JP2010250652A - Driving support device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a driving support device for avoiding contacting an obstacle and performing start support, when a vehicle is started. <P>SOLUTION: The driving support device A for supporting driving of a driver includes a start support control means 11, that controls start support, and a running non-conformance estimation means 12 for estimating a running non-conformance state after the start; and when the running non-conformance estimation means 12 determines that the vehicle is in a running non-conformance state after the start, the start support by the start support control means 11 is inhibited. <P>COPYRIGHT: (C)2011,JPO&INPIT

Description

  The present invention relates to a driving support device that supports driving of a driver.

  2. Description of the Related Art As a driving support device that supports a driver's driving, a device that acquires signal information at an intersection and notifies the driver of the timing to start when the vehicle is stopped is known. For example, in Patent Document 1, by predicting the vehicle start timing from the surrounding travel situation, by advancing the notification from the vehicle start timing by the operation amount necessary for the vehicle start operation performed after the driver receives the notification, A vehicle start notification device that performs a prior notification of vehicle start is disclosed. According to such a vehicle start notification device described in Patent Literature 1, it is possible to reduce the start delay time when the vehicle is stopped due to a signal waiting or traffic jam.

JP 2008-97055 A

  In the vehicle start notification device described in Patent Document 1, the surrounding situation after the start of the host vehicle is not considered when setting the notification of the timing to start. For this reason, depending on the surrounding conditions of the vehicle and the situation of the host vehicle, there is a problem that if the vehicle starts immediately after the start notification, it may come into contact with another vehicle.

  Then, this invention makes it a subject to provide the driving assistance device which performs a starting assistance while avoiding a contact with an obstruction, etc., when a vehicle starts.

  In order to solve the above-described problem, a driving support device that supports driving of a driver according to the present invention includes a start support control unit that controls start support, a driving nonconformity prediction unit that predicts a driving nonconformity state after starting, A prohibition judging means for judging prohibition of starting support, and when the driving nonconformity predicting means predicts that it is in a driving nonconforming state after starting, the prohibition judging means determines prohibition of starting support, and the start support control means It is characterized by prohibiting start support.

  According to the present invention, a driving incompatibility state after starting the host vehicle is predicted in advance, and starting support is prohibited when it is determined that the driving is incompatible after the start. For this reason, it is possible to prevent the start support from being performed in spite of the situation in which the driving incompatible state may occur after the start. Therefore, when the vehicle starts, it is possible to provide a driving support device that avoids contact with an obstacle or the like and performs start support. The “traveling non-conformity state” refers to a state where there is a high possibility of contact with an obstacle such as another vehicle.

  In addition, a warning means for warning the driver and a warning judgment means for judging whether or not to perform the warning are further provided, and the warning judgment is made when the driving nonconformity prediction means predicts that the driving is incompatible after starting. It can be determined that the means implements a warning. As described above, when it is determined that the vehicle is incompatible with travel after the start of the vehicle, it is possible to prevent the driver vehicle from starting in a hurry by giving a warning. Therefore, when the vehicle starts, it is possible to provide a driving support device that avoids contact with an obstacle or the like and performs start support.

  The vehicle further includes shift position acquisition means for acquiring the shift position of the transmission including the reverse position, and the travel nonconformity prediction means determines that the travel is incompatible after the start when the acquired shift position is the reverse position. be able to. In this way, the shift position of the transmission is acquired in advance, and start support is prohibited when it is determined that the shift position is the reverse position. For this reason, it is possible to prevent the start support from being performed even though the shift position is the reverse position. Therefore, when the vehicle starts, it is possible to provide a driving support device that avoids contact with an obstacle or the like and performs start support.

  The vehicle further includes a shift position acquisition unit that acquires the shift position of the transmission including the reverse position, and a rear state detection unit that detects a rear state of the host vehicle. If it is determined that there is an obstacle in the rear from the detected rear situation, it can be determined that the vehicle is in an unsuitable state after starting. When the shift position is the reverse position and there is an obstacle behind, it is possible to prevent the driver from rushing and starting to collide with the obstacle behind by prohibiting the start support. Therefore, when the vehicle starts, it is possible to provide a driving support device that avoids contact with an obstacle or the like and performs start support.

  The vehicle further includes tire angle acquisition means for acquiring the tire angle of the host vehicle and road travel direction acquisition means for acquiring the travel direction of the road, and the travel nonconformity prediction means is configured such that the acquired tire angle is different from the travel direction. In addition, it can be determined that the vehicle is in an unsuitable state after starting. As described above, when the traveling direction of the host vehicle after the departure is different from the traveling direction of the road, the start support is prohibited, so that it is possible to prevent the driver from rushing to start and deviating from the traveling direction of the road. Therefore, when the vehicle starts, it is possible to provide a driving support device that avoids contact with an obstacle or the like and performs start support.

  ADVANTAGE OF THE INVENTION According to this invention, when a vehicle starts, while avoiding a contact with an obstruction etc., the driving assistance device which performs start support can be provided.

It is a block block diagram of the driving assistance device concerning a 1st embodiment. It is a flowchart which shows operation | movement of the driving assistance device which concerns on 1st Embodiment. It is a flowchart which shows operation | movement of the driving assistance device which concerns on 2nd Embodiment.

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

(First embodiment)
FIG. 1 is a block configuration diagram of a driving support apparatus A according to the first embodiment. The driving support device A is suitably used for a vehicle having a driving support function. As shown in FIG. 1, the driving support device A includes an ECU (Electronic Control Unit) 1. The ECU 1 is a computer of an automobile device that is electronically controlled. Connected to the ECU 1 are an infrastructure information receiving device 21, a vehicle-mounted camera 22, a radar device 23, a storage device 24, a shift sensor (shift position acquisition means) 25, a sound device 31, and a display device 32.

  The infrastructure information receiving device 21 has a function of receiving infrastructure information from an infrastructure device installed on a road. The infrastructure information includes signal cycle information and crossing information. Examples of signal cycle information include information on the lighting time of each of the blue, yellow, and red signals, information on the lighting time of the arrow lamp that directs the right turn, and the signal that is currently lit and when that signal is lit There is information about the elapsed time. Based on the signal cycle information, for example, it can be determined how many seconds later the red light is turned on, or in the case of a right turn lane, how many seconds later the arrow lamp indicating the right turn is turned on and how many seconds later it is turned off. The crossing information indicates, for example, how many seconds after which the crossing breaker opens. The infrastructure information receiving device 21 outputs the received infrastructure information to the ECU 1.

  The in-vehicle camera 22 has a function of capturing an image of the front and rear of the host vehicle and acquiring the captured image. As the in-vehicle camera 22, for example, a CCD (Charge Coupled Device) camera can be used. The in-vehicle camera 22 outputs the acquired imaging information to the ECU 1.

  The radar device 23 has a function of measuring the distance to the object by radiating the electromagnetic wave toward the object, receiving the reflected electromagnetic wave, and measuring the time difference between the radiation and the reception. The radar apparatus 23 acquires distance information regarding objects around the host vehicle. For example, the radar device 23 can measure the distance between the host vehicle and the preceding vehicle, and can acquire information related to the start of the preceding vehicle. An example of the radar device 23 is one that uses radio waves such as millimeter waves. The radar device 23 outputs information related to objects around the host vehicle to the ECU 1.

  The storage device 24 has a function of holding signal cycle information, crossing information, and the like of past intersections received by the infrastructure information receiving device 21. For example, a hard disk or an optical disk can be used as the storage device 24. The storage device 24 outputs signal cycle information, crossing information, and the like of past intersections to the ECU 1.

  The shift sensor 25 has a function of acquiring the shift position of the shift lever of the transmission. Examples of the shift position include “parking (P)”, “reverse (R)”, “neutral (N)”, “drive (D)”, and “low (L)”. The shift sensor 25 outputs information related to the shift position of the transmission to the ECU 1.

  The ECU 1 has a CPU (Central Processing Unit), a ROM (Read Only Memory), a RAM (Random Access Memory), and an input / output interface. As shown in FIG. 1, the ECU 1 includes a start support control unit (start support control unit) 11, a travel incompatibility prediction unit (travel incompatibility prediction unit) 12, a prohibition determination unit (prohibition determination unit) 13, and a warning determination unit. (Warning judgment means) 14 is provided.

  The start support control unit 11 has a function of controlling the start support of the driver. The start support is performed by running control of the own vehicle, notification of information regarding the start, notification of a warning, and the like. Here, examples of the travel control of the host vehicle include an automatic accelerator operation and an automatic brake operation by the travel control means. As the notification of the information regarding the start, there is a notification such as “Please start” by the audio device 31 described later. As a warning notification, there is a notification such as “Please start carefully” by an audio device 31 described later.

  The traveling nonconformity prediction unit 12 determines whether or not the start support function condition is satisfied based on the infrastructure information acquired by the infrastructure information receiving device 21. As an example of the case where the start support function condition is satisfied, there is a case where it is predicted that the current signal lamp color is a red signal and the next signal lamp color is a blue signal. An example of the case where the start support function condition is not satisfied is a case where it is predicted that the current signal lamp color is a blue signal and the next signal lamp color is a red signal.

  The travel incompatibility prediction unit 12 has a function of predicting a travel incompatibility state after the start of the host vehicle. The travel incompatibility prediction unit 12 predicts a travel incompatibility state after the start of the host vehicle based on information on the shift position of the transmission acquired by the shift sensor 25.

  The prohibition determination unit 13 determines whether or not the start support by the start support control unit 11 is prohibited based on the prediction result of the drive nonconformity state after the start in the drive nonconformity prediction unit 12 and relates to the start support based on the determination result. Information is output to the audio device 31, the display device 32, the travel control means, and the like.

  The warning determination unit 14 determines whether or not to execute a warning based on the prediction result of the driving non-conformity state after the start in the driving non-conformity prediction unit 12, and information on the warning based on the determination result is transmitted to the audio device 31. Alternatively, the data is output to the display device 32.

  The audio device 31 and the display device 32 have a function of performing a start notification based on information related to the start support from the prohibition determination unit 13. The start notification is (1) notification in the case where the driver does not start even though the situation is to start, (2) notification that the driver is approaching the situation, (3) start Notification of the approximate time until the timing to be performed. Further, the sound device 31 and the display device 32 (warning means) have a function of performing a warning based on information related to the warning from the warning determination unit 14. As a warning content, for example, there is a notification content such as “Please start with attention to the shift position”. An example of the audio device 31 is a speaker, and an example of the display device 32 is a monitor.

  Next, operation | movement of the driving assistance apparatus A which concerns on this embodiment is demonstrated. FIG. 2 is a flowchart showing the operation of the driving support apparatus A. 2 is executed by the ECU 1 or the like, for example.

  First, as shown in FIG. 2, the infrastructure information receiving apparatus 21 receives the infrastructure information (S1). Next, based on the infrastructure information from the infrastructure information receiving device 21, the traveling nonconformity prediction unit 12 determines whether or not the conditions for the start support function are satisfied (S2). For example, when the signal cycle information is used as the infrastructure information, when the driving nonconformity prediction unit 12 determines that the current signal lamp color is a red signal and the next signal lamp color is blue, the condition for the start support function is satisfied. . Further, for example, when the driving incompatibility prediction unit 12 determines that the current signal lamp color is a blue signal and the next signal lamp color is a red signal, the condition for the start support function is not satisfied. In this case, the driving support operation is terminated.

  When the conditions for the start support function are satisfied, the travel incompatibility prediction unit 12 predicts the travel incompatibility state after the vehicle starts. Specifically, the travel incompatibility prediction unit 12 determines whether or not the shift position of the transmission is the reverse (R) position based on the information regarding the shift position from the shift sensor 25 (S3). The determination of the shift position of the transmission can be performed, for example, at a timing when a green signal is generated.

  Next, the prohibition determination unit 13 determines whether or not the start support by the start support control unit 11 is prohibited based on the prediction result of the drive nonconformity state after the start in the travel nonconformity prediction unit 12. Specifically, when the travel nonconformity prediction unit 12 determines that the shift position of the transmission is the reverse (R) position, the prohibition determination unit 13 does not implement the start support function by the start support control unit 11 ( S4). If the shift support position is the reverse (R) position and the start support is executed, the start will be performed backward, although the start support is based on the assumption that the start is started forward. There is a possibility that the driver may feel uncomfortable and that the driver may come into contact with an obstacle such as another vehicle. On the other hand, when the shift position of the transmission is the reverse (R) position, by prohibiting start support, there is a possibility that the driver does not feel uncomfortable and that it may come into contact with obstacles such as other vehicles. Can be lowered. In this case, for example, the start notification such as “Please start” by the audio device 31 or the display device 32 is prohibited.

  On the other hand, if it is determined by the travel nonconformity prediction unit 12 that the shift position of the transmission is a drive (D) other than the reverse (R) position, parking (P), low (L), etc., the prohibition determination unit 13 Then, the start support function by the start support control unit 11 is implemented (S5). In this case, start support by the start support control unit 11 is performed. For example, the start notification such as “Please start” is performed by the audio device 31 or the display device 32.

  As described above, according to the driving support device according to the present embodiment, the driving incompatibility state after the start of the host vehicle is predicted in advance, and the start support is prohibited when it is determined that the driving incompatibility state after the start. For this reason, it is possible to prevent the start support from being performed and the travel incompatibility state from being caused even when the travel incompatibility state may occur after the start. Therefore, when the vehicle starts, it is possible to provide a driving support device that avoids contact with an obstacle or the like and performs start support.

  In the above-described embodiment, as an example of the case where the start support function condition is satisfied, a case in which the current signal lamp color is determined to be a red signal and the next signal lamp color is blue is illustrated in the travel incompatibility prediction unit 12. . As another example, the traveling incompatibility prediction unit 12 may determine that the current signal lamp color is a red signal and that the arrow lamp indicates a right turn. As another example, the travel incompatibility prediction unit 12 may determine that the crossing breaker is opened or the breaker is opened based on the crossing information received by the infrastructure information receiving device 21.

  Further, as another example in which the conditions for the start support function are satisfied, for example, when the start of the preceding vehicle is detected in the traveling nonconformity prediction unit 12 based on the information about the object around the host vehicle acquired by the radar device 23 There is. The determination of whether or not the start support function condition is satisfied in the driving incompatibility prediction unit 12 is not limited to infrastructure information, for example, a captured image acquired by the in-vehicle camera 22 or a past intersection held in the storage device 24. This may be performed based on the signal cycle information or the crossing information.

  Moreover, in the said embodiment, when the driving | running | working nonconformity prediction part 12 judges that it is a driving | running | working nonconformity state after the start of the own vehicle, the prohibition judgment part 13 shows the example which does not implement the start assistance function by the start assistance control part 11. However, it is not limited to this. For example, when the traveling nonconformity prediction unit 12 determines that the vehicle is in a nonconforming state after the start of the host vehicle, the warning determination unit 14 may issue a warning. In this case, for example, a warning notification “Please start with attention to the shift position” is issued. Further, traveling control by the traveling control means can also be used as start support. At this time, when the traveling nonconformity prediction unit 12 determines that the vehicle is not in a nonconforming state after the start of the own vehicle, the traveling control unit performs traveling control of the own vehicle. For example, the driving torque of the motor is increased by the travel control means. On the other hand, when the travel nonconformity prediction unit 12 determines that the travel nonconformity state has occurred after the start of the host vehicle, the travel control unit prohibits the travel control of the host vehicle. In this case, for example, an increase in the driving torque of the motor by the travel control means is prohibited.

(Second Embodiment)
2nd Embodiment demonstrates the example which changes the content of HMI (Human Machine Interface) by the presence or absence of the obstruction behind the own vehicle. Here, the HMI means a start notification or alarm output in the audio device 31 or the display device 32. The configuration of the driving support apparatus according to the second embodiment is the same as that of the driving support apparatus A according to the first embodiment.

  Hereinafter, the operation of the driving support apparatus according to the second embodiment will be described with reference to FIG. FIG. 3 is a flowchart showing the operation of the driving support apparatus according to the second embodiment. The driving support process in FIG. 3 is executed by the ECU 1 or the like, for example.

  First, as in the first embodiment, the infrastructure information receiving apparatus 21 receives infrastructure information (S1). Next, based on the infrastructure information from the infrastructure information receiving device 21, the traveling nonconformity prediction unit 12 determines whether or not the conditions for the start support function are satisfied (S2). When the conditions for the start support function are satisfied, the travel incompatibility prediction unit 12 predicts the travel incompatibility state after the vehicle starts. Specifically, the travel incompatibility prediction unit 12 determines whether or not the shift position of the transmission is the reverse (R) position based on the information regarding the shift position from the shift sensor 25 (S3).

  When it is determined that the shift position of the transmission is a drive (D), parking (P), low (L), or the like other than the reverse (R) position, the prohibition determining unit 13 A start support function is implemented by the support control unit 11 (S5). In this case, start support by the start support control unit 11 is performed. For example, the start notification such as “Please start” is performed by the audio device 31 or the display device 32.

  When the travel nonconformity prediction unit 12 determines that the shift position of the transmission is the reverse (R) position, the travel nonconformity prediction unit 12 determines whether there is an obstacle within a certain range behind the host vehicle. Judgment is made (S7). For example, a radar device (rear condition detection means) 23 is used to check the presence of an obstacle. When the travel nonconformity prediction unit 12 determines that there is an obstacle within a certain range behind, the prohibition determination unit 14 does not implement the start support function by the start support control unit 11 (S8). In this case, start support by the start support control unit 11 is prohibited. For example, notification of “Please start” by the audio device 31 or the display device 32 is prohibited.

  On the other hand, when the driving nonconformity prediction unit 12 determines that there is no obstacle within a certain range behind the host vehicle, the warning determination unit 14 changes the HMI to change the start support function by the start support control unit 11. Implement (S9). In this case, start support by the start support control unit 11 is performed. For example, the start notification content “Please start” by the audio device 31 or the display device 32 is changed to a notification such as “Be careful about the shift position and start”, and a warning is given.

  According to such a driving support device according to the present embodiment, it is predicted that the vehicle is in a driving incompatible state after the start of the host vehicle, and start support is prohibited when there is an obstacle behind. For this reason, it is possible to prevent the start support from being performed even though there is an obstacle behind the vehicle. In addition, when there is no obstacle behind, the HMI is changed and start support is implemented. For example, instead of simply notifying “please start”, it is notified that “start with attention to the shift position”. Therefore, when the vehicle starts, it is possible to provide a driving support device that avoids contact with an obstacle or the like and performs start support.

  The preferred embodiment of the present invention has been described in detail above, but the present invention is not limited to the above embodiment. For example, when performing a start notification, a plurality of contents may be notified. For example, in addition to the notification “please start”, notifications such as “time from the current red signal to the next green signal” and “confirm forward” may be made.

  Moreover, when performing the start notification, any one of the plurality of contents may be changed and notified. When the driving nonconformity prediction unit 12 determines that the shift position of the transmission is the reverse (R) position, for example, in addition to the notification of “Please start”, “from the current red signal to the next blue signal May be notified by changing “to check forward” to “note shift position”.

  In the above embodiment, attention is paid to the reverse (R) position as the shift position of the transmission. However, attention may be paid to other ranges, and the HMI may be changed to notify the start. For example, when the travel nonconformity prediction unit 12 determines that the shift position of the transmission is the parking (P) position, the vehicle cannot start, and thus it is unlikely that the travel nonconformity state occurs after travelling. D) It takes time to change the position. In this case, for example, the notification “just start” may be changed to a notification such as “It is time to start soon, please set the drive range”.

  In addition, for example, when the travel incompatibility prediction unit 12 determines that the shift position of the transmission is in the neutral (N) position, the vehicle cannot start, and thus it is unlikely that the travel incompatibility state occurs after traveling. The driver may accidentally change to the reverse (R) position. In this case, start support may be prohibited.

  In addition to the shift position of the transmission, a parking brake (PKB) may be considered. For example, when the driving nonconformity prediction unit 12 determines that the parking brake is in an on state, the driver is unlikely to accelerate even if he / she tries to start, so there is a low possibility that the driving nonconforming state will occur after the driving. In this case, for example, the notification of “please start” may be changed to the notification of “please release PKB and start”.

  In addition to the shift position of the transmission, the tire angle and the road traveling direction may be considered. The tire angle can be acquired by tire angle acquisition means such as a rudder angle sensor. The road traveling direction can be acquired by a road traveling direction acquisition unit that acquires a road traveling direction such as the in-vehicle camera 22. The traveling direction of the road can be determined from the shape of the white line of the traveling lane, for example. In this case, when the acquired tire angle is different from the travel direction, the travel incompatibility prediction unit 12 determines that the vehicle is in a travel incompatible state after the start and may prohibit start support.

  Further, the start notification may be a combination of the notification by the audio device 31 and the notification by the display device 32.

  DESCRIPTION OF SYMBOLS A ... Driving assistance device, 1 ... ECU, 11 ... Start assistance control part, 12 ... Traveling nonconformity prediction part, 13 ... Prohibition judgment part, 14 ... Warning judgment part, 21 ... Infrastructure information receiving device, 22 ... Car-mounted camera, 23 ... Radar device, 24 ... storage device, 25 ... shift sensor, 31 ... audio device, 32 ... display device.

Claims (5)

A driving support device for supporting driving by a driver,
Start support control means for controlling start support;
A driving nonconformity prediction means for predicting a driving nonconformity state after starting,
A prohibition judging means for judging prohibition of starting support,
When the driving nonconformity predicting unit predicts that the vehicle is in a nonconforming state after starting, the prohibition determining unit determines prohibition of start support and prohibits the start support by the start support control unit. apparatus. Warning means to alert the driver;
Warning determination means for determining whether or not to implement the warning; and
The driving support device according to claim 1, wherein the warning determination unit determines that the warning is performed when the driving nonconformity prediction unit predicts that the vehicle is in a driving nonconformity state after starting. Further comprising shift position acquisition means for acquiring the shift position of the transmission including the reverse position;
The driving assistance apparatus according to claim 1 or 2, wherein the traveling nonconformity prediction unit determines that the vehicle is in a nonconforming state after starting when the acquired shift position is the reverse position. Shift position acquisition means for acquiring the position of the transmission including the reverse position;
A rear situation detecting means for detecting a rear situation of the host vehicle,
The travel nonconformity prediction means determines that the vehicle is in a nonconformity state after starting when it is determined that the acquired shift position is a reverse position and there is an obstacle behind the detected rear state. The driving support apparatus according to 1 or 2. Tire angle acquisition means for acquiring the tire angle of the host vehicle;
Road travel direction acquisition means for acquiring the road travel direction;
The driving assistance device according to any one of claims 1 to 4, wherein the traveling nonconformity predicting unit determines that the vehicle is in a nonconforming state after starting when the acquired tire angle is different from the traveling direction.

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