver state detection sensor 31. Then, the control unit 13d performs driving support based on the driver's arousal level.

  In the driving support device 30 of this embodiment, after it is determined that the avoidance operation amount is inappropriate and the operating device is determined (S8), the driver's state is detected by the driver state detection sensor 31, and this driver is detected. The degree of arousal is detected based on the state. When the driver's arousal level is higher than a predetermined value, the controller device determined in S8 is selected and controlled, and low-sensitivity driving support is executed (S10 → S9).

  On the other hand, when the driver's arousal level is less than or equal to a predetermined value, the driving support that is noticed by the driver (hereinafter referred to as “high-sensitivity driving support”) is executed. Here, a high-sensitivity driving support is executed by selecting and controlling the driving support device 17 different from the operation device determined in S8 and making the behavior of the host vehicle 1 contrary to the driver's intention. (S10 → S11).

  Note that the high-sensitivity driving support is not limited to the above-described one, and the driving route is corrected so that it can be recognized by the driver, or the degree of uncomfortable feeling (body sensitivity) for the driver is a predetermined value or more. For example, various driving assistances may be used.

  As described above, in the driving support device 30 of the present embodiment, the type of driving support to be intervened is appropriately selected and changed based on the arousal level. That is, for example, when the driver is in a normal conscious state, the arousal level is assumed to be greater than a predetermined value, and low-sensitivity driving assistance is performed. Therefore, it is possible to further suppress the driver's dependence and overconfidence with respect to the driving support device, and to feel uncomfortable and annoying because the driving control operates even though the avoidance operation is performed at his own will. Can be prevented.

  On the other hand, for example, when the driver is asleep or looking aside, the arousal level is set to a predetermined value or less, and high-sensitivity driving support is performed. Accordingly, collision avoidance can be reliably realized, and driving assistance intervention can be easily experienced, so that the driver's arousal level can be improved. In other words, for example, when the driver is not performing an appropriate steering operation due to falling asleep or looking aside, the steering device 14 is controlled, and the effect of improving the arousal level is given to the driver by the movement of the steering and the lateral G generated in the vehicle. Will be granted.

  Therefore, according to the present embodiment, by switching the driving support according to the detected arousal level, the driver's unintentional behavior of the vehicle 1 is suppressed while suppressing dependence on the driving support device 30 and overconfidence. It is possible to improve the arousal level.

  In the present embodiment, low-sensitivity driving support is executed by controlling the operating device determined in S8. However, if low-sensitive driving support is executed, the driving support device 17 other than the operating device is controlled. Also good. In the above, the driver state detection sensor 31 and the arousal level detection unit 33f in the ECU 33 constitute detection means.

  The preferred embodiment of the present invention has been described above, but the present invention is not limited to the above embodiment. For example, in the above embodiment, before comparing the routes A and B in S3, a TTC (Time To Collision) that is a collision prediction time is calculated, and when this TTC is smaller than a set value, the process returns to S3. You may process so that it may transfer.

  Moreover, in the said embodiment, although the propriety of the driver | operator's avoidance operation was determined by phase plane determination, it is not limited to this. For example, when the distance X, which is the difference between the position of the target route A and the position of the future route B after T seconds, exceeds a predetermined distance, the avoidance operation is inappropriate. It may be determined as appropriate.

  In the third embodiment, the wakefulness detection unit 33f may detect the wakefulness based on the travel state by the travel state detection sensor 12. In this case, the driver state detection sensor 31 is not necessary.

FIG. 1 is a schematic configuration diagram showing a driving assistance apparatus according to the first embodiment of the present invention. It is a flowchart which shows the process in the driving assistance device of FIG. It is a figure for demonstrating the process in the driving assistance device of FIG. It is a figure for demonstrating the determination process of the avoidance operation in the driving assistance device of FIG. It is a schematic block diagram which shows the driving assistance device which concerns on 2nd Embodiment of this invention. It is a flowchart which shows the process in the driving assistance device of FIG. It is a schematic block diagram which shows the driving assistance device which concerns on 3rd Embodiment of this invention. It is a flowchart which shows the process in the driving assistance device of FIG.

Explanation of symbols

  DESCRIPTION OF SYMBOLS 1 ... Own vehicle 10, 20, 30 ... Driving assistance device, 13a ... Target route calculating part (calculating means), 13b ... Future route estimating part (estimating means), 13c ... Determining part (determining means), 13d ... Control part (Running support means), 16 ... alarm device (alarm means), 17 ... travel support device (running support means), 23e ... operating device discrimination section (discrimination means), 31 ... driver state detection means (detection means), 33f ... Arousal level detection unit (detection means), A ... target route, B ... future route, M ... obstacle.

Claims (6)

A driving assistance device for avoiding a collision with an obstacle,
A calculation means for calculating a target route of the host vehicle;
Estimating means for estimating a future route of the host vehicle;
A determination unit that determines whether the driver's avoidance operation is appropriate and the avoidance operation amount is appropriate based on the target route calculated by the calculation unit and the future route estimated by the estimation unit;
A travel support means for supporting travel of the host vehicle so as to avoid the collision when the determination means determines that the avoidance operation is appropriate and the avoidance operation amount is inappropriate;
And a warning means for issuing a warning to the driver so as to avoid the collision when the avoidance operation is determined to be inappropriate by the determination means.   The driving support device according to claim 1, wherein the driving support means performs the driving control so that the target route and the future route are brought close to each other.   The driving support device according to claim 1, wherein the driving support means performs the driving support so that the driver does not notice. Comprising detection means for detecting the driver's arousal level,
The driving support means includes
When the arousal level detected by the detection means is higher than a predetermined value, the driving support is performed so that the driver does not notice,
3. The driving support device according to claim 1, wherein, when the arousal level detected by the detection unit is equal to or less than a predetermined value, the driving support is performed so that the driver notices the driving level. 4. A determination means for determining a driver operation means for executing the avoidance operation of the driver;
5. The driving support unit performs the driving support so as not to be noticed by the driver by selecting and controlling the driver operation unit determined by the determination unit. 6. Driving assistance device.   When the determination means determines a plurality of the driver operation means, the travel support means determines the plurality of the driving determined by the determination means according to the operation ratio of the driver in the plurality of driver operation means. The driving support device according to claim 5, wherein the driving operation device is controlled.

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