JP5458729B2 - Driving guidance device - Google Patents

Description

  The present invention relates to a driving guidance device, and more particularly to a driving guidance device that guides a driver so that a host vehicle travels on a set route.

  Techniques for improving the safety of driving a car have been proposed. For example, Patent Document 1 discloses an apparatus that searches for an optimal route with a low degree of risk. In the apparatus disclosed in Patent Document 1, the database reading unit acquires the degree of risk in all routes from the start point to the end point set by the destination setting unit. The degree of risk is calculated by obtaining a contact probability from the predicted courses of a plurality of vehicles detected in the past 5 seconds and the course of the host vehicle. The normal risk level calculation unit calculates the normal risk level from all the risk levels stored in the map database. The filter unit extracts, from all the routes from the starting point to the ending point, only routes having a risk level less than the normal risk level from the risk levels. The optimum route search unit searches for an optimum route from routes having a risk level lower than the normal risk level.

JP 2008-298475 A

  By the way, in recent years, there has been an increasing demand for further safety in driving automobiles. In addition to enhancing the safety against the dangers that are manifested at that time, there is a demand for further enhancing the safety against potential dangers before they become apparent. Specifically, in the actual traffic environment, objects such as pedestrians, bicycles, two-wheeled vehicles, vehicles, etc. that the driver should pay attention to are actually routes or roads that do not follow the designated traffic classifications or signs. You may pass by speed. For example, even when the host vehicle decelerates due to the temporary stop line, it can be assumed that a bicycle or the like suddenly jumps out from the side before the temporary stop line. There is a need for driving assistance that enhances safety against such potential dangers and prevents the driver from approaching dangers in advance.

  The present invention has been made in view of such circumstances, and the object thereof is to provide a driving guidance device capable of further improving safety against potential danger and providing useful information to the driver. It is to provide.

The present invention assumes that the trajectory of the moving body at the location is a trajectory having the same width as the entire width of the moving body from the information on the temporal displacement of the past moving body associated with the predetermined location on the road. A driving guidance device comprising: a driving trajectory estimator that performs information on the trajectory of the moving body assumed by the traffic trajectory estimator;

According to this configuration, the traffic trajectory estimation means calculates the travel trajectory of the moving body at the location as the full width of the mobile body from the information on the temporal displacement of the past mobile body associated with the predetermined location on the road. Assuming that the trajectory has the same width , the information providing means provides the driver of the vehicle with information related to the traffic trajectory of the moving body assumed by the traffic trajectory estimating means, thus improving safety against potential dangers. It is possible to provide useful information to the driver.

In addition, the present invention provides an own vehicle movement area prediction means for predicting an own vehicle movement area, which is an area through which the own vehicle may pass, and a presence that is not currently detected and is present in the vicinity of the own vehicle. A mobile body movement area prediction unit that predicts a mobile body movement area that is a region through which the mobile body may pass, and a host vehicle movement area predicted by the host vehicle movement area prediction means The driving difficulty level calculating means for calculating the driving difficulty level of the own vehicle moving area based on the area overlapping the moving body moving area predicted by the moving body moving area predicting means, and the driving skill of the driver of the own vehicle. A route for setting a route on which the host vehicle should travel in the future according to the driving difficulty estimated by the driving skill estimating means, the driving difficulty calculated by the driving difficulty calculating means, and the driver's driving skill estimated by the driving skill estimating means Setting Means and, the route of the route setting means has set a guide means for guiding the driver to the vehicle is traveling, the vehicle the vehicle moving area moving region prediction means predicts the vehicle of the total width of the same width The moving body moving area predicted by the moving body moving area predicting means is a driving guidance device having the same width as the entire width of the moving body .

According to this structure, the own vehicle movement area prediction means predicts the own vehicle movement area which is an area through which the own vehicle may pass. Further, the moving body moving area prediction means is an area in which the moving body may pass in the future with respect to a moving body that is not currently detected and may exist in the future around the host vehicle. Predict the moving area. Further, the driving difficulty level calculation means is based on an area where the own vehicle movement area predicted by the own vehicle movement area prediction means overlaps with the moving object movement area predicted by the moving object movement area prediction means. In order to calculate the difficulty level of driving, it is possible to calculate the difficulty level of driving in a region where the host vehicle will pass in the future based on a potential danger whose presence is not currently detected. Further, the route setting means sets the route that the host vehicle should travel in the future according to the driving difficulty calculated by the driving difficulty calculation means and the driving skill of the driver estimated by the driving skill estimation means, Since the means guides the driver to drive the vehicle along the route set by the route setting means, the vehicle travels on the route based on the driving difficulty calculated based on the potential danger and the driving skill of the driver. As a result, the driver is guided to improve safety against potential dangers and provide useful information to the driver. In addition, since the own vehicle moving area has the same width as the entire width of the own vehicle, and the moving body moving area has the same width as the entire width of the moving body, the potential danger can be predicted more realistically. It becomes possible, and it becomes possible to improve safety against potential dangers.

On the other hand, the present invention relates to an own vehicle movement area prediction means for predicting an own vehicle movement area, which is an area through which the own vehicle may pass, and is presently not detected and present in the future around the own vehicle. A mobile body movement area prediction unit that predicts a mobile body movement area that is a region through which the mobile body may pass, and a host vehicle movement area predicted by the host vehicle movement area prediction means The driving difficulty level calculating means for calculating the driving difficulty level of the own vehicle moving area based on the area overlapping the moving body moving area predicted by the moving body moving area predicting means, and the driving skill of the driver of the own vehicle. The driver can practice driving according to the driving skill estimation means to be estimated, the driving difficulty calculated by the driving difficulty calculation means, and the driver's driving skill estimated by the driving skill estimation means. A route setting means for setting a route to routing means has set a guide means for guiding the driver to the vehicle is traveling, the vehicle movement area where the vehicle moving area prediction means predicts the of the vehicle The moving body moving area predicted by the moving body moving area prediction means is the driving guidance device having the same width as the entire width of the moving body .

According to this structure, the own vehicle movement area prediction means predicts the own vehicle movement area which is an area through which the own vehicle may pass. In addition, the moving body moving area predicting means is an area in which the moving body may pass with respect to a moving body that is not currently detected and may exist in the future around the host vehicle. Predict moving area. Further, the driving difficulty level calculation means is based on an area where the own vehicle movement area predicted by the own vehicle movement area prediction means overlaps with the moving object movement area predicted by the moving object movement area prediction means. In order to calculate the difficulty level of driving, it is possible to calculate the difficulty level of driving in a region where the host vehicle will pass in the future based on a potential danger whose presence is not currently detected. Further, the route setting means determines a route on which the driver can practice driving according to the driving difficulty calculated by the driving difficulty calculating means and the driving skill of the driver estimated by the driving skill estimating means. Since the setting means and the guidance means guide the driver so that the vehicle travels the route set by the route setting means, the driver can practice for the potential danger in advance and It is possible to improve safety and provide useful information to the driver through practice. In addition, since the own vehicle moving area has the same width as the entire width of the own vehicle, and the moving body moving area has the same width as the entire width of the moving body, the potential danger can be predicted more realistically. It becomes possible, and it becomes possible to improve safety against potential dangers.

  In this case, the driving skill estimating means estimates the driving skill of the driver after the host vehicle travels the route on which the driver can practice driving, and the route setting means is calculated by the driving difficulty calculating means. The driver may practice driving according to the difficulty of driving and the driving skill of the driver estimated by the driving skill estimating means after the vehicle has traveled the route on which the driver can practice driving. It is preferable to set a possible route.

  According to this configuration, the driving skill estimating means estimates the driving skill of the driver after the host vehicle travels on a route on which the driver can practice driving, and the route setting means is the driving difficulty calculating means. According to the driving difficulty calculated by the driver and the driver's driving skill estimated by the driving skill estimating means after the vehicle traveled along the route on which the driver can practice driving. In order to set the route that can be performed, the result of driving practice will be fed back to the setting of the next route, and as the driver's driving skill improves, safety against potential dangers will be further improved It becomes possible.

  Further, it is preferable that the moving body moving area predicting means predicts the moving body moving area from the movement history detected in the past of the moving body.

  According to this configuration, the moving body moving area predicting means predicts the moving body moving area from the movement history detected in the past of the moving body. It becomes possible to estimate more accurately.

  In addition, it is preferable that the route setting unit sets a route in which the driving difficulty level calculated by the driving difficulty level calculating unit is equal to or less than a predetermined threshold for the route to be set.

  According to this configuration, the route setting unit sets a route in which the driving difficulty level calculated by the driving difficulty level calculating unit is less than or equal to a predetermined threshold for the route to be set, so avoid a route with a high driving difficulty level. It is possible to eliminate potential dangers.

  Further, the route setting means estimates the driving difficulty level according to the driving skill of the driver, and sets a route in which the driving difficulty level calculated by the driving difficulty level calculating unit is less than or equal to the matching difficulty level for the route to be set. Is preferred.

  According to this configuration, the route setting means estimates the driving difficulty level according to the driving skill of the driver, and the driving difficulty level calculated by the driving difficulty level calculating means for the set route is equal to or less than the matching difficulty level. Since the route is set, the driver can be guided to the route according to the driving skill of the driver.

  In this case, the route setting means is a route in which the travel distance to the destination of the host vehicle is the shortest among the routes in which the driving difficulty calculated by the driving difficulty calculation means for the set route is equal to or less than the matching difficulty. Is preferably set.

  According to this configuration, the route setting means has the longest travel distance to the destination of the host vehicle among the routes in which the driving difficulty level calculated by the driving difficulty level calculating means for the set route is equal to or less than the matching difficulty level. Since a shorter route is set, the driver can be guided to the most efficient route out of the routes obtained from the relationship between the difficulty of driving and the driving skill of the driver.

  According to the driving guidance device of the present invention, it is possible to further improve safety against potential danger and provide useful information to the driver.

It is a block diagram showing composition of a driving guidance device concerning an embodiment. It is a flowchart which shows operation | movement of the driving | operation guidance apparatus which concerns on embodiment. It is a figure which shows the example of the route guidance screen of the driving guidance apparatus which concerns on embodiment. It is a top view which shows the movement area | region of the own vehicle and assumption moving body estimated in the intersection of a temporary stop. It is a top view which shows the movement area | region of the own vehicle estimated in the narrow street of an urban area, and an assumed moving body. It is a top view which shows the movement area | region of the own vehicle estimated in the junction part of the trunk line of an urban area, and an assumed moving body. FIG. 7 is an enlarged view of a contact possibility point in FIG. 6. It is a top view which shows the movement area | region of the own vehicle and assumption moving body estimated in the junction part of a suburban road. It is a table | surface which shows the example of the database of the movement area | region of the assumption moving object in each point and each scene. In FIG. 4, it is a top view which shows the relationship between the point with a possibility of contact, and the stop target position of a driver. It is a table | surface which shows the example of the database which quantified the driving skill in each scene of a driver.

  DESCRIPTION OF EMBODIMENTS Hereinafter, embodiments of a driving guidance device according to the present invention will be described with reference to the drawings.

  A driving guidance device 1 according to the present embodiment shown in FIG. 1 is a device that is mounted on the host vehicle and guides a route for a driver D to travel. As shown in FIG. 1, the driving guidance apparatus 1 includes an environment information recognition ECU 10, a vehicle information recognition ECU 20, a driver state recognition ECU 30, a determination processing ECU 40, a driving support ECU 50, and a driving support system 60.

  The environment information recognition ECU 10 includes a GPS 11, an in-vehicle communication device 12, a front sensor / rear side sensor 13, a navigation system 14, and a white line recognition camera 15. A GPS (Global Positioning System) 11 receives signals from a plurality of GPS satellites with a GPS receiver, and measures the position of the host vehicle from the difference between the signals. The in-vehicle communication device 12 is a communication device for performing vehicle-to-vehicle communication with other vehicles and road-to-vehicle communication with roadside infrastructure such as an optical beacon. The front sensor / rear side sensor 13 is for detecting the position and moving speed of roadside facilities such as pedestrians, bicycles, two-wheeled vehicles, vehicles, and stores such as millimeter wave radar and ultrasonic sonar. . The navigation system 14 is for performing route guidance of the host vehicle from the GPS 11 and a map information DB (Data Base) (not shown) in which map information in the host vehicle is stored. The white line recognition camera 15 is for recognizing the white line of the lane in which the host vehicle travels.

  The vehicle information recognition ECU 20 includes a steering angle sensor 21, a vehicle speed sensor 22, and a winker sensor 23. The rudder angle sensor 21 is a sensor for detecting the steering angle of the host vehicle. The vehicle speed sensor 22 is a sensor for detecting the vehicle speed of the host vehicle by detecting the rotational speed of the axle. The blinker sensor 23 is a sensor for detecting the direction indicated by the direction indicator of the host vehicle.

  The driver state recognition ECU 30 is for recognizing a driver state such as a driver D's awakening state, absurd driving state, aside driving state, gaze on obstacles, obstacles, excitement state for danger, driving behavior, and the like. . The driver state recognition ECU 30 includes a gaze / face orientation measuring device 31. The gaze / face orientation measuring device 31 is for detecting the gaze and face orientation of the driver D by imaging the head of the driver D with a camera and detecting the movement of the eyeball or the face.

  The determination processing ECU 40 is for estimating the movement of the own vehicle and an assumed moving object such as a pedestrian potentially existing around the own vehicle. The determination process ECU 40 is for estimating the driving difficulty level based on the estimated movement between the host vehicle and the moving body. The determination process ECU 40 is for estimating the driving skill of the driver D. Further, the determination processing ECU 40 is for setting the route of the host vehicle according to the estimated driving difficulty level and the driving skill of the driver D.

  The determination processing ECU 40 has a driver operation history DB 41 and a traffic information DB 42. The driver operation history DB 41 is a database in which the driving operation of the driver D is stored for each point and each driving scene such as merging, lane change, and backward parking. The traffic information DB 42 is a database in which information on a moving object such as a pedestrian is stored for each point, driving scene such as merging, lane change, and backward parking.

  The driving support ECU 51 is used to guide the driver D to travel along the route set for the driver D by the video from the display 51 and the sound from the speaker 52 based on the command signal from the determination processing ECU 40. is there.

  The driving support system 60 is for driving an accelerator actuator, a brake actuator, a steering actuator, and the like (not shown) based on a command signal from the determination processing ECU 40 to control the traveling of the host vehicle. The driving assistance system 60 includes an ACC (Adaptive Cruse Control) 61, a PCS (Pre-Crush safety) 62, and an LKA (Lane Keeping Assist) 63. The ACC 61 is for controlling the host vehicle to follow the preceding vehicle at a predetermined speed and an inter-vehicle distance. The PCS 62 is for performing control to prevent contact with an obstacle and to reduce damage when contacted with the obstacle. The LKA 63 is for controlling the host vehicle to travel while maintaining the lane.

  Hereinafter, operation | movement of the driving | operation guidance apparatus 1 of this embodiment is demonstrated based on the flowchart of FIG. In the following description, as shown in FIG. 3, it is assumed that the route guidance screen of the navigation system 14 is displayed on the display 51 and the driver D is guided along a predetermined route.

  As a premise, the determination processing ECU 40 determines a moving area group of moving objects such as pedestrians around the own vehicle V0 for each point or driving scene such as merging, lane change and backward parking, etc. It is detected by a sensor such as the side sensor 13 and stored in advance in the traffic information DB 42 (S101). Here, the moving area is an area through which moving objects such as pedestrians, bicycles, two-wheeled vehicles, and vehicles pass for every driving scene or point such as lane change and backward parking. The moving area is estimated in consideration of the assumed size, shape, vehicle speed, and the like of the moving object. The moving area has the same width as the assumed moving object. These movement areas may be made into a database based on information acquired from the other vehicle, roadside infrastructure, or the like by the in-vehicle communication device 12.

  Further, as a premise, the determination processing ECU 40 detects the driving skill such as merging, lane change and backward parking or the tendency of the driving behavior of the driver D of the own vehicle V0 for each point, and the database is stored in the driver operation history DB 41 in advance. (S102). Determination process ECU40 estimates a movement area | region also about the own vehicle V0. The determination process ECU 40 calculates a point and a region where the moving region of the host vehicle V0 overlaps with the moving region of the moving object that is assumed (S103).

  Hereinafter, the movement region estimated by the determination process ECU 40 will be described with an example. For example, in the area A1 of FIG. 3, it is assumed that there is a temporarily stopped intersection in a city area as shown in FIG. As shown in FIG. 4, the moving area TR of the host vehicle V0 extends so as to go straight through the intersection as shown by a broken line in the figure. As the moving objects V1 to V6 that are assumed to be bicycles or pedestrians move along the sidewalk P or the roadway R in a target direction, various movement regions TR are formed. For example, the moving object V4, which is a pedestrian, forms a moving region TR that enters the alley by turning left on the right side of the host vehicle V0 while crossing the roadway R from the sidewalk P and turning around. Further, the moving object V1 that is a bicycle forms a moving region TR that enters the alley by turning right on the left side of the host vehicle V0 from the sidewalk P, crossing the roadway R, crossing the stop line. For this reason, at the temporary stop intersection shown in FIG. The position FP where there is a possibility of first contact in the traveling direction of the host vehicle V0 is before the temporary stop line.

  Moreover, in the area A2 of FIG. 3, the scene where the moving objects V1-V5 and the own vehicle V0 pass each other on the narrow street of an urban area as shown in FIG. 5 is also assumed. As shown in FIG. 5, various moving regions TR are formed by moving moving objects V1 to V5 such as bicycles and pedestrians from the sidewalk P, the roadway R, or the exit of the facility IF in the target direction. The For example, the moving object V4 that is a pedestrian forms a moving region TR that crosses the road R from the entrance / exit of the facility IF on the right side of the host vehicle V0. In addition, the moving object V1 that is a bicycle forms a moving region TR that bends toward the road R in order to avoid the left pole O of the host vehicle V0 and the moving object V3 that is a pedestrian. For this reason, points CP1 to CP4 that may be contacted are formed on the narrow street in the urban area shown in FIG. The position FP at which the vehicle VO may be contacted first in the traveling direction is a point CP1 at which contact with the moving object V1 that is a bicycle is possible.

  Moreover, in the area A3 of FIG. 3, the scene where the moving objects V1-V3 merge and change lanes with the curve as shown in FIG. 6 can be considered. In the trunk line as shown in FIG. 6, the road environment and surrounding conditions are complicated, the number of moving objects that can be generated, the types of vehicles, and the like are large, and their moving areas are also diverse. Various moving regions TR are formed by a moving object V1 that is a vehicle that changes lanes, a moving object V2 that is a vehicle that performs merging, and a moving object V3 that is an oncoming vehicle. For this reason, in the scene as shown in FIG. 6, the density of the points CP1 to CP8 with which contact is possible occurs. As shown in FIG. 7 which is an enlarged view of FIG. 6 and FIG. 6, the start position BP of the point where the points CP1 to CP8 that may be contacted is overcrowded in the traveling direction of the host vehicle V0 is a vehicle that changes lanes. The point CP2 is likely to come into contact with the moving object V1.

  On the other hand, in the suburban road as shown in FIG. Therefore, only the point CP1 that can be contacted is a point that is likely to contact the moving object.

  In the examples of FIGS. 4 to 8 described above, the movement region TR is estimated in consideration of the route and speed of the moving objects V1 to V7 that do not follow traffic classifications or signs according to the actual traffic environment. The A plurality of moving regions TR can be estimated for one moving object V1 or the like.

  As shown in the examples of FIGS. 4 to 8 above, when the movement region TR, information associated with the movement region TR at each driving scene and point, and variation parameters such as weather, time zone, and the like are compiled into a database, As shown in FIG. The determination process ECU 40 accumulates data as shown in FIG. 9 in the traffic information DB 42.

  The determination processing ECU 40 detects the driving tendency of the driver D detected in S102, such as “the vehicle does not stop at the temporary stop line, and the stop target stops at the end of the intersection” or “the lane change is intended to be slow”. Along with the information, a point CP that can be contacted at each driving scene and point is calculated. The driver operation history DB 41 stores a driving tendency of the driver D at each driving scene and point as shown in FIG. The determination processing ECU 40 calculates a point CP1 or the like that may be contacted based on information stored in the driver operation history DB 41 and the traffic information DB 42.

  For example, in the example of the temporary stop intersection in the urban area shown in FIG. 4 described above, the driver D has a tendency of a driving operation of “not stop at the stop line but stop at the end of the intersection”. Therefore, as shown in FIG. 10, a point CP <b> 1 that may be contacted first in the traveling direction of the host vehicle V <b> 0 with respect to the target stop position SP of the driver D is detected as a scene in front.

  Returning to FIG. 2, the determination processing ECU 40 tags the importance of the moving area group and a point that may be contacted (S104). The determination processing ECU 40 has the possibility of contact calculated in the moving region group and S103 from the magnitude of damage assumed by the contact between the host vehicle V0 and the moving object V1, the degree of urgency, and the high accuracy of the contact. The importance level I such as the point CP1 is related by tagging.

For example, the importance I can be calculated as follows for the assumed moving objects V1 to Vn.
・ Damage size: S
S = Σ (size Zn × weight Mn × speed vn × classification) (1)
("Classification" is a weighting parameter such as pedestrian> bicycle >> vehicle.)
・ Degree of urgency: E
E = 1 / (minimum value of distances D _{CP1 to} D _{CPn to} points _{CP1 to} CPn where contact is possible) (2)
(Note that the distance _D CP1 _{to D CPn} point is a contact possibility with the minimum CP1~CPn and CP _N)
・ High accuracy: P
P = (probability contact occurs according to point CP _N with contact possibility) ... (3)

From the above, the importance level I can be calculated by the following equation (4). In the following formula (4), a, b, and c are weighting coefficients and are arbitrarily set. In addition, since the movement area | region TR changes with variation parameters as shown in FIG. 9, the importance degree I is changed similarly.
I = a * S + b * E + c * P (4)

When it is determined that there are many points having a high importance level I in the traveling direction of the host vehicle V0 (S105), the determination processing ECU 40 considers the driving skill T and the importance level I of the driver D and is the closest important The driver D is guided to travel on a route with a low degree I (S106). For example, the determination process ECU40 is, when the threshold of importance I and importance _{I th,} when became _{I> I th,} induces the pathways of I ≦ _{I th.} For example, the determination process ECU 40 is determined from the speaker 52 of the driving support ECU 50.
“Pawns (alarms) will continue to require careful driving. Would you like to change to a route that you can drive with confidence?”
The driver D is guided by playing the sound.

In this case, the determination processing ECU 40 proposes the closest route in consideration of the importance level I in consideration of the driving skill T of the driver D. For example, when the driver avoiding any point p belonging to the scene A _d is from scene A _d is the scene of the higher difficulty d than driving skill T driver D, the determination process ECU40 relates drivers of various driving skill Information is collected by the in-vehicle communication device 12 and the like, and the threshold value I _th of the importance level I is calculated by the following equations (5) and (6). Here, U _d (T) is a set of points and scenes where the driver D of the driving skill T feels that the degree of difficulty is higher than his own skill and feels necessity to avoid it as much as possible. Further, I (U _d (T)) is the importance I of a point and a scene where the driver D of the driving skill T feels that the degree of difficulty is higher than his skill and feels necessity to avoid it as much as possible.

Since the determination processing ECU 40 guides to a route that is as close as possible, the determination processing ECU 40 guides to a route that _satisfies I ≦ I _th according to the driving skill T. For example, the determination process ECU 40 is determined from the speaker 52 of the driving support ECU 50.
“A little bit of caution, but do you still want to change to a closer route?”
The driver D is guided by playing the sound.

  As for the driving skill T of the driver D, as shown in FIG. 11, “the number of experiences”, “smooth acceleration / deceleration operation”, “time until the end of the operation” regarding the driving operation of the driver D in each scene and point The evaluation processing ECU 40 can calculate the driving skill T by collecting data on evaluation items such as “smoothness of steering” and “setup for safety confirmation”.

  The determination processing ECU 40 determines whether a scene or a point with a driver's D unsafe driving tendency among the scenes or points with a lower importance level I tagged in S104 is a route on which the host vehicle V0 passes or in the vicinity of the route. If it is determined that the vehicle is present (S107), the driver D is guided to a point including the scene or a route toward the point, and a practical education for improving the driving skill T is given (S108).

For example, the determination process ECU40, the driver D is within importance I on the route set by the navigation system 14 of the set U _e point and the scene to be I ≦ I _th, the driver D of the driving skill T feel uneasy If there is a scene, a scene that the driver feels uneasy about, and a scene _Ae that is a scene that the determination process ECU 40 determines that education is necessary, that is, the following expression (7) holds, the determination process ECU 40 Guides the driver D to the route including the scene.

In this case, for example, the determination process ECU 40 is determined by the speaker 52 of the driving support ECU 50.
“Pawn (warning sound), I learned from the previous run that I can expect to improve the level of the lane change scene. To change the lane without disturbing the surroundings, it is important to change the lane as soon as possible. Specifically ... (Omitted) ... There is a good route for practicing lane changes in the future. Would you like to practice it? "
The driver D is guided by playing the sound.

The determination processing ECU 40 evaluates the evaluation items as shown in FIG. 10 again after practice at the point, stores the result in the driver operation history DB, and determines the driving skill T of the driver D in the scene _Ae . Update.

  The determination process ECU 40 changes the importance level I of the destination point according to the driving skill T of the driver D as the education progresses, and guides the route to improve the driving skill T of the driver. (S109).

For example, when the driver needs to improve the driving skill T of the driver D in the scene A, the driver should be guided to a route having an appropriate difficulty level d according to the improvement of the driving skill T of the driver D. Since the situation around the scene _Ae differs depending on the point, and the importance I also differs, it is necessary to select a point, a scene, and a situation that match the improved driving skill T of the driver D and guide the route. That is, a set of such points and scenes is the above-described U _e (T).

For example, when the driver D is passing through any point p belonging to the scene A _e, since the scene A _e is a scene of difficulty d corresponding to the driving skill T of the driver D, the determination process ECU40 is a variety of driving skill Driver The information about is collected by the in-vehicle communication device 12 and the like, and the threshold value I _th of the importance level I is calculated by the following equations (8) and (9). Here, U _e (T) is a set of points and scenes where the driver D of the driving skill T feels anxiety and feels the necessity of practice. Further, I (U _e (T)) is the importance I of the point and scene where the driver D of the driving skill T feels anxiety and feels the necessity of practice.

Since the determination processing ECU 40 guides to a route that is as close as possible, the determination processing ECU 40 guides to a route that _satisfies I = I _th according to the driving skill T. For example, the determination process ECU 40 is determined from the speaker 52 of the driving support ECU 50.
“There is a route that matches the current level. Would you like to practice in the lane change scene that is one level up?”
The driver D is guided by playing the sound.

  In the present embodiment, the determination processing ECU 40 estimates the moving area TR of the moving body V1 and the like from the movement history detected in the past such as the moving body V1 recorded in the traffic information DB 42, and the driving support ECU 50 Since the route to be guided, which is information about the TR, is provided to the driver D, it is possible to further improve safety against potential dangers and provide useful information to the driver D.

  Further, in the present embodiment, the determination processing ECU 40 may be a moving region TR that is a region through which the host vehicle V0 may pass, and its presence is not currently detected and may exist in the future around the host vehicle V0. For a moving object V1 or the like having a property, a moving area TR that is an area through which the moving object passes is predicted. Furthermore, since the determination processing ECU 40 calculates the importance I of the moving region TR based on the region where the predicted moving region TR of the host vehicle V0 and the moving body V1 overlaps, the presence is currently detected. It is possible to calculate the difficulty level of driving in an area where the host vehicle V0 will pass in the future based on no potential danger. Further, the determination processing ECU 40 sets a route that the host vehicle V0 should travel in the future according to the calculated importance level I and the estimated driving skill T of the driver D, and the driving support ECU 50 sets the determination processing ECU 40. In order to guide the driver D so that the host vehicle V0 travels along the route, the driver D travels along the route based on the importance I calculated based on the potential danger and the driving skill T of the driver D. Therefore, it is possible to improve safety against potential dangers and provide useful information to the driver D.

  Further, in the present embodiment, the determination processing ECU 40 sets a route through which the driver D can practice driving according to the calculated importance I and the estimated driving skill T of the driver D. Since the support ECU 50 guides the driver D so that the host vehicle V0 travels on the route set by the determination processing ECU 40, the driver D can practice the potential danger in advance, and the potential danger can be prevented. It becomes possible to improve safety and provide useful information to the driver D through practice.

  Further, in the present embodiment, the determination processing ECU 40 estimates the driving skill T of the driver D after the host vehicle V0 travels on the route on which the driver D can practice driving, and calculates the importance I and The route on which the driver D can practice driving is set according to the driving skill T of the driver D estimated after the host vehicle V0 travels the route on which the driver D can practice driving. Therefore, the result of the driving practice is fed back to the setting of the next route, and the safety against the potential danger can be further improved according to the improvement of the driving skill T of the driver D.

  According to the present embodiment, the moving region TR estimated by the determination processing ECU 40 has the same width as the entire width of the host vehicle V0, the moving body V1, and the like, so that it is possible to predict the potential danger more realistically. Thus, it is possible to further improve safety against potential danger.

  In addition, the determination processing ECU 40 estimates the moving region TR of the moving object V1 and the like from the movement history detected in the past such as the moving object V1 recorded in the traffic information DB 42. It is possible to estimate the moving region TR passing in the future with higher accuracy.

Further, according to this embodiment, the determination process ECU40 is the route to be set, since the severity I of calculating sets a path to be less I _th is a predetermined threshold value, avoiding high path difficulty of operation Potential hazards can be eliminated.

In addition, according to the present embodiment, the determination process ECU 40 estimates the importance level I _th according to the driving skill T of the driver D, and sets a route that is less than or equal to the importance level I _th for the route to be set. It becomes possible to guide the driver D to the route according to the driving skill T.

Furthermore, according to this configuration, the determination process ECU40 is the route to be set, in importance I becomes less I _th is the threshold route be calculated, travel distance to the destination of the vehicle becomes shortest Since the route is set, the driver D can be guided to the most efficient route among the routes obtained from the relationship between the difficulty of driving and the driving skill of the driver D.

  It should be noted that the present invention is not limited to the above-described embodiment, and it is needless to say that various modifications can be made without departing from the gist of the present invention.

DESCRIPTION OF SYMBOLS 1 ... Driving guidance device, 10 ... Environmental information recognition ECU, 11 ... GPS, 12 ... In-vehicle communication device, 13 ... Front sensor and rear side sensor, 14 ... Navigation system, 15 ... White line recognition camera, 20 ... Vehicle information recognition ECU , 21 ... Steering angle sensor, 22 ... Vehicle speed sensor, 23 ... Winker sensor, 30 ... Driver state recognition ECU, 31 ... Gaze / face orientation measuring device, 40 ... Judgment processing ECU, 41 ... Driver operation history DB, 42 ... Traffic information DB, 50 ... Driving assistance ECU, 51 ... Display, 52 ... Speaker, 60 ... Driving assistance system, 61 ... ACC, 62 ... PCS, 63 ... LKA.

Claims (5)

A host vehicle movement region prediction means for predicting a host vehicle movement region which is a region through which the host vehicle may pass;
A moving object that predicts a moving object moving area that is a region through which the moving object may pass, for a moving object that is not currently detected and may exist in the future around the host vehicle. Region prediction means;
Difficulty of driving in the own vehicle moving area based on an area where the own vehicle moving area predicted by the own vehicle moving area predicting means and the moving body moving area predicted by the moving body moving area predicting means overlap. Driving difficulty calculating means for calculating
Driving skill estimating means for estimating the driving skill of the driver of the host vehicle;
A route through which the driver can practice driving is set according to the driving difficulty level calculated by the driving difficulty level calculating unit and the driving skill level of the driver estimated by the driving skill estimating unit. Route setting means;
Guidance means for guiding the driver so that the host vehicle travels along the route set by the route setting means,
The own vehicle moving area predicted by the own vehicle moving area predicting means has the same width as the entire width of the own vehicle, and the moving object moving area predicted by the moving object moving area predicting means is the full width of the moving object. have a same width as,
The driving skill estimating means estimates the driving skill of the driver after the host vehicle has traveled a route on which the driver can practice driving,
The route setting means estimates the driving difficulty calculated by the driving difficulty calculating means and the driving skill estimating means after the vehicle travels a route on which the driver can practice driving. A driving guidance device that sets a route through which the driver can practice driving according to the driving skill of the driver . The driving guidance apparatus according to claim 1 , wherein the moving body moving area prediction unit predicts the moving body moving area from a movement history detected in the past of the moving body. The driving guidance device according to claim 1 or 2 , wherein the route setting unit sets a route in which the driving difficulty level calculated by the driving difficulty level calculating unit is equal to or less than a predetermined threshold for the set route. The route setting means estimates the driving difficulty level according to the driving skill of the driver, and the driving difficulty level calculated by the driving difficulty level calculating means for the set route is equal to or less than the matching difficulty level. The driving | operation guidance apparatus of Claim 3 which sets the path | route which becomes. The route setting means has the longest travel distance to the destination of the host vehicle among the routes in which the driving difficulty calculated by the driving difficulty calculation means for the set route is equal to or less than the adaptation difficulty. The driving | operation guidance apparatus of Claim 4 which sets the path | route which becomes short.

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