JP6907802B2 - Driving support method and driving support device - Google Patents

Description

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

Patent Document 1 intends to change the lane of a side vehicle traveling in another lane adjacent to the traveling lane of the own vehicle to the traveling lane, and when there is no other vehicle behind the own vehicle, the patent document 1 refers to the vehicle in front. Disclosed is an inter-vehicle distance control device that shortens the inter-vehicle distance of the vehicle and increases the inter-vehicle distance with the vehicle in front when another vehicle is behind.

JP-A-2017-30435

However, the criteria for determining whether to shorten or lengthen the distance to the vehicle in front, that is, whether to give up the rear or the front to the side vehicle, differs depending on the individual. For this reason, the inter-vehicle distance control based on a preset uniform standard may make the occupant feel uncomfortable.

In view of the above problems, it is an object of the present invention to provide a driving support method and a driving support device capable of reducing the discomfort of the occupant with respect to the behavior of the vehicle.

According to one aspect of the present invention, a target vehicle traveling in front of the vehicle in an adjacent lane adjacent to the traveling lane in which the vehicle travels is detected, and the intention of the target vehicle to change lanes to the traveling lane is detected. The reaction behavior to the lane change is determined based on the judgment criteria, the vehicle is controlled to execute the reaction behavior, the user's discomfort with respect to the vehicle's reaction behavior is detected, and when the discomfort is detected, the judgment standard is set. A driving support method and a driving support device to be adjusted are provided.

According to the present invention, it is possible to provide a driving support device method and a driving support device that can reduce the discomfort of the occupant with respect to the behavior of the vehicle.

It is a block diagram for exemplifying the configuration of the operation support device which concerns on embodiment of this invention. It is a figure explaining the operation of the operation support apparatus which concerns on embodiment of this invention. It is a figure explaining the operation of the operation support apparatus which concerns on embodiment of this invention. It is the schematic of an example of the electrode arrangement of an electroencephalogram sensor. It is a graph which shows an example of the waveform of an electroencephalogram. It is a graph for demonstrating an example of the discomfort determination process of the driving support method which concerns on embodiment of this invention. It is a flowchart for demonstrating an example of the driving support method which concerns on embodiment of this invention. This is a flow chart for explaining an example of the discomfort detection method according to the embodiment of the present invention. It is a flowchart for demonstrating an example of the driving support method which concerns on 1st modification of embodiment of this invention. It is a flowchart for demonstrating an example of the reaction behavior determination method which concerns on the 2nd modification of embodiment of this invention.

Hereinafter, embodiments of the present invention will be described with reference to the drawings. In the description of the drawings, the same or similar parts are designated by the same or similar reference numerals, and duplicate description will be omitted. Each drawing is schematic and may differ from the actual one. The embodiments shown below exemplify devices and methods for embodying the technical idea of the present invention, and the technical idea of the present invention is specified to the devices and methods exemplified in the following embodiments. Not something to do. The technical idea of the present invention can be modified in various ways within the technical scope described in the claims.

(Driving support device)
As shown in FIG. 1, the driving support device according to the embodiment of the present invention includes a processing circuit 1, a peripheral sensor 2, a vehicle sensor 3, a biological information sensor 4, a storage device 5, an output interface (I / F) 6, and an actuator. 7 is provided. As shown in FIG. 2, for example, the driving support device according to the present embodiment is mounted on the vehicle 100 and automatically controls the behavior of the vehicle 100 according to the surrounding conditions of the vehicle 100 to allow the vehicle 100 to travel. To support.

The surrounding sensor 2 is a sensor that detects the surrounding condition of the vehicle 100 including the situation in front of the vehicle 100. The surrounding sensor 2 includes, for example, a camera 21, a radar 22, and a communication device 23. The type and number of sensors constituting the peripheral sensor 2 are not limited to this.

The camera 21 comprises a solid-state image sensor that captures a predetermined range around the vehicle 100 and acquires an image of the surroundings. From the acquired image, the camera 21 determines the relative position, the relative speed, the distance between the vehicle 100 and the target, the lane boundary line (white line) on the road, etc. The data of the surrounding condition of the vehicle 100 including the road structure of the above is detected, and the detected surrounding condition data is output to the processing circuit 1. The camera 21 may be a stereo camera or an omnidirectional camera, and may include an infrared camera.

As the radar 22, for example, a range finder radar using millimeter waves or ultrasonic waves, a laser range finder (LRF), or the like can be used. The radar 22 scans a predetermined range around the vehicle 100 and acquires three-dimensional distance data of the surroundings. The radar 22 detects the relative position, relative speed, distance between the vehicle 100 and the target of the surrounding object with respect to the vehicle 100 from the three-dimensional distance data as data of the surrounding condition of the vehicle 100. The radar 22 outputs the detected data of the surrounding conditions of the vehicle 100 to the processing circuit 1.

The communication device 23 is a communication interface that acquires data on the surrounding conditions of the vehicle 100 from the outside by wireless communication. The communication device 23 travels by, for example, vehicle-to-vehicle communication with another vehicle, road-to-vehicle communication with a roadside unit, and the like, such as relative position, relative speed, and relative acceleration of other vehicles around the vehicle 100. The situation is detected and output to the processing circuit 1 as data of the surrounding situation. The communication device 23 may acquire traffic information such as traffic congestion information and traffic regulation information for each lane as data of surrounding conditions.

The vehicle sensor 3 is a sensor that detects the traveling state of the vehicle 100 including the position information of the vehicle 100. The vehicle sensor 3 includes a global navigation positioning system (GNSS) receiver 31, a vehicle speed sensor 32, an acceleration sensor 33, and an angular velocity sensor 34. The type and number of sensors constituting the vehicle sensor 3 are not limited to this.

The GNSS receiver 31 is a GPS receiver in, for example, the Global Positioning System (GPS). The GNSS receiver 31 calculates position information indicating the latitude, longitude and altitude of the vehicle 100 based on signals received from a plurality of navigation satellites, and outputs the position information to the processing circuit 1.

The vehicle speed sensor 32 detects the vehicle speed from, for example, the wheel speed of the vehicle 100, and outputs the vehicle speed to the processing circuit 1. The acceleration sensor 33 detects the acceleration of the vehicle 100 and outputs it to the processing circuit 1. The angular velocity sensor 34 detects the angular velocity of the vehicle 100 and outputs it to the processing circuit 1.

The biological information sensor 4 detects the biological information of the occupant who can acquire the discomfort of the occupant and outputs it to the processing circuit 1. The biological information sensor 4 includes, for example, an electroencephalogram sensor that detects an electroencephalogram as biological information of an occupant. In addition, as the biological information, the cerebral blood flow, heart rate, respiration, sweating amount, etc. of the occupant can be adopted. The biological information sensor 4 may be an image sensor that acquires a face image of an occupant. The biological information sensor 4 outputs the biological information of the occupant to the processing circuit 1.

As the storage device 5, a semiconductor storage device, a magnetic storage device, an optical storage device, or the like can be used. The storage device 5 is composed of a storage medium that can be read by a computer, and may be composed of a single piece of hardware or a plurality of pieces of hardware. The storage device 5 may be built in the processing circuit 1. The storage device 5 stores the map data 51, the action database 52, and the determination criterion data 53.

The map data 51 includes a road type, a road shape, a speed limit, and the like. The behavior database 52 is a database that records reaction behaviors and associated data by the driving support device according to the present embodiment. The judgment standard data 53 is a value (threshold value) referred to when the reaction behavior is determined by the driving support device according to the present embodiment. Details of the behavior database 52 and the judgment criterion data 53 will be described later.

The processing circuit 1 is a controller such as an electronic control unit (ECU) that performs arithmetic and logical operations of processing necessary for the operation performed by the driving support device according to the embodiment of the present invention, and is, for example, a processor, a storage device, and an input / output interface. May be provided. The processor can be associated with a microprocessor or the like equivalent to an arithmetic logic unit (ALU), a control circuit (control device), a central processing unit (CPU) including various registers, and the like. The storage device built in or externally attached to the processing circuit 1 is composed of a semiconductor memory, a disk medium, or the like, and may include a storage medium such as a register, a cache memory, a ROM and a RAM used as a main storage device. For example, the processor can execute a program (driving support program) that is stored in the storage device in advance and indicates a series of processes necessary for the operation of the driving support device according to the embodiment of the present invention.

The processing circuit 1 may be physically configured by a programmable logic device (PLD) such as a field programmable gate array (FPGA), and is equivalently processed by software in a general-purpose semiconductor integrated circuit. It may be a set functional logic circuit or the like. Each part constituting the processing circuit 1 may be composed of a single piece of hardware, or may be composed of separate hardware. For example, the processing circuit 1 can be composed of a car navigation system such as an in-vehicle infotainment (IVI) system and a driving support system such as an advanced driver assistance system (ADAS). The processing circuit 1 is connected to each of the surrounding sensor 2, the vehicle sensor 3, the biometric information sensor 4, the storage device 5, the output I / F6, and the actuator 7 by a communication network such as a controller area network (CAN) bus.

The processing circuit 1 functionally or physically forms logical blocks such as the surrounding environment recognition unit 11, the lane change detection unit 12, the action determination unit 13, the target calculation unit 14, the vehicle control unit 15, the presentation control unit 16, and the discomfort detection unit 17. Prepare as a typical hardware resource.

The processing circuit 1 sequentially calculates the current position of the vehicle 100 in the map data 51 stored in the storage device 5 based on the position information, speed, acceleration, and angular velocity of the vehicle 100 acquired by the vehicle sensor 3. The processing circuit 1 sets a traveling route from the current position of the vehicle 100 to the destination set by the occupants and the like, and travels along the traveling route at a target speed according to the speed limit and the speed of the preceding vehicle. Control the vehicle 100.

As shown in FIG. 2, the surrounding environment recognition unit 11 recognizes the traveling lane L2 in which the vehicle 100 is traveling and the adjacent lanes L1 and L3 adjacent to the traveling lane L2 based on the surrounding conditions detected by the surrounding sensor 2. , Recognizes other vehicles around the vehicle 100 traveling in the traveling lane L2 and the adjacent lanes L1 and L3, respectively. The surrounding environment recognition unit 11 acquires the relative position, relative speed, and distance between the vehicle 100 and the other vehicle with respect to the vehicle 100 detected by the surrounding sensor 2.

The lane change detection unit 12 detects the target vehicle 200 traveling in a predetermined distance range ahead of the vehicle 100 in the adjacent lanes L1 and L3 among the other vehicles recognized by the surrounding environment recognition unit 11, and the target vehicle 200 Detects the intention (predictor) of changing lanes to the traveling lane L2. The lane change detection unit 12 determines the lane of the target vehicle 200 based on, for example, the state of the direction indicator of the target vehicle 200 detected by the surrounding sensor 2, the transition of the position of the target vehicle 200 in the width direction in the adjacent lane L3, and the like. Detect the intent of the change. In the example shown in FIG. 2, the lane change detection unit 12 recognizes the state of the direction indicator of the target vehicle 200 based on the image acquired from the camera 21, and intends to change the lane to the left lane of the target vehicle 200. Is detected.

As shown in FIG. 3, the lane change detection unit 12 may detect the intention of changing the lane of the target vehicle 200 based on the road shape acquired from the map data 51. That is, the lane change detection unit 12 recognizes from the map data 51 that the adjacent lane L3 on which the target vehicle 200 travels merges with the traveling lane L2 in front of the target vehicle 200, and the target vehicle is based on the distance from the merging point. The intention of changing lanes of 200 may be detected. Alternatively, the lane change detection unit 12 detects the relative position of another vehicle around the vehicle 100, and based on the positional relationship between the preceding vehicle of the target vehicle 200 and the target vehicle 200, the presence or absence of the preceding vehicle of the vehicle 100, and the like. The intention of changing lanes may be detected, or the intention of changing lanes may be detected by inter-vehicle communication with the target vehicle 200 via the communication device 23.

The action determination unit 13 responds to the intention of changing the lane of the target vehicle 200 detected by the lane change detection unit 12 based on the surrounding conditions of the vehicle 100 acquired by the surrounding sensor 2, the action database 52, the judgment standard data 53, and the like. The reaction behavior of the vehicle 100 is determined. The action determination unit 13 determines the reaction action based on at least the distance d between the vehicle 100 and the target vehicle 200 in response to the detection of the intention to change the lane of the target vehicle 200. For example, the action determination unit 13 divides the distance d by the relative speed of the target vehicle 200 acquired from the time-series relative position of the target vehicle 200 to obtain the collision time (TTC) between the vehicle 100 and the target vehicle 200. Is calculated. However, since the distance d is the distance along the road, the vehicle 100 and the target vehicle 200 do not actually collide after the TTC has elapsed.

When the TTC is equal to or higher than the predetermined threshold value Tα, the action determining unit 13 determines the action of giving the front of the vehicle 100 to the target vehicle 200 as a reaction action, and when the TTC is less than the threshold value Tα, gives the rear of the vehicle 100 to the target vehicle 200. Determine the action as a reaction action. The threshold value Tα is stored in the storage device 5 as the judgment standard data 53, which is the threshold value of the judgment standard for determining the reaction behavior to the lane change. The larger the threshold value Tα, the more the decision of the reaction action to give the rear of the vehicle 100 to the target vehicle 200, and the smaller the threshold value Tα, the more the decision of the reaction action to give the front of the vehicle 100 to the target vehicle 200 increases.

The method of determining the reaction behavior by the behavior determination unit 13 is not limited to the method according to the comparison result of the TTC and the threshold value Tα. For example, the action determination unit 13 may be a method according to the comparison result between the inter-vehicle time (THW) between the vehicle 100 and the target vehicle 200 and the corresponding threshold value Tβ. THW is calculated by dividing the distance d between the vehicle 100 and the target vehicle 200 by the vehicle speed of the vehicle 100.

Alternatively, as shown in FIG. 3, the action determining unit 13 reacts to the vehicle 100 by changing the lane to the adjacent lane L1 on the opposite side of the adjacent lane L3 on which the target vehicle 200 travels, depending on the surrounding conditions of the vehicle 100. May be determined as. For example, when the intention of changing the lane of the target vehicle 200 is detected and there is no other vehicle traveling in the adjacent lane L1 within a predetermined distance range from the vehicle 100, the action determining unit 13 reacts to the lane change to the adjacent lane L1. Determine as an action. The action determining unit 13 may determine the lane change to the adjacent lane L1 as a reaction action only when the preceding vehicle or the following vehicle exists in the traveling lane L2 within a predetermined distance range from the vehicle 100.

The types of reaction actions of the vehicle 100 that can be determined by the action determination unit 13 are recorded in the action database 52. The behavior database 52 shows the surrounding conditions of the vehicle 100 when the lane change detection unit 12 detects the intention of changing lanes in the past, the reaction behavior determined for the lane change, and the presence or absence of discomfort of the occupant with respect to the reaction behavior. Are recorded in association with each other.

The target calculation unit 14 calculates target values such as speed, acceleration, and steering amount of the vehicle 100 for executing the reaction action determined by the action determination unit 13. For example, as shown in FIG. 2, when the reaction action of giving the front of the vehicle 100 to the target vehicle 200 is determined in response to the lane change of the target vehicle 200 to the traveling lane L2, the target calculation unit 14 determines that the vehicle 100 Calculate the target speed and target acceleration to decelerate. Target values such as speed, acceleration, and steering amount can be determined based on the speed limit of the traveling road, the presence or absence of the preceding vehicle and the following vehicle of the vehicle 100, the degree of congestion in the surroundings, and the like.

The vehicle control unit 15 generates a control signal for controlling the actuator 7 that realizes the target value calculated by the target calculation unit 14, and outputs the control signal to the actuator 7 to perform a reaction action determined by the action determination unit 13. The vehicle 100 is controlled to execute. Further, the vehicle control unit 15 causes the vehicle 100 to travel along a predetermined travel route based on the surrounding condition of the vehicle 100 detected by the surrounding sensor 2 and the traveling condition of the vehicle 100 detected by the vehicle sensor 3. The actuator 7 is controlled so as to do so. At the time of executing the reaction action, the vehicle control unit 15 may perform automatic driving in which all of the drive control, the braking control, and the steering control are performed without the involvement of the occupant. Alternatively, the vehicle control unit 15 may perform automatic driving that performs at least a part of drive control, braking control, and steering control, and the occupant may perform a part of the driving operation.

The actuator 7 controls the traveling of the vehicle 100 in response to a control signal from the vehicle control unit 15. The actuator 7 includes an accelerator actuator 71, a brake actuator 72, and a steering actuator 73. The accelerator actuator 71 includes, for example, a throttle valve, and controls the accelerator opening degree of the vehicle 100. The brake actuator 72 includes, for example, a hydraulic circuit, and controls the braking operation of the brake of the vehicle 100. The steering actuator 73 includes, for example, a motor capable of transmitting torque to the steering shaft, and controls the steering amount of the steering shaft.

The presentation control unit 16 controls the output I / F 6 so as to present the reaction action plan determined by the action determination unit 13 to the occupant. The presentation control unit 16 controls the output I / F6 so as to, for example, as a reaction action, to present to the occupant that the front or rear of the vehicle 100 is to be handed over to the target vehicle 200 or that the vehicle 100 is changing lanes. The presentation control unit 16 may control the output I / F 6 so as to display the locus of the vehicle 100 showing the reaction behavior on the image showing the road on which the vehicle 100 travels. Alternatively, the presentation control unit 16 may control the output I / F 6 so as to present to the occupant a guidance instruction prompting the execution of the reaction action determined by the action determination unit 13.

The output I / F 6 presents to the occupant a plan of the reaction action determined by the action determination unit 13 according to the control by the presentation control unit 16, an instruction to guide the reaction action to the occupant, and the like. The output I / F 6 includes a display device 61 and a speaker 62. The display device 61 is, for example, a display such as a liquid crystal display (LCD), and displays a reaction action plan, guidance instructions to the occupants, and the like by means of images, character information, icons, and the like. The speaker 62 reproduces a voice indicating a reaction action plan, a guidance instruction to the occupant, and the like by means of a voice or a notification sound.

The discomfort detection unit 17 detects the discomfort of the occupant from the biological information of the occupant detected by the biological information sensor 4. Here, the discomfort of the occupant means a discomfort that the occupant feels due to the difference in the actual behavior with respect to the behavior of the vehicle 100 assumed by the occupant. For example, as shown in FIG. 2, the occupant recognized the following vehicle 300 of the vehicle 100, but the reaction action of giving the front to the target vehicle 200 was executed, the vehicle 100 decelerated, and the distance to the following vehicle 300 was reduced. If it gets shorter, the occupants may feel uncomfortable. Further, although it was assumed that the occupant would give the front to the target vehicle 200, when the reaction action of giving the rear to the target vehicle 200 is executed and the vehicle 100 accelerates, the occupant may feel a sense of discomfort.

For example, when the biological information sensor 4 is an electroencephalogram sensor, the discomfort detection unit 17 detects the sensor based on the electroencephalogram of the occupant. Hereinafter, assuming that the biological information sensor 4 is an electroencephalogram sensor, a method of detecting discomfort by the discomfort detection unit 17 will be described.

The electroencephalogram sensor has a plurality of electrodes, and the plurality of electrodes are attached to the head of a occupant (for example, a driver or a passenger other than the driver). As shown in FIG. 4, for example, the plurality of electrodes of the electroencephalogram sensor are arranged on the crown Fz, Fcz, Cz, CPz of the occupant involved in the cognitive function in accordance with the international 10-20 law. The method of attaching the plurality of electrodes of the electroencephalogram sensor to the head is not particularly limited, but for example, it may be configured by a wearable electrode cap provided with the plurality of electrodes. The brain wave sensor detects the data of the occupant's brain wave (brain activity) and outputs the detected brain wave data to the processing circuit 1.

For example, the discomfort detection unit 17 performs frequency analysis on the occupant's brain wave data detected by the brain wave sensor, and detects an event-related potential (ERP) indicating a brain reaction that appears as a result of thinking or cognition. Detects the occurrence of discomfort in the occupants. For example, the electroencephalogram pattern when the occupant feels uncomfortable is stored in the storage device 5 in advance, and the degree of coincidence between the electroencephalogram pattern stored in the storage device 5 and the electroencephalogram pattern detected by the electroencephalogram sensor is used. It may be determined whether or not the occupant feels uncomfortable.

As shown in FIG. 5, the discomfort detection unit 17 extracts N feature quantities p1, p2, ..., PN from the electroencephalogram signal at a predetermined time T (for example, 500 milliseconds), and the electroencephalogram feature vector P = ( p1, p2, ..., PN) are generated. As the feature amount, for example, a value sampled at regular intervals can be used. As shown in FIG. 6, the discomfort detection unit 17 further determines the feature amount region D when the feature amount of the electroencephalogram when the discomfort is felt is arranged in the feature space. For the determination of the feature amount region D, for example, if there are a plurality of samples, the feature amount region D is a circle centered on the center of gravity point of the vector set {P} and including the set {P}. The discomfort detection unit 17 compares the feature vector P of the occupant's brain wave measured in real time by the brain wave sensor with the feature amount region D of the discomfort, and when the feature vector P of the brain wave belongs to the feature amount region D, the discomfort of the occupant Judge that there is. On the other hand, when the feature vector P of the brain wave does not belong to the feature amount region D, the discomfort detection unit 17 determines that there is no discomfort of the occupant.

Further, if there is data of the electroencephalogram when the occupant feels a sense of discomfort with the normal brain wave, the discomfort detection unit 17 sets the plane P0 shown in FIG. 6 by the linear discrimination method, and uses the plane P0. It may be determined whether or not the occupant feels uncomfortable. Further, the discomfort detection unit 17 may determine the presence or absence of discomfort of the occupant by a support vector machine (SVM), a neural network method, or the like.

When the discomfort detection unit 17 detects the discomfort of the occupant with respect to the reaction behavior of the vehicle 100, the action determination unit 13 adjusts the determination reference data 53 stored in the storage device 5. For example, in the example shown in FIG. 2, when a sense of discomfort of the occupant is detected with respect to the reaction behavior of giving the front to the target vehicle 200, the action determination unit 13 transfers the judgment criterion data 53 to the target vehicle 200. Change to the side where the decision of reaction behavior increases. That is, when the threshold value Tα in the TTC is stored as the determination reference data 53, the action determination unit 13 increases the threshold value Tα at a predetermined rate. On the contrary, when the occupant feels uncomfortable with respect to the reaction behavior of giving the rear to the target vehicle 200, the action determination unit 13 increases the decision of the reaction behavior of giving the judgment criterion data 53 to the target vehicle 200. Change to the side that does. That is, when the threshold value Tα in the TTC is stored as the determination reference data 53, the action determination unit 13 reduces the threshold value Tα at a predetermined rate. The rate at which the threshold value Tα is increased or decreased can be appropriately set.

(Driving support method)
Next, an example of a driving support method using the driving support device according to the embodiment of the present invention will be described with reference to the flowchart of FIG. 7. The series of processes shown in FIG. 7 is repeatedly executed at a predetermined cycle.

In step S1, the surrounding environment recognition unit 11 determines the vehicle traveling in the traveling lane L2 and the adjacent lanes L1 and L3 based on the traveling state detected by the vehicle sensor 3 and the surrounding condition of the vehicle 100 detected by the surrounding sensor 2. Recognize other vehicles around 100. The lane change detection unit 12 detects the intention of changing the lane of the target vehicle 200 traveling ahead of the vehicle 100 in the adjacent lanes L1 and L3 to the traveling lane L2 from the surrounding condition of the vehicle 100 acquired by the surrounding sensor 2. do.

In step S2, the action determination unit 13 intends to change the lane of the target vehicle 200 detected in step S1 based on the surrounding conditions of the vehicle 100 acquired by the surrounding sensor 2, the action database 52, the judgment standard data 53, and the like. The reaction behavior of the vehicle 100 to the vehicle 100 is determined. For example, the action determination unit 13 calculates the TTC with the target vehicle 200 by dividing the distance to the target vehicle 200 by the relative speed of the target vehicle 200. Then, the action determination unit 13 determines the reaction action to be executed by the vehicle 100 by comparing the TTC with the threshold value Tα stored as the determination reference data 53.

In step S3, the target calculation unit 14 determines whether or not the reaction action determined in step S2 is an action of giving the front of the vehicle 100 to the target vehicle 200. If it is a reaction action that yields the front of the vehicle 100 to the target vehicle 200, the process proceeds to step S4, and if it is not a reaction action that yields the front to the target vehicle 200, the process proceeds to step S7.

In step S4, the target calculation unit 14 calculates the target speed and the target acceleration so that the vehicle 100 decelerates. The vehicle control unit 15 outputs a control signal for realizing the target speed and the target deceleration calculated by the target calculation unit 14 to the actuator 7, so as to execute a reaction action of decelerating and giving the front to the target vehicle 200. Controls the vehicle 100.

In step S5, whether or not the discomfort detection unit 17 detects the discomfort of the occupant within a predetermined time from the execution of the reaction action of giving the front to the target vehicle 200 based on the biological information of the occupant detected by the biological information sensor 4. Is determined. For example, when the biological information sensor 4 is an electroencephalogram sensor, the discomfort detection unit 17 determines the presence or absence of discomfort of the occupant based on the brain wave of the occupant. If the occupant's discomfort is detected, the process proceeds to step S6, and if the occupant's discomfort is not detected, the process returns to step S1.

In step S6, the action determination unit 13 determines the reaction action to transfer the determination standard data 53 stored in the storage device 5 to the target vehicle 200 in response to the detection of the occupant's discomfort in step S5. Change to the increasing side. For example, when the determination criterion data 53 is the threshold value Tα in the TTC, the action determination unit 13 increases the threshold value Tα by a predetermined rate.

In step S7, the target calculation unit 14 calculates the target speed and the target acceleration so that the vehicle 100 maintains or accelerates the vehicle speed. The vehicle control unit 15 outputs a control signal for realizing the target speed and the target deceleration calculated by the target calculation unit 14 to the actuator 7, thereby maintaining or accelerating the vehicle speed and giving a reaction action to the target vehicle 200. The vehicle 100 is controlled to execute.

In step S8, whether or not the discomfort detection unit 17 detects the discomfort of the occupant within a predetermined time from the execution of the reaction action of giving up the rear to the target vehicle 200 based on the biological information of the occupant detected by the biological information sensor 4. Is determined. For example, when the biological information sensor 4 is an electroencephalogram sensor, the discomfort detection unit 17 determines the presence or absence of discomfort of the occupant based on the brain wave of the occupant. If the occupant's discomfort is detected, the process proceeds to step S9, and if the occupant's discomfort is not detected, the process returns to step S1.

In step S9, the action determination unit 13 determines the reaction action to give the judgment reference data 53 stored in the storage device 5 to the target vehicle 200 in response to the detection of the occupant's discomfort in step S8. Change to the increasing side. For example, when the determination criterion data 53 is the threshold value Tα in the TTC, the action determination unit 13 reduces the threshold value Tα by a predetermined rate. The adjusted threshold Tα is used to determine reaction behavior in subsequent cycles.

(Discomfort detection method)
Next, an example of the discomfort detection method corresponding to the processes of steps S5 and S8 of FIG. 7 will be described with reference to the flowchart of FIG. In the following, an example in which the biological information sensor 4 is an electroencephalogram sensor and a sense of discomfort is detected from an electroencephalogram of an occupant will be described.

First, in step S21, the electroencephalogram sensor measures the electroencephalogram signal of the occupant in real time. In step S22, the discomfort detection unit 17 stores the electroencephalogram signal measured at a predetermined time T (for example, 500 milliseconds) in the storage device 5. In step S23, the discomfort detection unit 17 extracts N feature quantities from the electroencephalogram signal at a predetermined time T, and generates an electroencephalogram feature vector P = (p1, p2, ..., PN).

In step S24, the discomfort detection unit 17 reads out the feature amount region D when arranged in the feature space from the storage device 5, and compares the feature vector P of the brain wave measured in real time from the occupant with the feature amount region D of the discomfort. .. When the feature vector P of the brain wave belongs to the feature amount region D, the process proceeds to step S25, and it is determined that the occupant feels uncomfortable. On the other hand, if the feature vector P of the brain wave does not belong to the feature amount region D in step S24, the process proceeds to step S26, and it is determined that there is no discomfort for the occupant.

As described above, according to the driving support device according to the embodiment of the present invention, the reaction behavior of the target vehicle 200 to the lane change is determined based on the surrounding conditions and the judgment criteria, and the occupant's discomfort to the reaction behavior is detected. Then, if a feeling of strangeness is detected, the judgment criteria will be adjusted. When determining the behavior of the vehicle 100 with respect to the lane change of the target vehicle 200, there are individual differences in the judgment of the occupants. Therefore, if the reaction behavior is automatically determined according to a uniform standard, the reaction behavior of the vehicle 100 will be determined. It may make the occupants feel uncomfortable. Since the driving support device according to the present embodiment adjusts the judgment criteria for determining the reaction behavior according to the discomfort of the occupant, it is possible to reduce the discomfort of the occupant with respect to the automatically determined reaction behavior.

Further, in the driving support device according to the embodiment of the present invention, when a sense of discomfort with respect to the reaction behavior of giving up the front is detected, the judgment criterion is changed to the side where the decision of the reaction behavior of giving up the rear increases, and the reaction behavior of giving up the rear If a sense of incongruity is detected, change to the side where the decision of reaction behavior to give up is increased. That is, since the judgment criteria are adjusted to the side where the decision of the reaction behavior different from the reaction behavior in which the discomfort is detected increases, the judgment criteria reflecting the occupant's taste can be set, and the same in the same situation. It becomes difficult to determine the reaction behavior, and the discomfort of the occupant can be reduced or eliminated.

Further, in the driving support device according to the embodiment of the present invention, the reaction action of the vehicle 100 is to change the lane to the adjacent lane L1 on the opposite side of the adjacent lane L3 on which the target vehicle 200 travels, depending on the surrounding conditions of the vehicle 100. Can be decided. Therefore, the options for the reaction action to the lane change of the target vehicle 200 are increased, the reaction action can be performed more smoothly, and the discomfort given to the occupant can be reduced.

Further, in the driving support device according to the embodiment of the present invention, it is possible to detect the discomfort of the occupant with respect to the reaction behavior of the vehicle 100 based on the brain waves of the occupant. Therefore, it is possible to reduce the burden on the occupant when acquiring the biological information for detecting the discomfort of the occupant.

(First modification)
The driving support method using the driving support device according to the first modification of the embodiment of the present invention immediately executes the reaction action when the occupant of the vehicle 100 feels uncomfortable with respect to the reaction action of the vehicle 100. It differs from the above-described embodiment in that it is discontinued. The configurations, actions, and effects that are not described in the first modification are the same as those in the above-described embodiment, and are omitted because they overlap.

An example of a driving support method using the driving support device according to the first modification of the embodiment of the present invention will be described with reference to the flowchart of FIG. Since the processes of steps S31 to S35 and S37 to S38 of FIG. 9 are the same as the processes of steps S1 to S5 and S7 to S8 of FIG. 7 described above, redundant description will be omitted.

When the occupant feels uncomfortable with respect to the reaction behavior of giving the front to the target vehicle 200 in step S35, the process proceeds to step S36. In step S36, when the safety condition that there is no possibility of obstructing the traffic of other vehicles around the vehicle 100 even if the reaction action determined in step S32 is stopped based on the surrounding condition of the vehicle 100, the vehicle control is performed. The unit 15 cancels the reaction action of decelerating and giving the front to the target vehicle 200, which was started in step S34. That is, the vehicle control unit 15 starts maintaining or accelerating the vehicle speed. Further, in step S36, the action determination unit 13 transfers the determination reference data 53 stored in the storage device 5 to the target vehicle 200 in response to the detection of the occupant's discomfort in step S35. Change to the side where decisions increase.

When the occupant feels uncomfortable with respect to the reaction behavior of giving up the rear to the target vehicle 200 in step S38, the process proceeds to step S39. In step S39, when the safety condition that there is no possibility of obstructing the traffic of other vehicles around the vehicle 100 even if the reaction action determined in step S32 is stopped based on the surrounding condition of the vehicle 100, the vehicle control is performed. The unit 15 stops the reaction action started in step S37, which maintains or accelerates the vehicle speed and yields the rear to the target vehicle 200. That is, the vehicle control unit 15 starts deceleration. Further, in step S39, the action determination unit 13 transfers the determination reference data 53 stored in the storage device 5 to the target vehicle 200 in response to the detection of the occupant's discomfort in step S38. Change to the side where decisions increase.

As described above, according to the driving support device according to the first modification of the embodiment of the present invention, when the occupant's discomfort with respect to the reaction behavior is detected, the reaction behavior can be immediately stopped if the safety conditions are satisfied. .. As a result, it is possible to further reduce the discomfort of the occupant with respect to the automatically determined reaction behavior.

(Second modification)
As a second modification of the embodiment of the present invention, the reaction behavior is determined by using the behavior database 52 in which the reaction behavior according to the surrounding situation and the presence or absence of discomfort of the occupant are associated with each other with reference to the flowchart of FIG. The details of the method will be described.

In step S41, the lane change detection unit 12 changes the lane of the target vehicle 200 traveling ahead of the vehicle 100 in the adjacent lanes L1 and L3 to the traveling lane L2 from the surrounding condition of the vehicle 100 acquired by the surrounding sensor 2. Detect the intention of.

In step S42, the action determination unit 13 determines the reaction action of the target vehicle 200 to the lane change by using the surrounding situation of the vehicle 100 acquired by the surrounding sensor 2, the action database 52, and the judgment criterion data 53. That is, the action determination unit 13 refers to the action database 52 and selects a reaction action in which the detection of the occupant's discomfort is small among the reaction actions in the situation matching the surrounding situation in step S41.

In step S43, the action determination unit 13 updates the action database 52 by recording in the action database 52 whether or not there is a sense of discomfort detected by the discomfort detection unit 17 with respect to the reaction action determined in step S42.

In this way, the behavior database 52 is used to determine the discomfort, and the behavior database is updated according to the presence or absence of the discomfort, thereby giving the occupant a discomfort even when there are a plurality of options for the reaction behavior that can be adopted. The least likely reaction behavior can be determined.

(Other embodiments)
Although embodiments of the invention have been described above, the statements and drawings that form part of this disclosure should not be understood to limit the invention. Various alternative embodiments, examples and operational techniques will be apparent to those skilled in the art from this disclosure.

For example, in the embodiment of the present invention, the presentation control unit 16 may control the output I / F6 so as to present the execution instruction of the reaction action determined by the action determination unit 13 to the occupant. Then, instead of detecting the discomfort of the occupant with respect to the vehicle control by the vehicle control unit 15, the discomfort of the occupant with respect to the reaction action determined by the action determination unit 13 may be detected. Even in this case, it is possible to reduce or eliminate the discomfort of the occupant with respect to the reaction behavior determined by the action determination unit 13.

In addition, it goes without saying that the present invention includes various embodiments not described here, such as a configuration in which each configuration described in the above-described embodiment is arbitrarily applied. Therefore, the technical scope of the present invention is defined only by the matters specifying the invention relating to the reasonable claims from the above description.

1 Processing circuit 2 Peripheral sensor 3 Vehicle sensor 4 Biological information sensor 5 Storage device 7 Actuator 100 Vehicle 200 Target vehicle

Claims (7)

Detects a target vehicle traveling in front of the vehicle in an adjacent lane adjacent to the traveling lane in which the vehicle is traveling.
Detecting the intention of the target vehicle to change lanes to the driving lane,
The reaction behavior of the vehicle to the lane change is determined based on the judgment criteria, and
Control the vehicle to perform the reaction action and
Detecting the discomfort of the occupant of the vehicle with respect to the reaction behavior of the vehicle,
When the discomfort with respect to the reaction behavior of giving the front of the vehicle to the target vehicle is detected, the judgment criterion is changed to the side where the decision of the reaction behavior of giving the rear of the vehicle to the target vehicle increases.
When the discomfort with respect to the reaction behavior of giving the rear to the target vehicle is detected, the determination criterion is changed to the side where the decision of the reaction behavior of giving the front to the target vehicle increases. Driving support method. Detects a target vehicle traveling in front of the vehicle in an adjacent lane adjacent to the traveling lane in which the vehicle is traveling.
Detecting the intention of the target vehicle to change lanes to the driving lane,
The reaction behavior of the vehicle to the lane change is determined based on the judgment criteria, and
Control the vehicle to perform the reaction action and
Detecting the discomfort of the occupant of the vehicle with respect to the reaction behavior of the vehicle,
When the discomfort with respect to the reaction action of giving up the front of the vehicle to the target vehicle is detected, the execution of the reaction action of giving up the front is stopped.
When the discomfort with respect to the reaction action of giving up the rear of the vehicle to the target vehicle is detected, the execution of the reaction action of giving up the rear is stopped .
OPERATION support how to, characterized in that. The driving support method according to claim 1 or 2 , wherein as the reaction action, a lane change to a lane adjacent to the traveling lane and to a lane opposite to the adjacent lane is executed. Based on a past database in which the situation around the vehicle when the intention to change lanes is detected, the reaction behavior determined for the lane change, and the presence or absence of discomfort with the reaction behavior are associated with each other. The driving support method according to claim 3 , wherein the reaction behavior is determined. The driving support method according to any one of claims 1 to 4 , wherein the discomfort is detected based on the brain waves of the occupant. A sensor that detects a target vehicle traveling in front of the vehicle in an adjacent lane adjacent to the traveling lane in which the vehicle is traveling.
The target vehicle detects the intention of changing lanes to the traveling lane, determines the reaction behavior to the lane change based on the judgment criteria, controls the vehicle to execute the reaction behavior, and controls the vehicle to execute the reaction behavior. When the discomfort of the occupant of the vehicle with respect to the reaction behavior is detected and the discomfort of the occupant of the vehicle is detected, the judgment criterion is transferred to the target vehicle with the rear of the vehicle. When the determination of the reaction behavior is changed to the side where the decision is increased and the discomfort with respect to the reaction behavior is detected, the determination criterion is given to the target vehicle. A processing circuit that changes to the side where decisions increase ,
A driving support device characterized by being equipped with. A sensor that detects a target vehicle traveling in front of the vehicle in an adjacent lane adjacent to the traveling lane in which the vehicle is traveling.
The target vehicle detects the intention of changing lanes to the traveling lane, determines the reaction behavior to the lane change based on the judgment criteria, controls the vehicle to execute the reaction behavior, and controls the vehicle to execute the reaction behavior. When the discomfort of the occupant of the vehicle with respect to the reaction behavior is detected and the discomfort with respect to the reaction behavior is detected, the execution of the reaction behavior with the front is stopped and the target is given. When the discomfort with respect to the reaction action of giving up the rear of the vehicle to the vehicle is detected, a processing circuit for stopping the execution of the reaction action of giving up the rear of the vehicle and
A driving support device characterized by being equipped with.

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