JP6186988B2 - Driving support device and driving support method - Google Patents

Description

  The present invention relates to a driving support device and a driving support method.

  Conventionally, based on the speed of the host vehicle, the distance from the host vehicle to the surrounding vehicle, etc., the possibility that the host vehicle is close to the surrounding vehicle is determined. A technique for highlighting a vehicle and notifying a driver of the host vehicle is known.

JP 2009-40107 A

  However, the conventional technology determines the possibility that the own vehicle is close to the surrounding vehicle based on the behavior of the own vehicle and the surrounding vehicle, and the driver of the surrounding vehicle drives in cooperation with the own vehicle. It is impossible to determine whether or not the vehicle is in the vicinity, and there is a problem that the possibility that the host vehicle and the surrounding vehicle are close to each other cannot be properly transmitted to the driver.

  The subject of this invention is providing the driving assistance apparatus which can transmit to a driver | operator appropriately the possibility that the own vehicle and a surrounding vehicle adjoin.

  The present invention determines the responsiveness of the driver of the surrounding vehicle to the behavior of the own vehicle based on the result of correlation calculation between the time series data of the vehicle speed of the own vehicle and the time series data of the vehicle speed of the surrounding vehicle. The convergence prediction speed of the own vehicle is calculated based on the time series data of the vehicle speed of the vehicle, the convergence prediction speed of the surrounding vehicle is calculated based on the time series data of the vehicle speed of the surrounding vehicle, and the convergence prediction speed of the own vehicle and the surrounding vehicle are calculated. Based on the difference from the predicted convergence speed of the vehicle, the synchronism of the driving of the surrounding vehicle with respect to the driving of the own vehicle is judged, the responsiveness of the driver of the surrounding vehicle to the behavior of the own vehicle, and the driving of the own vehicle and the surrounding vehicle Based on the synchronicity with driving, the driver of the surrounding vehicle determines the degree of driving cooperation in cooperation with the driving of the own vehicle as driving cooperation, and reports information on the driving cooperation of the driver of the surrounding vehicle. Informs the driver of the vehicle By, to solve the above problems.

  According to the present invention, by determining the driving coordination of the driver of the surrounding vehicle, the possibility that the host vehicle and the surrounding vehicle are close to each other can be appropriately transmitted to the driver.

It is a schematic diagram showing a driving support device concerning this embodiment. It is a block diagram which shows the structure of the driving assistance device which concerns on this embodiment. It is a figure which shows an example of the time series data of the vehicle speed of the own vehicle. (A) is a figure which shows an example of the time series data of the variation | change_quantity of the vehicle speed of the own vehicle, (B) is a figure which shows an example of the time series data of the variation | change_quantity of the vehicle speed of a surrounding vehicle. It is a figure for demonstrating the method of judging the synchronism of the driver of a surrounding vehicle. It is a figure for demonstrating the method of judging the driving | operation cooperation of the driver | operator of a surrounding vehicle. It is a figure which shows an example of the alerting | reporting information alert | reported by an alerting | reporting apparatus. It is a flowchart which shows the driving assistance process which concerns on this embodiment. It is a flowchart which shows the responsiveness judgment process of step S105. It is a flowchart which shows the synchronism judgment process of step S106.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings. The present invention relates to situational awareness during driving (Situation Awareness). For example, as shown in FIG. 1, in the scene where the host vehicle changes lanes from a merging lane to a main lane on which the surrounding vehicle travels. The degree to which the driver of the surrounding vehicle existing around the own vehicle performs the driving in cooperation with the driving of the own vehicle is obtained as driving cooperation, and notification information regarding the driving cooperation of the driver of the surrounding vehicle is obtained. This is intended to improve the driving safety of the driver. FIG. 1 is a schematic diagram illustrating the driving support apparatus according to the present embodiment, and FIG. 2 is a block diagram illustrating the configuration of the driving support apparatus according to the present embodiment.

  As shown in FIGS. 1 and 2, the driving support device 100 includes a distance measuring sensor 110, a vehicle speed sensor 120, a control device 130, and a notification device 140. Below, each structure of the driving assistance device 100 is demonstrated.

  The distance measuring sensor 110 is a sensor for detecting a relative distance from the own vehicle to a surrounding vehicle existing around the own vehicle and a relative vehicle position of the surrounding vehicle with respect to the vehicle position of the own vehicle. In the present embodiment, as shown in FIG. 1, the traveling direction of the host vehicle (in the range of 360 ° around the host vehicle) so that the relative distance to the surrounding vehicle and the relative position of the surrounding vehicle can be detected. Four cameras 110a to 110d are installed as distance measuring sensors 110 in the front-rear direction and the vehicle width direction (left-right direction). Then, the image data captured by these four cameras 110 (110a to 110d) is output as distance measurement data to the control device 130, and the control device 130 performs image analysis of these image data to obtain the surroundings. The relative distance to the vehicle and the relative position of the surrounding vehicle will be detected. The distance measuring sensor 110 is not limited to a camera, and for example, a laser radar can be used.

  The vehicle speed sensor 120 is a sensor for detecting the vehicle speed of the host vehicle. In this embodiment, the vehicle speed sensor 120 outputs a vehicle speed pulse corresponding to the rotation of the gear by magnetically detecting the rotation of the gear attached to the center of the wheel. The vehicle speed pulse output from the vehicle speed sensor 120 is transmitted to the control device 130, and the control device 130 calculates the vehicle speed of the host vehicle based on the vehicle speed pulse.

  The control device 130 of the driving support device 100 includes a ROM (Read Only Memory) in which a program for supporting the driving of the driver is stored, and a CPU (Central Processing) as an operation circuit that executes the program stored in the ROM. Unit) and a RAM (Random Access Memory) functioning as an accessible storage device. As the operation circuit, an MPU (Micro Processing Unit), a DSP (Digital Signal Processor), an ASIC (Application Specific Integrated Circuit), an FPGA (Field Programmable Gate Array), or the like can be used instead of or in addition to the CPU. .

  The control device 130 executes a program stored in the ROM by the CPU, thereby calculating an ambient vehicle speed calculation function for calculating the vehicle speed of the surrounding vehicle, an own vehicle speed calculation function for calculating the vehicle speed of the own vehicle, A time-series data generation function for generating time-series data of the vehicle speed and time-series data of the vehicle speed of the vehicle, a responsiveness determination function for determining the responsiveness of the driver of the surrounding vehicle to the behavior of the vehicle, A synchronism determining function for determining the synchrony of the driver of the surrounding vehicle with respect to the behavior of the vehicle, and a synchronicity determining function for determining the driving cooperation in which the driver of the surrounding vehicle operates in cooperation with the driving of the own vehicle; And a notification information generation function for generating notification information related to driving cooperation. Below, each function with which the control apparatus 130 is provided is demonstrated.

  The surrounding vehicle speed calculation function of the control device 130 calculates the vehicle speed of the surrounding vehicle based on the distance measurement data output from the distance measuring sensor 110. Specifically, the surrounding vehicle speed calculation function first calculates the relative distance from the host vehicle to the surrounding vehicle based on the distance measurement data output by the distance measuring sensor 110. In the present embodiment, as shown in FIG. 1, the distance measuring sensor 110 includes four cameras 110a to 110d that image the surroundings of the host vehicle, and the surrounding vehicle speed calculation function is performed by the cameras 110a to 110d. By analyzing the captured image data, the relative distance from the host vehicle to the surrounding vehicle can be calculated. The surrounding vehicle speed calculation function may calculate the relative position of the surrounding vehicle with respect to the vehicle position of the host vehicle by analyzing the image data captured by the cameras 110a to 110d.

  The surrounding vehicle speed calculation function calculates, for example, the amount of change in the relative distance to the surrounding vehicle or the amount of change in the relative position of the surrounding vehicle by performing image analysis on image data of continuously captured images. Then, based on these changes, the relative vehicle speed of the surrounding vehicle with respect to the vehicle speed of the host vehicle is calculated. Further, the surrounding vehicle speed calculation function can calculate the vehicle speed (absolute vehicle speed) of the surrounding vehicle based on the relative vehicle speed of the surrounding vehicle and the vehicle speed of the host vehicle calculated by the host vehicle speed calculation function.

  The image analysis method using the surrounding vehicle speed calculation function is not particularly limited. For example, the surrounding vehicle speed calculation function extracts a feature point from an image using a luminance gradient of the image, and the extracted feature point is converted into a particle. By tracking using the filter, the relative position and the movement amount of the surrounding vehicle can be calculated, and thereby the relative speed of the surrounding vehicle can be calculated. The surrounding vehicle speed calculation function may be configured to calculate the relative distance from the own vehicle to the surrounding vehicle using another tracking technology, or the own vehicle using a laser radar or an ultrasonic sensor. The relative distance from the vehicle to the surrounding vehicle may be calculated.

  The own vehicle speed calculation function of the control device 130 calculates the vehicle speed of the own vehicle based on the vehicle speed pulse output by the vehicle speed sensor 120. For example, the host vehicle speed calculation function can calculate the vehicle speed of the host vehicle by counting the number of pulses of the vehicle speed pulse in a certain time or measuring the length of the pulse interval of the vehicle speed pulse.

  The time-series data generation function of the control device 130 generates time-series data of the vehicle speed of the host vehicle and time-series data of the vehicle speeds of surrounding vehicles. Here, FIG. 3 is a diagram illustrating an example of time-series data of the vehicle speed of the host vehicle. In the present embodiment, as shown in FIG. 3, the vehicle speed data of the vehicle speed calculated by the vehicle speed calculation function is recorded in the RAM of the control device 130, and the time-series data generation function is Based on the vehicle speed data from the present time to a certain time before the vehicle speed data recorded in the RAM 130, time-series data of the vehicle speed of the own vehicle can be generated.

  Similarly, the vehicle speed data of the surrounding vehicle speed calculated by the surrounding vehicle speed calculating function is recorded in the RAM of the control device 130, and the time-series data generation function is recorded in the surroundings recorded in the RAM of the control device 130. Time-series data of the vehicle speeds of surrounding vehicles is generated based on the vehicle speed data from the present to a certain time before the vehicle speed data of the vehicle speed.

  The number of data of the time series data of the vehicle speed of the own vehicle and the time series data of the vehicle speeds of the surrounding vehicles (the length of time from the present to a certain time before) is not particularly limited. If you are driving along a junction or curve, decrease the number of data (decrease the time from the present to a certain time before). It can be set as appropriate according to the driving environment such as the road shape and driving scene.

  Next, the response determination function of the control device 130 will be described. The responsiveness determination function determines the responsiveness of the driver of the surrounding vehicle to the behavior of the own vehicle based on the time series data of the vehicle speed of the own vehicle and the time series data of the vehicle speed of the surrounding vehicle. Here, FIG. 4A is a diagram illustrating an example of time-series data of the amount of change in the vehicle speed of the host vehicle, and FIG. 4B is an example of time-series data of the amount of change in the vehicle speed of surrounding vehicles. FIG. Hereinafter, a method for determining the responsiveness of the driver of the surrounding vehicle will be described with reference to FIGS.

  Specifically, the responsiveness determination function first differentiates the vehicle speed of the host vehicle by differentiating the time series data of the host vehicle speed generated by the time series data generation function, as shown in FIG. The time series data of the amount of change is calculated. Similarly, as shown in FIG. 4B, the responsiveness determination function differentiates the time series data of the vehicle speed of the surrounding vehicle generated by the time series data generation function, thereby Calculate time-series data.

  Furthermore, in this embodiment, the response time until a general driver responds to the behavior of another vehicle is stored in the RAM of the control device 130, and the responsiveness determination function is shown in FIG. As described above, the offset process is performed to shift the time-series data of the change amount of the vehicle speed of the surrounding vehicle by the response time stored in the RAM of the control device 130. Note that the response time for a general driver to respond to the behavior of another vehicle can be appropriately determined by experiments or the like.

  In addition, the responsiveness judgment function performs cross-correlation between time-series data of the vehicle speed change amount of the surrounding vehicle subjected to the offset process and time-series data of the vehicle speed change amount of the own vehicle, and calculates the cross-correlation coefficient. calculate. The responsiveness determination function determines whether or not the absolute value of the cross-correlation coefficient is equal to or greater than a predetermined responsiveness determination value. Note that the value of the responsiveness determination value is not particularly limited, but is set as appropriate by experiments or the like so that the driver's responsiveness can be appropriately determined.

  The responsiveness determination function determines that the driver of the surrounding vehicle is transiently reacting to the behavior of the host vehicle when the absolute value of the cross-correlation coefficient is equal to or greater than the responsiveness determination value. The response of the driver of the surrounding vehicle to the behavior of the host vehicle is determined as “responsiveness”. On the other hand, if the absolute value of the cross-correlation coefficient is less than the responsiveness determination value, the responsiveness determination function determines that the driver of the surrounding vehicle is not transiently responding to the behavior of the host vehicle. The response of the driver of the surrounding vehicle to the behavior of the own vehicle is determined as “no response”.

  Thus, the responsiveness of the driver of the surrounding vehicle to the behavior of the own vehicle is based on the transient response of the driver of the surrounding vehicle to the behavior of the own vehicle, and the responsiveness of the driver of the surrounding vehicle is “ If it is determined that there is “responsiveness”, it can be determined that the driver of the surrounding vehicle recognizes the presence of the host vehicle.

  Next, the synchronization determination function of the control device 130 will be described. The synchronism determination function determines the synchronism of the driver of the surrounding vehicle with respect to the behavior of the own vehicle based on the time series data of the vehicle speed of the own vehicle and the time series data of the vehicle speed of the surrounding vehicle. Here, FIG. 5 is a diagram for explaining a method of determining the synchrony of the driver of the surrounding vehicle. Below, with reference to FIG. 5, the determination method of the synchrony of the driver of a surrounding vehicle is demonstrated.

  Specifically, as shown in FIG. 5, the synchronism determination function first applies time series data of the vehicle speed of the host vehicle generated by the time series data generation function to the transient response curve. The predicted convergence speed of the vehicle speed is calculated. Similarly, as shown in FIG. 5, the synchronism determination function applies the time series data of the vehicle speed of the surrounding vehicle generated by the time series data generation function to the transient response curve, thereby converging the vehicle speed of the surrounding vehicle. Calculate the predicted speed.

  The synchronism determination function calculates the degree of coincidence between the predicted convergence speed of the host vehicle and the predicted convergence speed of the surrounding vehicle, and when the degree of coincidence between the predicted convergence speed of the host vehicle and the predicted convergence speed of the surrounding vehicle is high. Determines that the synchrony of the driver of the surrounding vehicle is “synchronized”, and if the degree of coincidence between the predicted convergence speed of the host vehicle and the predicted convergence speed of the surrounding vehicle is low, The gender is judged as “not synchronized”.

  Specifically, as shown in FIG. 5, the synchronism determination function calculates a difference between the convergence prediction speed of the host vehicle and the convergence prediction speed of the surrounding vehicle, and the difference in the convergence prediction speed is a predetermined synchronism determination value. If the vehicle speed is less than the value, the degree of coincidence between the predicted convergence speed (target speed) of the host vehicle and the predicted convergence speed (target speed) of the surrounding vehicle is high, and the driver of the surrounding vehicle has a speed matching the vehicle speed of the own vehicle. It is determined that the vehicle is going to travel, and the synchrony of the driver of the surrounding vehicle is determined as “with synchrony”.

  On the other hand, when the difference between the predicted convergence speed of the host vehicle and the predicted convergence speed of the surrounding vehicle is equal to or greater than a predetermined synchronization determination value, the synchronization determination function determines the predicted convergence speed of the host vehicle and the predicted convergence of the surrounding vehicle. The degree of coincidence with the speed is low, and the driver of the surrounding vehicle determines that he is trying to drive at a speed different from the vehicle speed of the own vehicle, and determines that the driver of the surrounding vehicle is “not synchronized”. .

  If the acceleration / deceleration of the host vehicle or the acceleration / deceleration of the surrounding vehicle is performed irregularly, the convergence of the host vehicle is based on the time series data of the vehicle speed of the host vehicle or the time series of the vehicle speed of the surrounding vehicle. In some cases, the predicted speed and the predicted speed of convergence of surrounding vehicles cannot be calculated. In such a case, the synchronism determining function determines that the convergence predicted speed cannot be calculated for the synchrony of the driver of the surrounding vehicle.

  As described above, the synchrony of the driver of the surrounding vehicle with respect to the behavior of the own vehicle is based on the steady reaction of the driver of the surrounding vehicle with respect to the behavior of the own vehicle. If it is determined that there is synchronization, it can be determined that the driver of the surrounding vehicle is trying to drive at a speed that matches the vehicle speed of the host vehicle. If it is determined that there is no synchronization, the driver of the surrounding vehicle can determine that he / she is going to drive at a pace of the driver of the surrounding vehicle that is different from the vehicle speed of the own vehicle.

  Next, the cooperation determination function of the control device 130 will be described. The cooperativeness determination function is based on the responsiveness of the driver of the surrounding vehicle determined by the responsiveness determination function and the synchronization of the driver of the surrounding vehicle determined by the synchronization determination function. Is determined as the driving cooperation of the drivers of the surrounding vehicles. Here, FIG. 6 is a diagram for explaining a method of determining the driving cooperation of the drivers of the surrounding vehicles. In the present embodiment, as shown in FIG. 6, the cooperation determination function determines the driving cooperation of the driver of the surrounding vehicle in five stages.

  For example, if the responsiveness of the driver of the surrounding vehicle is determined to be “responsive” and the synchrony of the driver of the surrounding vehicle is determined to be “with synchronism”, the driver of the surrounding vehicle Recognizes the host vehicle and can determine that the vehicle is going to travel at a speed matching the vehicle speed of the host vehicle. In such a case, it is considered that the driver of the surrounding vehicle is likely to drive in accordance with the driving of the own vehicle. Therefore, as shown in FIG. 6, in the cooperativeness determination function, the response of the driver of the surrounding vehicle is determined to be “responsive”, and the synchrony of the driver of the surrounding vehicle is “compatible”. If it is determined, the driving coordination of the driver of the surrounding vehicle is determined as “5” having the highest coordination among the five levels.

  In addition, when the responsiveness of the driver of the surrounding vehicle is determined as “no responsiveness” and the synchrony of the driver of the surrounding vehicle is determined as “with synchronism”, the driver of the surrounding vehicle However, it is possible to determine that there is a possibility that the vehicle is not recognized although the vehicle is traveling at a speed that matches the vehicle speed of the vehicle. In such a case, since the driver of the surrounding vehicle is going to travel at a speed that matches the vehicle speed of the own vehicle, when the own vehicle travels as it is, the own vehicle travels on the flow of the surrounding vehicle. However, if the speed of the host vehicle is greatly changed, the surrounding vehicle may not recognize the host vehicle. It may be necessary to adjust to the speed. Therefore, as shown in FIG. 6, the cooperativeness determination function determines that the responsiveness of the driver of the surrounding vehicle is “no responsiveness”, and the synchronicity of the driver of the surrounding vehicle is “with synchronousness”. If determined, the driving coordination of the driver of the surrounding vehicle is determined as “4”, which is the second highest among the five levels.

  Furthermore, if the driver of the surrounding vehicle is determined to be “responsive” and the synchrony of the driver of the surrounding vehicle is determined to be “not synchronizable”, the driver of the surrounding vehicle Recognizes the host vehicle, but can determine that the vehicle is traveling at a speed different from that of the host vehicle. In such a case, whether the speed of the host vehicle is adjusted to the speed of the surrounding vehicle, or the speed of the surrounding vehicle is set to the speed of the host vehicle between the driver of the host vehicle and the driver of the surrounding vehicle. It is thought that it is necessary to adjust. Therefore, as shown in FIG. 6, the cooperativeness determination function determines that the responsiveness of the driver of the surrounding vehicle is “responsive”, and the synchronousness of the driver of the surrounding vehicle is “not synchronized”. If it is determined, the driving coordination of the driver of the surrounding vehicle is determined as “3”, which is the third highest among the five levels.

  In addition, when the driver's responsiveness of the surrounding vehicle is determined to be “no responsiveness” and the synchrony of the driver of the surrounding vehicle is determined to be “no responsiveness”, the driver of the surrounding vehicle Can recognize that the host vehicle is not recognized and the vehicle is traveling at a speed different from that of the host vehicle. In such a case, it cannot be expected that the driver of the surrounding vehicle will drive according to the driving of the own vehicle, and it is considered preferable that the driver of the own vehicle drives according to the surrounding vehicle. Therefore, as shown in FIG. 6, the cooperativeness determination function determines that the responsiveness of the driver of the surrounding vehicle is “no responsiveness”, and the tuneability of the driver of the surrounding vehicle is “no tuneable”. If it is determined, the driving coordination of the driver of the surrounding vehicle is determined as “2”, which is the second lowest among the five levels.

  Furthermore, if the driver of the surrounding vehicle is determined to be “responsive” and the synchrony of the driver of the surrounding vehicle is determined to be “cannot calculate the predicted convergence speed”, the surrounding vehicle The driver of the vehicle recognizes the vehicle, but the target speed of the surrounding vehicle is unknown, and the driver of the surrounding vehicle is trying to drive at a speed that matches the vehicle speed of the own vehicle, or the driver of the surrounding vehicle It is difficult to determine whether the vehicle is traveling at a speed different from that of the host vehicle or the intention of the driver of the surrounding vehicle. In such a case, it is considered preferable for the driver of the host vehicle to drive with care so that the intention of the driver of the surrounding vehicle can be grasped. Therefore, as shown in FIG. 6, the cooperativeness determination function determines that the responsiveness of the driver of the surrounding vehicle is “responsive”, and the “convergence predicted speed is calculated for the synchrony of the driver of the surrounding vehicle”. If it is determined as “impossible”, the driving coordination of the driver of the surrounding vehicle is determined as “2”, which is the second lowest among the five levels.

  In addition, if it is determined that the responsiveness of the driver of the surrounding vehicle is “no responsiveness” and the synchrony of the driver of the surrounding vehicle is determined as “unable to calculate the predicted convergence speed”, the surrounding vehicle It can be determined that there is no cooperation between the vehicle and the host vehicle. Therefore, as shown in FIG. 6, the cooperativeness determination function determines that the responsiveness of the driver of the surrounding vehicle is “no responsiveness”. When it is determined as “impossible”, the driving coordination of the driver of the surrounding vehicle is determined as “1” having the lowest coordination among the five levels.

  Next, the notification information generation function of the control device 130 will be described. The notification information generation function generates notification information for notifying the driver of a surrounding vehicle with low driving cooperation based on the driving cooperation of the driver of the surrounding vehicle determined by the cooperation determination function. Specifically, the notification information generation function generates notification information by superimposing a display indicating driving cooperation of drivers of surrounding vehicles on images captured by the cameras 110a to 110d. Further, in the present embodiment, the notification information generation function generates notification information such that surrounding vehicles with lower driver driving coordination are highlighted and displayed. Details of the notification information will be described later.

  The notification device 140 is a device such as a display or a speaker, and displays the notification information generated by the control device 130 on a screen included in the display, or outputs a sound through the speaker to notify the driver of the notification information. . Further, the notification device 140 is not limited to a display and a speaker, and may notify the notification information by giving a tactile stimulus to the driver by, for example, a vibration or a seat belt.

  Here, FIG. 7 is a diagram illustrating an example of notification information notified by the notification device 140. In the example shown in FIG. 7, the driving cooperation of the driver of the surrounding vehicle A is determined to be “5”, and the driving cooperation of the driver of the surrounding vehicle B is determined as a value of “4” or less. Yes. As described above, the notification information is generated so that the surrounding vehicle with the lower driving cooperation of the driver is emphasized and displayed. Therefore, in the example illustrated in FIG. 7, the surrounding vehicle A with the highest driving cooperation is provided. Is not displayed, and the surrounding vehicle B with low driving cooperation of the driver is highlighted by a frame line, blinking display, or the like. Further, in the present embodiment, the driving performance of the driver is low by increasing the blinking speed of the blinking display or making the color of the frame line conspicuous as the surrounding vehicle has a low driving cooperation of the driver. The surrounding vehicles can be highlighted and displayed.

  Next, the driving support processing according to the present embodiment will be described with reference to FIG. FIG. 8 is a flowchart showing the driving support process according to the present embodiment.

  First, in step S101, the vehicle speed of the surrounding vehicle is calculated by the surrounding vehicle speed calculation function of the control device 130. For example, the surrounding vehicle speed calculation function detects the relative position of the surrounding vehicle with respect to the vehicle position of the host vehicle by analyzing the image data captured by the cameras 110a to 110d, which are the distance measuring sensors 110, and The speed of the surrounding vehicle can be calculated based on the amount of change in the relative position over time.

  In step S102, the vehicle speed of the host vehicle is calculated by the host vehicle speed calculation function of the control device 130. Specifically, the host vehicle speed calculation function can calculate the vehicle speed of the host vehicle based on the vehicle speed pulse output by the vehicle speed sensor 120.

  In step S103, the time-series data generation function is used to calculate the vehicle speed of the surrounding vehicle based on the vehicle speed data of the surrounding vehicle speed calculated in step S101 and the vehicle speed data of the host vehicle speed calculated in step S102. Series data and time-series data of the vehicle speed of the host vehicle are generated.

  In step S104, a filtering process is performed on the time series data of the vehicle speed of the surrounding vehicle and the time series data of the vehicle speed of the host vehicle calculated in step S103 by the time series data generation function. Specifically, the time-series data generation function removes noise components from the time-series data of the vehicle speeds of the surrounding vehicles and the time-series data of the vehicle speeds of the own vehicle. A low-pass filter is applied to time-series data of vehicle speed.

  In step S105, responsiveness determination processing for determining the responsiveness of the driver of the surrounding vehicle with respect to the behavior of the host vehicle is performed by the responsiveness determination function of the control device 130. FIG. 9 is a flowchart showing the responsiveness determination process shown in step S105. Hereinafter, with reference to FIG. 9, the responsiveness determination process in step S105 will be described.

  First, in step S201, the responsiveness determination function calculates time-series data on the amount of change in the vehicle speed of the host vehicle and time-series data on the amount of change in the vehicle speed of surrounding vehicles. Specifically, the responsiveness determination function calculates time-series data of the amount of change in the vehicle speed of the host vehicle by differentiating the time-series data of the vehicle speed of the host vehicle that has been filtered in step S104. Similarly, the responsiveness determination function calculates time series data of the amount of change in the vehicle speed of the host vehicle by differentiating the time series data of the vehicle speed of the surrounding vehicle that has been subjected to the filter processing in step S104.

  In step S202, a standardization process is performed by the responsiveness determination function to match the amplitude of the time series data of the vehicle speed change amount of the host vehicle with the amplitude of the time series data of the vehicle speed change amount of the surrounding vehicles. Specifically, the responsiveness determination function is configured so that the maximum amplitude of the time-series data of the amount of change in the vehicle speed of the host vehicle matches the maximum value of the amplitude of the time-series data of the amount of change in the vehicle speed of the surrounding vehicle. In addition, the time-series data of the change amount of the vehicle speed of the own vehicle or the time-series data of the change amount of the vehicle speed of the surrounding vehicle is corrected. Thus, even if the amount of change in vehicle speed when the driver of the surrounding vehicle changes the vehicle speed in response to the behavior of the host vehicle varies depending on the driver of the surrounding vehicle, the cross-correlation calculation described later is appropriately performed. Can be done.

  In step S203, time-series data offset processing of the amount of change in vehicle speed of surrounding vehicles is performed by the responsiveness determination function. Specifically, as shown in FIG. 4 (B), the responsiveness determination function is the amount of change in the vehicle speed of the surrounding vehicle by the response time until a general driver responds to the behavior of another vehicle. The time series data is shifted so as to match the time series data of the amount of change in the vehicle speed of the host vehicle.

  In step S204, the responsiveness determination function performs cross-correlation calculation between the time-series data of the vehicle speed change amount of the host vehicle and the time-series data of the vehicle speed change amount of the surrounding vehicle subjected to the offset process. A correlation coefficient is calculated.

  In step S205, the responsiveness determination function determines whether or not the absolute value of the cross-correlation coefficient calculated in step S204 is greater than or equal to a predetermined responsiveness determination value. If it is determined that the absolute value of the cross-correlation coefficient is greater than or equal to the responsiveness determination value, the process proceeds to step S206, and the response of the surrounding vehicle driver corresponding to the behavior of the host vehicle is determined by the responsiveness determination function. It is determined as “responsiveness”. On the other hand, if it is determined that the absolute value of the cross-correlation coefficient is less than the responsiveness determination value, the process proceeds to step S207, and the response of the driver of the surrounding vehicle corresponding to the behavior of the host vehicle is determined by the responsiveness determination function. The gender is determined as “no responsiveness”.

  Thus, the responsiveness determination process of step S105 is performed.

  And after the responsiveness judgment process of step S105 is performed, it returns to FIG. 8 and progresses to step S106. In step S106, a synchronism determination process is performed in which the synchronism determination function determines the synchronism of the driver of the surrounding vehicle with respect to the behavior of the host vehicle. Here, FIG. 10 is a flowchart showing the synchronization determination process shown in step S106. In the following, with reference to FIG. 10, the synchronism determination process in step S106 will be described.

  First, in step S301, the convergence prediction speed of the host vehicle and the predicted convergence speed of surrounding vehicles are calculated by the synchronism determination function. Specifically, the synchronism determination function calculates the predicted convergence speed of the host vehicle speed by applying the time series data of the host vehicle speed filtered in step S104 to the transient response curve. . Similarly, the synchronism determining function calculates the convergence predicted speed of the surrounding vehicle speed by applying the time series data of the surrounding vehicle speed filtered in step S104 to the transient response curve.

  In step S302, it is determined whether or not the convergence prediction speed of the host vehicle and the convergence prediction speed of surrounding vehicles have been calculated in step S301 by the synchronism determination function. For example, when acceleration / deceleration of the own vehicle or the surrounding vehicle is irregular, based on the time series data of the vehicle speed of the own vehicle and the time series data of the vehicle speed of the surrounding vehicle, the predicted convergence speed of the own vehicle and the surrounding vehicle In some cases, the predicted convergence speed cannot be calculated. If the predicted convergence speed of the host vehicle or the predicted convergence speed of the surrounding vehicle cannot be calculated, the process proceeds to step S307, and the synchronization determination function indicates that the convergence prediction speed cannot be calculated for the driver's synchronization of the surrounding vehicle. Determined. On the other hand, if the convergence prediction speed of the host vehicle and the convergence prediction speed of the surrounding vehicles can be calculated, the process proceeds to step S303.

  In step S303, a difference between the predicted convergence speed of the host vehicle calculated in step S301 and the predicted convergence speed of surrounding vehicles is calculated by the synchronism determination function. In step S304, the synchronism determining function determines whether or not the difference in the predicted convergence speed calculated in step S303 is less than a predetermined synchronism determining value. If it is determined that the difference in predicted convergence speed is less than the synchronization determination value, the process proceeds to step S305, and the synchronization determination function determines that the synchronization of the driver of the surrounding vehicle is “with synchronization”. . On the other hand, if it is determined that the difference in convergence predicted speed is greater than or equal to the synchronization determination value, the process proceeds to step S306, and the synchronization determination function determines that the synchronization of the driver of the surrounding vehicle is “no synchronization”. Is done.

  In this way, the synchronization determination process in step S106 is performed.

  Then, after the synchronization determination process of step S106 is performed, the process returns to FIG. 8 and proceeds to step S107. In step S107, the cooperativeness determination function determines driving cooperativeness that is the degree to which the driver of the surrounding vehicle performs driving in cooperation with the driving of the host vehicle.

  For example, as shown in FIG. 6, in the cooperativeness determination function, the responsiveness of the driver of the surrounding vehicle is determined as “responsive”, and the synchrony of the driver of the surrounding vehicle is “synchronous”. If it is determined that the driver of the surrounding vehicle is likely to act in accordance with the driving of the host vehicle, the driving coordination of the driver of the surrounding vehicle is the highest among the five levels. Judge as.

  Further, as shown in FIG. 6, the cooperativeness determination function determines that the responsiveness of the driver of the surrounding vehicle is “no responsiveness”, and the synchronicity of the driver of the surrounding vehicle is “synchronous”. If it is determined that the host vehicle is traveling in the flow of surrounding vehicles, but the speed of the host vehicle changes temporarily, the driver of the host vehicle Is determined to match the speed of the surrounding vehicle, and the driving coordination of the driver of the surrounding vehicle is determined as “4”, which is the second highest among the five levels.

  Further, as shown in FIG. 6, in the cooperativeness determination function, the response of the driver of the surrounding vehicle is determined to be “responsive”, and the synchronization of the driver of the surrounding vehicle is “not synchronized”. If it is determined, it is necessary for the driver of the own vehicle and the driver of the surrounding vehicle to adjust the speed of the own vehicle to the speed of the surrounding vehicle or to adjust the speed of the surrounding vehicle to the speed of the own vehicle. The driving coordination of the driver of the surrounding vehicle is determined as “3”, which is the third highest among the five levels.

  Further, as shown in FIG. 6, in the cooperativeness determination function, the response of the driver of the surrounding vehicle is determined to be “no responsiveness”, and the synchrony of the driver of the surrounding vehicle is “not synchronized”. If it is determined, it cannot be expected that the surrounding vehicle will drive according to the driving of the own vehicle, and it is determined that the driver of the own vehicle preferably drives according to the surrounding vehicle. The driving coordination of the driver is judged as “2”, which is the second lowest among the five levels.

  Further, as shown in FIG. 6, the cooperativeness determination function determines that the response of the driver of the surrounding vehicle is “responsive”, and the “convergence predicted speed is calculated for the synchrony of the driver of the surrounding vehicle”. If it is judged as “impossible”, determine whether the driver of the surrounding vehicle is going to drive according to the own vehicle, or whether the driver of the surrounding vehicle is going to drive at a target speed different from that of the own vehicle. Therefore, the driving coordination of the driver of the surrounding vehicle is determined as “2”, which is the second lowest among the five levels.

  Furthermore, as shown in FIG. 6, the cooperativeness determination function determines that the responsiveness of the driver of the surrounding vehicle is “no responsiveness”, and the “convergence predicted speed is calculated for the synchrony of the driver of the surrounding vehicle. If it is determined as “impossible”, it is determined that there is no cooperation between the surrounding vehicle and the host vehicle, and the driving cooperation of the driver of the surrounding vehicle is determined as “1”, which is the lowest among the five levels. .

  Thus, the determination of driving cooperation in step S107 is performed.

  In step S108, notification information is generated by the notification information generation function. Specifically, the notification information generation function generates notification information by superimposing a display indicating driving cooperation of drivers of surrounding vehicles on images captured by the cameras 110a to 110d. In addition, the notification information generation function generates notification information so that a surrounding vehicle with a lower driving coordination of the driver is emphasized and displayed. In step S109, the notification device 140 notifies the driver of the notification information generated in step S108.

  As described above, in this embodiment, based on the vehicle speed of the own vehicle and the vehicle speed of the surrounding vehicles, the time series data of the amount of change in the vehicle speed of the own vehicle and the time series data of the amount of change in the vehicle speed of the surrounding vehicle are Based on the result of cross-correlation calculation between the time-series data of the vehicle speed change amount of the own vehicle and the time-series data of the vehicle speed change amount of the surrounding vehicle, the transient behavior of the surrounding vehicle driver with respect to the behavior of the own vehicle is calculated. By determining the responsiveness, it is possible to appropriately determine whether the driver of the surrounding vehicle recognizes the behavior of the own vehicle and is about to act.

  Further, in the present embodiment, the convergence prediction vehicle speed of the own vehicle and the convergence prediction vehicle speed of the surrounding vehicle are calculated based on the vehicle speed of the own vehicle and the surrounding vehicle, and the convergence prediction vehicle speed of the own vehicle and the convergence prediction of the surrounding vehicles are calculated. Based on the degree of coincidence with the vehicle speed, whether the driver of the surrounding vehicle is going to travel according to the vehicle speed of the own vehicle by judging the constant synchrony of the driver of the surrounding vehicle with respect to the behavior of the own vehicle, Or it can be judged appropriately whether it is going to drive at the pace of the driver of a surrounding vehicle.

  In the present embodiment, the driving responsiveness of the driver of the surrounding vehicle is combined with the response of the driver of the surrounding vehicle to the behavior of the own vehicle and the synchrony of the driver of the surrounding vehicle to the behavior of the own vehicle. By determining, it is possible to appropriately determine whether or not the driver of the surrounding vehicle intends to drive in cooperation with the behavior of the own vehicle.

  Then, by notifying the driver of the own vehicle of the presence of surrounding vehicles with low driving coordination, the driver can be alerted about such surrounding vehicles, and as a result, the driver's driving safety It is possible to improve the performance.

  The embodiment described above is described for facilitating understanding of the present invention, and is not described for limiting the present invention. Therefore, each element disclosed in the above embodiment is intended to include all design changes and equivalents belonging to the technical scope of the present invention.

For example, without being limited to the exemplary shape condition described above, it may be configured as follows. That is, the relative distance between the surrounding vehicle and the host vehicle is repeatedly calculated as the approach time obtained by dividing the relative speed between the surrounding vehicle and the host vehicle, and the time series data of the approach time is differentiated to calculate the approach time. Calculate time-series data of changes. Then, based on the time series data of the calculated approach time variation, the responsiveness of the surrounding vehicle to the behavior of the host vehicle is determined .

  Further, in the above-described embodiment, the amount of change in the vehicle speed of the own vehicle and the amount of change in the vehicle speed of the surrounding vehicle are calculated by differentiating the time series data of the vehicle speed of the own vehicle and the time series data of the vehicle speed of the surrounding vehicle, respectively. However, the present invention is not limited to this configuration. For example, time series data when the vehicle speed of the host vehicle or the vehicle speed of the surrounding vehicle smoothly changes is obtained, and the value of the virtual time series data and the actual measurement are obtained. It is good also as a structure which calculates the deviation value with a value as the variation | change_quantity of the vehicle speed of the own vehicle, and the variation | change_quantity of the vehicle speed of a surrounding vehicle.

  In the above-described embodiment, the own vehicle speed calculation function of the control device 130 is used for the own vehicle speed acquisition unit, and the surrounding vehicle speed calculation function of the control device 130 is used for the surrounding vehicle speed acquisition unit of the present invention. The responsiveness determining function 130 is the responsiveness determining means of the present invention, the synchronicity determining function of the control device 130 is the synchronousness determining means of the present invention, and the driving cooperativeness determining function of the control device 130 is the driving cooperativeness of the present invention. The notification information generation function of the control device 130 corresponds to the generation means of the present invention, the notification device 140 corresponds to the notification means, and the control device 130 corresponds to the approach time calculation means of the present invention.

DESCRIPTION OF SYMBOLS 100 ... Driving assistance apparatus 110 ... Ranging sensor 120 ... Vehicle speed sensor 130 ... Control apparatus 140 ... Notification apparatus

Claims (4)

Own vehicle speed acquisition means for acquiring the vehicle speed of the own vehicle;
Surrounding vehicle speed acquisition means for acquiring the vehicle speed of surrounding vehicles existing around the host vehicle;
Correlation between the time series data of the vehicle speed of the host vehicle and the time series data of the vehicle speed of the surrounding vehicle is performed, and based on the calculation result of the correlation calculation, the response of the driver of the surrounding vehicle to the behavior of the host vehicle Responsiveness judging means for judging;
Based on the time series data of the vehicle speed of the host vehicle, the predicted convergence speed of the host vehicle is calculated, and the convergence predicted speed of the surrounding vehicle is calculated based on the time series data of the vehicle speed of the surrounding vehicle, and the host vehicle Synchronism determining means for determining the synchronism of the driver of the surrounding vehicle with respect to the behavior of the host vehicle based on the difference between the predicted convergence speed of the vehicle and the predicted convergence speed of the surrounding vehicle;
Based on the responsiveness of the driver of the surrounding vehicle and the synchrony of the driver of the surrounding vehicle, the degree to which the driver of the surrounding vehicle performs driving in cooperation with the driving of the own vehicle is determined. Driving cooperation determination means for determining driving cooperation;
Generating means for generating notification information relating to driving cooperation of the driver of the surrounding vehicle;
A driving support device comprising: notifying means for notifying a driver of the host vehicle of the notification information. The driving support device according to claim 1,
The responsiveness determining means calculates time-series data of the amount of change in the vehicle speed of the host vehicle by differentiating the time-series data of the vehicle speed of the host vehicle, and calculates time-series data of the vehicle speed of the surrounding vehicles. By calculating the differential, the time series data of the amount of change in the vehicle speed of the surrounding vehicle is calculated, and the time series data of the amount of change in the vehicle speed of the host vehicle and the time series data of the amount of change in the vehicle speed of the surrounding vehicle A driving support device characterized in that the responsiveness of the driver of the surrounding vehicle is determined based on the calculation result of the correlation calculation. The driving support device according to claim 1,
The responsiveness determining means includes
The relative distance between the surrounding vehicle and the host vehicle is repeatedly calculated as the approach time, which is the time divided by the relative speed between the surrounding vehicle and the host vehicle, and time series data of the amount of change in the approach time is calculated based on the approach time And determining the responsiveness of the driver of the surrounding vehicle based on the time-series data of the amount of change in the approach time . Based on the result of correlation calculation between the time-series data of the vehicle speed of the host vehicle and the time-series data of the vehicle speed of the surrounding vehicle, the response of the driver of the surrounding vehicle to the behavior of the host vehicle is determined,
The convergence prediction speed of the host vehicle is calculated based on the time series data of the vehicle speed of the host vehicle, the convergence prediction speed of the surrounding vehicle is calculated based on the time series data of the vehicle speed of the surrounding vehicle, and the convergence of the host vehicle is calculated. Based on the predicted speed and the convergence predicted speed of the surrounding vehicle, determine the synchrony of the driver of the surrounding vehicle with respect to the behavior of the own vehicle,
Based on the responsiveness of the driver of the surrounding vehicle and the synchrony of the driver of the surrounding vehicle, the degree to which the driver of the surrounding vehicle performs driving in cooperation with the driving of the own vehicle is determined. Judged as the driving coordination of the
A driving support method comprising: notifying a driver of the own vehicle of notification information related to driving cooperation of the driver of the surrounding vehicle.

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