WO2010073333A1 - 運転支援装置 - Google Patents
運転支援装置 Download PDFInfo
- Publication number
- WO2010073333A1 WO2010073333A1 PCT/JP2008/073571 JP2008073571W WO2010073333A1 WO 2010073333 A1 WO2010073333 A1 WO 2010073333A1 JP 2008073571 W JP2008073571 W JP 2008073571W WO 2010073333 A1 WO2010073333 A1 WO 2010073333A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- vehicle
- driving support
- driving
- host vehicle
- traffic signal
- Prior art date
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Classifications
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
- G08G1/096708—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control
- G08G1/096716—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control where the received information does not generate an automatic action on the vehicle control
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K28/00—Safety devices for propulsion-unit control, specially adapted for, or arranged in, vehicles, e.g. preventing fuel supply or ignition in the event of potentially dangerous conditions
- B60K28/02—Safety devices for propulsion-unit control, specially adapted for, or arranged in, vehicles, e.g. preventing fuel supply or ignition in the event of potentially dangerous conditions responsive to conditions relating to the driver
- B60K28/06—Safety devices for propulsion-unit control, specially adapted for, or arranged in, vehicles, e.g. preventing fuel supply or ignition in the event of potentially dangerous conditions responsive to conditions relating to the driver responsive to incapacity of driver
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
- G08G1/096733—Systems involving transmission of highway information, e.g. weather, speed limits where a selection of the information might take place
- G08G1/096741—Systems involving transmission of highway information, e.g. weather, speed limits where a selection of the information might take place where the source of the transmitted information selects which information to transmit to each vehicle
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
- G08G1/096766—Systems involving transmission of highway information, e.g. weather, speed limits where the system is characterised by the origin of the information transmission
- G08G1/096783—Systems involving transmission of highway information, e.g. weather, speed limits where the system is characterised by the origin of the information transmission where the origin of the information is a roadside individual element
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
- G08G1/166—Anti-collision systems for active traffic, e.g. moving vehicles, pedestrians, bikes
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2540/00—Input parameters relating to occupants
- B60W2540/229—Attention level, e.g. attentive to driving, reading or sleeping
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2554/00—Input parameters relating to objects
- B60W2554/80—Spatial relation or speed relative to objects
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2554/00—Input parameters relating to objects
- B60W2554/80—Spatial relation or speed relative to objects
- B60W2554/802—Longitudinal distance
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2554/00—Input parameters relating to objects
- B60W2554/80—Spatial relation or speed relative to objects
- B60W2554/804—Relative longitudinal speed
Definitions
- the present invention includes position detection means for detecting a positional relationship between an obstacle present ahead of the host vehicle and the host vehicle, and performs driving support control for supporting the driving of the host vehicle according to the detection result.
- the present invention relates to a driving support device to be executed.
- an in-vehicle device that outputs a warning when a driver looks aside is known.
- a warning level is set based on at least one of the geographical situation around the own vehicle position, the surrounding vehicle situation, and the driving situation of the own vehicle, and when the driver's looking aside is detected, A technique for warning a side effect based on a set warning level is disclosed. JP 2007-226666 A
- Patent Document 1 sets the warning level based on the geographical situation, the surrounding vehicle situation, and the driving situation of the host vehicle does not consider the influence of the traffic light, so there is room for supporting safer driving. Is left.
- an object of the present invention is to provide a driving support device that can support safer driving of a vehicle.
- the driving support device includes position detection means for detecting a positional relationship between an obstacle present ahead of the host vehicle and the host vehicle, and the driving of the host vehicle is determined according to the detection result.
- a driving support device that executes driving support control for supporting the vehicle, and obtains traffic signal information relating to traffic lights on the route of the host vehicle, and causes the driving support control to be executed based on the traffic signal information obtained by the acquisition means And setting means for setting an execution condition for this.
- the setting means sets the execution condition for executing the driving support control for supporting the driving of the host vehicle based on the traffic signal information acquired by the acquiring means.
- the driving support control is appropriately executed. It becomes possible to respond. As a result, safer driving of the vehicle can be supported.
- the traffic signal information includes switching information regarding switching of the signal type in the traffic signal
- the setting means changes and sets the execution condition based on the switching information included in the traffic signal information.
- the setting means changes and sets the execution condition. For this reason, it becomes possible to appropriately execute the necessary driving support control for switching to the yellow signal and the red signal in the traffic light. As a result, safer driving of the vehicle can be supported.
- an armpit detection means for detecting the driver's side look driving the vehicle
- the setting means preferably sets the execution condition by changing the execution condition when the armpit detection means detects the driver's side look.
- the setting means preferably changes and sets the execution condition by changing the threshold corresponding to the setting of the execution condition.
- the threshold value corresponding to the setting of the execution condition is changed based on the traffic signal information acquired by the acquisition means. For this reason, it becomes possible to execute necessary driving support control more appropriately and cope with it by slightly changing the threshold value. As a result, safer driving of the vehicle can be supported.
- FIG. 1 is a schematic configuration diagram of a driving support apparatus according to an embodiment. It is explanatory drawing for demonstrating the driving assistance control performed until the own vehicle in driving
- FIG. 1 is a schematic configuration diagram of a driving support apparatus 10 according to the present embodiment.
- the driving support device 10 is mounted on a vehicle such as an automobile (hereinafter referred to as a host vehicle), detects the positional relationship between an obstacle existing ahead of the host vehicle and the host vehicle, and depends on the detection result.
- This is a device that executes driving support control for supporting safer driving of the vehicle by the driver. For example, when the vehicle is in a positional relationship where there is a possibility that the vehicle and the other vehicle will come into contact with each other within a predetermined period of time, an alarm that alerts the driver or a travel control that avoids contact with the other vehicle The driving support control is performed.
- the driving support apparatus 10 includes a position detection unit 1 (position detection unit), an acquisition unit 2 (acquisition unit), an armpit detection unit 3 (armpit detection unit), a setting unit 4 (setting unit), and a control unit. 5 (control means).
- position detection unit 1 position detection unit
- acquisition unit 2 acquisition unit
- armpit detection unit 3 armpit detection unit
- setting unit 4 setting unit
- control unit. 5 control means
- the function by the setting part 4 and the control part 5 is implement
- the position detection unit 1 detects an obstacle (hereinafter, referred to as another vehicle as an example) present in the forward direction of the own vehicle as a detection target, and detects the detection target (that is, another vehicle) and the target It is an obstacle sensor that calculates and detects the positional relationship with the host vehicle.
- the position detection unit 1 calculates the distance to the other vehicle, its direction, the relative speed and the relative acceleration with a millimeter wave radar or an image sensor, and detects the positional relationship between the other vehicle and the host vehicle.
- the acquisition unit 2 is a communication device that acquires traffic signal information (for example, a distance to the traffic signal, a current signal type, and the like) regarding traffic signals around the route of the host vehicle.
- the traffic signal information is, for example, switching information regarding the switching of the signal type in the traffic signal, that is, switching information regarding the switching of the blue signal, the yellow signal, and the red signal (for example, the elapsed time from the current signal type and the next signal type) Including estimated time until switching).
- the traffic signal information acquired by the acquisition unit 2 is included in infrastructure information related to the infrastructure around the driving support device 10, navigation information related to a navigation system indicating a route along which the host vehicle should travel, and the like.
- the acquisition unit 2 is, for example, an infrastructure such as other autonomous mobile devices and vehicles around the driving support device 10, traffic lights installed at intersections, cameras installed on roads, radars, communication devices, and beacons.
- the above-mentioned infrastructure information and navigation information including traffic signal information are transmitted / received to / from.
- the armpit detection unit 3 is a monitoring camera that monitors the state of the driver driving the vehicle (for example, the line of sight, the face orientation angle, and the degree of eye opening) and detects an oversight of the traffic light due to the driver's armpit.
- the armpit detector 3 is installed around the driver's seat such as an instrument panel, and is opposed to the driver seated on the driver's seat.
- the aside detection unit 3 detects whether or not the driver has looked aside by imaging and analyzing the face of the driver.
- the setting unit 4 is an arithmetic control unit that changes and sets an execution condition (that is, an operating condition) for executing the driving support control based on the traffic signal information acquired by the acquisition unit 2.
- the driving support control is a control performed by the control unit 5 in order to support driving of the host vehicle according to the detection result of the positional relationship by the position detection unit 1.
- the setting unit 4 can change and set the execution condition based on the switching information included in the traffic signal information.
- the setting unit 4 can also change and set the execution condition when the side-by-side detection unit 3 detects the driver's side-by-side.
- the setting unit 4 can change and set the execution condition by changing the threshold corresponding to the setting of the execution condition. For example, when a condition for executing the above control is provided when a predetermined threshold is exceeded, the threshold is set lower or the above control is difficult to execute in order to facilitate the above control. Therefore, the threshold value can be set higher.
- the control unit 5 is an execution control unit that performs driving support control that supports driving of the host vehicle according to the detection result of the positional relationship by the position detection unit 1. For example, when the host vehicle and the other vehicle are in a positional relationship where there is a possibility of contact within a predetermined time, the driving support control avoids an alarm for alerting the driver or contact with the other vehicle. This is a control that protects the driver and other passengers by carrying out appropriate driving control.
- FIGS. 2 to 4 shows driving performed by the driving support device 10 until the host vehicle while traveling (corresponding to FIG. 2) decelerates (corresponding to FIG. 3) and stops (corresponding to FIG. 4). It is explanatory drawing for demonstrating assistance control.
- the acquisition unit 2 of the host vehicle C that is traveling on the roadway with the driving support device 10 passes through the vicinity of the infrastructure communication device I installed on the side of the roadway, Performs road-to-vehicle communication with the communication device I to receive traffic signal information.
- the host vehicle C acquires information on the distance to the traffic light S, the current signal type (in this case, the green signal), the elapsed time since the current signal type, and the like.
- a detection range in which the position detection unit 1 of the host vehicle C can detect an obstacle is shown as a system operation range A.
- the system operation range A includes a preceding vehicle P that is traveling in front of the traveling direction of the host vehicle C. When the vehicle is in such a state, the driving support control system in the driving support device 10 starts operating. To do.
- the host vehicle C that has detected the preceding vehicle P within the system operation range A is moving in the order of points C1, C2, and C3. More specifically, the system operation range A2 is a range when the host vehicle C is moving at the position of the point C2, and the system operation range A3 is a range when the host vehicle C is moving at the position of the point C3. It is assumed that while the host vehicle C is moving, the side-by-side detection unit 3 of the host vehicle C detects that the driver is looking aside. Furthermore, it is assumed that the acquisition unit 2 acquires switching information indicating that the current signal type has been switched from a green signal to a yellow signal during the side look, and the preceding vehicle P starts to decelerate.
- the setting unit 4 of the host vehicle C is based on traffic signal information including the switching information acquired by the acquisition unit 2 (that is, the distance to the traffic signal S, the current signal type is a yellow signal, etc.).
- the ECU is changed and set so that the execution conditions for executing the driving support control are relaxed and the driving support control is easily executed.
- the control unit 5 in the host vehicle C executes the driving support control that is easily executed. Specifically, the control unit 5 prevents contact with the driver by alerting the driver not to contact the preceding vehicle P, or by performing traveling control to avoid contact with the preceding vehicle P. I will let you. As a result, the driver stops looking aside based on this warning and carefully drives the vehicle C. For this reason, even if the current signal type is switched from the yellow signal to the red signal and the preceding vehicle P stops, the contact between the host vehicle C and the preceding vehicle P can be prevented.
- FIG. 5 is a flowchart for explaining the processing procedure of the driving support control executed by the driving support device 10.
- the processing shown in the flowchart of FIG. 5 is mainly performed by the above-described ECU, and is repeated at predetermined time intervals from when the power of the driving support device 10 is turned on until the processing is turned off. Executed.
- the driving in the driving support device 10 is performed.
- the assist control system begins to operate.
- the acquisition part 2 detects that the own vehicle C is approaching an intersection by acquiring said infrastructure information, navigation information, etc. from the surrounding infrastructure, for example (step S01).
- the acquisition unit 2 performs, for example, road-to-vehicle communication that receives traffic signal information related to traffic signals around intersections on the course of the host vehicle C from the traffic signal, so that the distance to the traffic signal, the current signal type, Then, the elapsed time and the like since the current signal type is obtained (step S02).
- the setting unit 4 calculates an execution condition for causing the driving support control to be executed based on the traffic signal information acquired in step S02.
- the setting unit 4 calculates and temporarily stores an operation threshold value corresponding to the setting of the execution condition (step S03).
- This operation threshold value is a threshold value used as a reference for determining whether or not to execute the driving support control, and is a numerical value based on the above-described driver state and the road shape around the host vehicle C. For example, when the setting unit 4 has a condition for executing the above control when the operation threshold is exceeded, the threshold is set lower to facilitate the above control, or the above control is performed. The threshold can be set higher to make it difficult to execute.
- the side-by-side detection unit 3 starts a detection process for detecting the side-by-side of the driver who drives the vehicle C (step S04).
- the aside detection unit 3 determines whether or not the driver is looking aside (step S05).
- the operation threshold temporarily stored in step S03 is changed and set (step S11). More specifically, when it is determined that a red signal will be generated after a predetermined time, it is temporarily stored so that the above execution conditions are greatly relaxed and the driving support control can be executed very easily. A significant change (that is, a change of a predetermined value or more) is added to the operation threshold.
- a driving condition is easily relaxed by loosening the above execution conditions (that is, a warning only for the side-view driving).
- a small change that is, a change less than a predetermined value
- the control part 5 performs drive assistance control, and a series of processes are complete
- the driver is looking aside, the process proceeds to step S06 described below.
- step S06 the setting unit 4 determines whether or not the current signal type indicated by the traffic light information acquired in step S02 is a yellow signal or a red signal. If the current signal type is not a yellow signal or a red signal, that is, if it is a blue signal, the above execution conditions will be loosened to make it easier to execute the driving support control (i.e., only for the side-by-side operation).
- a small change (that is, a change less than a predetermined value) is applied to the operation threshold temporarily stored in step S03 so that the operation threshold after the change is set (so that a warning can be given) (step S12). ).
- control part 5 performs the driving assistance control which became somewhat easy to perform, and a series of processes are complete
- the process proceeds to step S07 described later.
- step S07 the operating threshold value temporarily stored in step S03 is significantly changed (ie, greater than or equal to a predetermined value) so that the execution conditions are greatly relaxed and the driving support control is easily performed. Change) is applied to set the operation threshold after the change. And when this operation threshold is exceeded, the control part 5 performs the driving assistance control which became easy to perform significantly, and a series of processes are complete
- the setting unit 4 changes and sets the execution condition for executing the driving support control for supporting the driving of the host vehicle C based on the traffic signal information acquired by the acquiring unit 2.
- the above execution conditions are set based on the traffic signal information, even if the speed of the preceding vehicle P changes due to the influence of the switching of the traffic signal S near the intersection where the traffic signal S is installed, Even if the driver does not notice due to oversight or the like, it is possible to respond by executing driving support control at an appropriate timing (that is, an earlier timing at which the driver does not feel troublesome). As a result, safer driving of the vehicle can be supported.
- the setting unit 4 changes and sets the execution condition based on the switching information included in the traffic signal information, the necessary driving support control is appropriately applied to the switching to the yellow signal and the red signal in the traffic signal S. It becomes possible to respond to the execution. As a result, safer driving of the vehicle can be supported.
- the setting unit 4 changes and sets the above-described execution condition, so that the driver's looking aside is appropriately executed to cope with the timing of the driver's looking aside. It becomes possible. As a result, safer driving of the vehicle can be supported.
- the necessary driving support control can be more precisely and appropriately changed by slightly changing the operation threshold value. It becomes possible to respond to the execution. As a result, safer driving of the vehicle can be supported.
- the functions of the setting unit 4 and the control unit 5 are realized by the ECU.
- the position detection unit 1, the acquisition unit 2, the armpit detection unit 3, the setting unit 4, and the control unit 5 A function (or part of these functions) may be realized by an ECU.
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Abstract
Description
Claims (4)
- 自車両の前方に存在する障害物と当該自車両との位置関係を検出する位置検出手段を備え、当該検出の結果に応じて、当該自車両の運転を支援する運転支援制御を実行する運転支援装置であって、
前記自車両の進路上の信号機に関する信号機情報を取得する取得手段と、
前記取得手段が取得した前記信号機情報に基づいて、前記運転支援制御を実行させるための実行条件を設定する設定手段と、
を備えることを特徴とする運転支援装置。 - 前記信号機情報は、前記信号機における信号種別の切り替わりに関する切り替わり情報を含み、
前記設定手段は、前記信号機情報が含む前記切り替わり情報に基づいて、前記実行条件を変更して設定する、
ことを特徴とする請求項1に記載の運転支援装置。 - 前記自車両を運転する運転者の脇見を検知する脇見検知手段を更に備え、
前記設定手段は、前記脇見検知手段が前記運転者の脇見を検知した場合に、前記実行条件を変更して設定する、
ことを特徴とする請求項1又は2に記載の運転支援装置。 - 前記設定手段は、前記実行条件の設定と対応する閾値を変更することによって、当該実行条件を変更して設定する、
ことを特徴とする請求項1~3のいずれかに記載の運転支援装置。
Priority Applications (5)
Application Number | Priority Date | Filing Date | Title |
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JP2010543672A JP5267570B2 (ja) | 2008-12-25 | 2008-12-25 | 運転支援装置 |
PCT/JP2008/073571 WO2010073333A1 (ja) | 2008-12-25 | 2008-12-25 | 運転支援装置 |
EP08879129.8A EP2381431B1 (en) | 2008-12-25 | 2008-12-25 | Drive assistance apparatus |
US13/129,971 US8666644B2 (en) | 2008-12-25 | 2008-12-25 | Drive assistance apparatus |
CN200880132528.7A CN102265319B (zh) | 2008-12-25 | 2008-12-25 | 驾驶辅助装置 |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
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PCT/JP2008/073571 WO2010073333A1 (ja) | 2008-12-25 | 2008-12-25 | 運転支援装置 |
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WO2010073333A1 true WO2010073333A1 (ja) | 2010-07-01 |
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US (1) | US8666644B2 (ja) |
EP (1) | EP2381431B1 (ja) |
JP (1) | JP5267570B2 (ja) |
CN (1) | CN102265319B (ja) |
WO (1) | WO2010073333A1 (ja) |
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US8666644B2 (en) | 2014-03-04 |
JPWO2010073333A1 (ja) | 2012-05-31 |
CN102265319B (zh) | 2015-06-17 |
EP2381431B1 (en) | 2013-07-03 |
CN102265319A (zh) | 2011-11-30 |
JP5267570B2 (ja) | 2013-08-21 |
US20110245993A1 (en) | 2011-10-06 |
EP2381431A1 (en) | 2011-10-26 |
EP2381431A4 (en) | 2012-07-25 |
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