JP4042319B2 - Alarm control device - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to an alarm control device, and more particularly to an alarm control device that supports safe driving of an automobile.
[0002]
[Prior art]
In recent years, the invention of an apparatus for preventing an accident by informing a driver instantly and in an easy-to-understand manner when there is an obstacle to safe driving when performing vehicle driving. And has been developed.
[0003]
For example, in the driving support apparatus described in Japanese Patent Application Laid-Open No. 8-175228, a scene in front of the vehicle is photographed by a television camera, and the presence of an obstacle causing an accident is recognized in the image photographed by image processing. In such a case, the outline of the obstacle is projected onto the obstacle on the head-up display device, thereby emphasizing the presence of the obstacle and making it easier for the driver to recognize the obstacle. Device.
[0004]
Further, the vehicle alarm display device described in Japanese Patent Laid-Open No. 7-329657 processes a driver's face image when it is necessary to present an alarm in the vehicle, paying attention to the characteristics of the visual field of humans. By detecting the driver's line-of-sight direction and performing a master warning display at a display position near the detected line-of-sight direction, it is possible for the vehicle to immediately and easily recognize that an alarm is presented to the driver. It is an alarm device.
[0005]
[Problems to be solved by the invention]
By the way, it is said that the cognitive characteristics that humans have when receiving visual information and auditory information change according to the load given to humans.
[0006]
For example, the effective visual field becomes wider as the driving load of the driver is lower, and becomes narrower as the driving load is higher. In addition, the lower the driver's driving load, the lower the level of understanding of the object to be recognized, and the higher the driving load, the deeper. Furthermore, the lower the driving load, the shorter the time required to recognize the presence of an object to be recognized, and the longer the driving load, the longer. In other words, when the driver's driving load is low, it is rare to overlook the presence of an obstacle on the course, but it is difficult to distinguish whether the obstacle is truly an obstacle or a pedestrian. It means that. On the other hand, when the driving load is high, it is difficult to notice the presence of an obstacle on the path, but once you look at the obstacle, the distinction between being an obstacle or a human is Easy.
[0007]
In view of the above human cognitive characteristics, the former prior art is an effective alarm means when the driving load is low, but when the driving load is high, the driver is not present in the presence of the alarm itself being presented. There is a risk of not being aware. Further, in the latter prior art, a uniform master warning is provided regardless of the driving load of the driver, but more effective warning can be presented by considering the driving load of the driver. Can be done.
[0008]
In order to solve such a problem of the conventional technology, the present invention enables a driver to notice an alarm even when the driving load is high, and can provide a more effective alarm regardless of the driving load. The purpose is to provide.
[0009]
[Means for Solving the Problems]
The present invention relates to obstacle detection means for detecting the presence of an obstacle that may hinder vehicle travel in front of a vehicle, driving load detection means for detecting a driving load state of a driver, and driving load detection. An obstacle detection range limiting unit that limits an obstacle detection range in which the obstacle detection unit detects an obstacle according to the driving load state detected by the unit, and an obstacle type determination unit that determines an obstacle type. When the obstacle detection means detects an obstacle in the obstacle detection range, it corresponds to the driving load state detected by the driving load detection means. Regarding the reception of visual or auditory information According to the recognition characteristics and the determination result by the obstacle type determination means, there is an alarm presentation method determination means for determining a method for presenting appropriate alarm information to the driver, and an alarm information presentation means for presenting appropriate alarm information. .
[0010]
【Example】
The first embodiment of the present invention will be described below.
[0011]
FIG. 2 is a block diagram of the alarm control device according to the first embodiment of the present invention.
[0012]
This alarm control device includes an alarm information presentation device 24 and a controller 23 that controls the alarm information device 24, a biological signal detection device 20 that detects a driver's biological signal, and a driving load determination device that detects the driver's driving load from the detected biological signal. 21. It is comprised from the obstruction detection apparatus 22 which detects the obstruction which may cause an accident ahead of a vehicle.
[0013]
These are the claim correspondence diagrams shown in FIG. 1, and the biological signal detection device 20 and the driving load determination device 21 constitute the driver load determination means 10. The obstacle detection device 22 constitutes an obstacle detection unit 12 and an obstacle type determination unit 13. Further, the controller 23 constitutes an alarm presentation method determining means 14 and an obstacle detection range determining means 11, and the alarm information presenting device 24 constitutes an alarm information presenting means 15. The alarm presentation method determining means 14 and the obstacle detection range determining means 11 do not have to be shared by a single controller 23, and can be configured by devices independent from each other.
[0014]
The biological signal detection device 20 includes an electrocardiogram signal detection device 201 and a respiration curve detection device 202. The electrocardiogram signal detection apparatus 201 detects a heart beat with an ultrasonic sensor. Since the heartbeat signal to be detected is not intended for accurate waveform diagnosis of an electrocardiogram, as shown in FIG. By incorporating 51 into the seat 52, the heartbeat signal can be detected. The breathing curve detection device 202 is a breathing sensor that detects a breathing motion as a waveform by expanding and contracting a strain gauge disposed on the chest. As shown in FIG. Signal detection is possible.
[0015]
The driving load determination device 21 determines the driving load of the driver based on each signal detected by the electrocardiogram signal detection device 201 and the respiration curve detection device 202. When determining the driving load from the electrocardiogram signal detected by the electrocardiogram signal detection device 201, the R wave in the electrocardiogram signal is extracted to obtain the R wave time interval (RRI), and the RRI is set to a relatively small value. For example, if the operation load is high and a relatively large value is indicated, a method of determining that the operation load is low or a dispersion value (RRV) of the R wave time interval is obtained, and the RRV indicates a relatively small value. If the driving load is high and a relatively small value is shown, the driving load is judged to be low. The ratio of the high frequency component (HF) and the low frequency component (LF) obtained by frequency analysis of RRI (LH = LF / According to HF, a method of determining that the operating load is high if LH indicates a relatively large value and that the operating load is low if LH is relatively small can be applied.
[0016]
Further, when determining the driving load from the respiratory curve detected by the respiratory curve detection device 202, the driving load is high if the respiratory frequency indicates a relatively small value by the respiratory frequency obtained by frequency analysis of the respiratory curve. If a large value is shown, a method of determining that the driving load is low, a variance value of the respiratory frequency obtained by frequency analysis of the breathing curve is obtained, and if this variance value is relatively large, the driving load is high and the relative If a small value is indicated, a method of determining that the operation load is low can be applied.
[0017]
Further, in the present driving load determination device 21, the driving loads obtained by the above-described methods are combined to be the driving load of the driver. At this time, the driving load can be allocated to five stages of driving load categories stored in advance in the driving load determination device 21 according to the magnitude of the value. Note that the driving load classification of the driver determined by the driving load determination device 21 is stored in the driving load classification holding memory 211.
[0018]
The obstacle detection device 22 includes a television camera 221 that captures a scene in front of the vehicle, an image processing device 222 that extracts an obstacle from an image of the television camera, an image memory 223, and an obstacle classification holding memory 224. The image processing apparatus 222 extracts an obstacle that may cause a driving accident from an image signal in front of the vehicle using an analog signal or a digital signal captured by the video camera 221. The flow of this processing will be described below using the flowchart shown in FIG.
[0019]
In step S501, an image is input from the television camera. In step S502, an obstacle detection range and an obstacle detection level that determines how deeply the detection operation is performed in the obstacle detection process are input.
[0020]
In step S503, a contour line in the image is extracted from the image signal from the television camera using a differential filter or the like, and only the contour of the obstacle is extracted from the image signal by a pattern matching method. In addition, since it is possible to limit the range which detects an obstacle by limiting the range which performs the pattern matching with respect to an image signal, the outline extraction process is performed only in the obstacle detection range input in step S202. .
[0021]
In step S504, if there is an outline recognized as an obstacle in the image signal in step S503, the process proceeds to step S505, and is held as an outline image in the image memory 223 inside the image processing apparatus 22. If no obstacle is found, the process is terminated.
[0022]
In step S506, it is determined whether or not the detection level input in step S502 is “high”. If it is “high”, the process proceeds to step S507, and if it is not “high”, the process ends.
[0023]
In step S507, the obstacle detected in step S503 is classified as a pedestrian or an obstacle. This result is held in the obstacle classification holding memory 224 in step S508, and the process is terminated.
[0024]
The alarm information presentation device 24 includes a head-up display (HUD) 241, an image memory 242 and a buzzer 243.
[0025]
The controller 23 is a device that appropriately controls alarm information presented to the driver via the alarm information presentation device 24 based on the processing results of the driving load determination device 21 and the obstacle detection device 22. The circuit 231, the appropriate alarm determination rule holding memory 233, the obstacle detection range determination circuit 233, and the obstacle detection range determination rule holding memory 234 are configured. Hereinafter, the flow of processing in the present embodiment will be described based on the flowchart of FIG.
[0026]
First, in step S10, the driver's driving load classification is read from the driving load classification holding memory 211 of the driving load determination device 21, and in the next step S11, the driving load classification read in step S10 and the fault in the controller 23 are detected. Based on the obstacle detection range decision rule shown in FIG. 5 held in the object detection range decision rule holding memory 233, the obstacle detection range decision circuit 232 in the controller 23 determines the obstacle detection range and the obstacle detection level. decide.
[0027]
Hereinafter, in the present embodiment, the obstacle detection range and the visual alarm display position are shown in FIG. 6 from the headrest center point 62 of the headrest 61 of the driver seat side seat 60 toward the front window 63. If the specific point 64 is a point where a straight line extending in the direction of travel and horizontally with respect to the ground intersects the front window 63, the straight line connecting the headrest center point 62 and the specific point 64 is the reference line 70. This is expressed by an angle θ formed by a straight line 71 connecting the arbitrary point 65 and the center point 62 of the headrest and the reference line 70.
[0028]
Next, in step S12, in order to determine whether an obstacle exists within the obstacle detection range determined in step S11, the obstacle detection device 22 detects the obstacle existing in the designated range. Give orders to be implemented at the level. For example, as shown in the obstacle detection range determination rule in FIG. 5, when the driver's driving load held in the driving load category holding memory 211 is level 1, the obstacle detection range is “θ ≧ 15. Therefore, the detection of the obstacle in the range of 15 ° or more is transmitted to the obstacle detection device 22, and since the detection level is “high”, the obstacle is separated from the pedestrian. Communicate that obstacle detection is performed. Next, in step S13, if it is determined that there is an obstacle in the traveling direction based on the detection result from the obstacle detection device 22, the process proceeds to step S14, and if it is determined that there is no obstacle, step is performed. Return to S10.
[0029]
Next, in step S14, the operation load classification holding memory 211 is read, and if the operation load level is “1”, the operation load level 1 is processed according to the operation load level held therein. If the driving load level is “2”, the process proceeds to step S16 for executing the driving load level 2. If the driving load level is “3”, the process for driving load level 3 is executed. When the driving load level is “4”, the process proceeds to step S18 for performing the processing of the driving load level 4, and when the driving load level is “5”, the process of the driving load level 5 is performed. Proceed to These processes are performed by an appropriate alarm determination circuit 241 inside the controller 24.
[0030]
Hereinafter, the processing from the operation load level 1 to the operation load level 5 will be described in order. These processes are performed by referring to the appropriate alarm determination rules shown in FIG. 7 held in the appropriate alarm determination rule holding memory 232 by the appropriate alarm determination circuit 231 in the controller 23. The angle θ shown in FIG. 7 is also described with reference to FIG.
[0031]
The flow of processing at the operating load level 1 is shown in the flowchart of FIG.
[0032]
First, in step S151, the obstacle classification holding memory 224 of the obstacle detection device 22 is referred to. If the obstacle classification held in the memory is a pedestrian, the process proceeds to step S152, and if it is an obstacle, the process proceeds to step S155.
[0033]
In step S152, the position of the pedestrian is calculated from the image stored in the image memory 221. Subsequently, in step S153, when the image of the pedestrian is within θ = 20 ° on the front window, the process proceeds to step S154. , Θ = 20 ° does not exist, it is determined to proceed to step S155.
[0034]
In step S154, no alarm is displayed. This is an image of a pedestrian located within θ = 20 ° on the windshield in order to show a cognitive characteristic that allows the driver to grasp the overall environment when the driving load is as low as about level 1. This is because it can definitely be detected. On the other hand, in step S155, the presence of a pedestrian is displayed by displaying a character or icon or the like with a viewing angle of 2 ° at a position within θ = 15 ° on the front window using a head-up display. Present visual warnings. This is because, even when the driving load is as low as level 1, the existence of a pedestrian image located at θ = 20 ° or more on the windshield may be missed.
[0035]
In step S156, the position of the obstacle is calculated from the image held in the image memory 231. Subsequently, in step S157, when the obstacle image exists within θ = 25 ° on the front window, the process proceeds to step S158. If it does not exist within θ = 25 °, it is determined to proceed to step S159.
[0036]
In step S158, no alarm is displayed. This is because the driver has a cognitive characteristic that allows the driver to grasp the overall environment when the driving load is as low as level 1. Therefore, the obstacle where the image is located within θ = 25 ° on the front window is wrong. This is because it can be detected. On the other hand, in step S159, the presence of an obstacle is displayed by displaying a character or icon with a viewing angle of 2 ° at a position within θ = 15 ° on the front window using a head-up display. Present visual warnings. This is because, even when the driving load is as low as level 1, the presence of an obstacle with an image of θ = 25 ° or more on the front window may be missed.
[0037]
The flow of processing at the operating load level 2 is shown in the flowchart of FIG.
[0038]
First, in step S161, the obstacle classification holding memory 224 of the obstacle detection device 22 is referred to. If the obstacle classification held in the memory is a pedestrian, the process proceeds to step S162, and if it is an obstacle, the process proceeds to step S165.
[0039]
In step S162, the position of the pedestrian is calculated from the image stored in the image memory 223. Subsequently, in step S163, when the image of the pedestrian is within θ = 15 ° on the front wind of the vehicle, the process proceeds to step S164. If it does not exist within θ = 15 °, a determination is made to proceed to step S165.
[0040]
In step S164, no alarm display is performed. This is because when the driving load is as low as level 2, the driver can recognize the overall environment, so the image of a pedestrian located within θ = 15 ° on the windshield is incorrect. This is because it can be detected. On the other hand, in step S165, the presence of a pedestrian is displayed by displaying a character or an icon or the like with a viewing angle of 5 ° at a position within θ = 10 ° on the front window using a head-up display. Present visual warnings. This is because even when the driving load is as low as level 2, the existence of a pedestrian image located at θ = 15 ° or more on the windshield may be missed.
[0041]
In step S166, the position of the obstacle is calculated from the image held in the image memory 223. Subsequently, in step S167, when the obstacle image exists within θ = 20 ° on the front window, the process proceeds to step S168. If the angle does not exist within θ = 20 °, the process proceeds to step S169.
[0042]
In step S168, no alarm display is performed. This is because the driver has a cognitive characteristic that allows the driver to grasp the overall environment when the driving load is as low as level 2. Therefore, the image of an obstacle located within θ = 20 ° on the windshield is incorrect. This is because it can be detected. On the other hand, in step S169, the presence of an obstacle is displayed by displaying a character or an icon or the like with a viewing angle of 5 ° at a position within θ = 10 ° on the front window using a head-up display. Present visual warnings. This is because, even when the driving load is low, the presence of an obstacle image located at θ = 20 ° or more on the front window may be missed.
[0043]
The flow of processing at the operating load level 3 is shown in the flowchart of FIG.
[0044]
First, in step S171, the image memory 223 of the obstacle detection device 22 is referred to, and the content is taken into the image memory 242 provided in the alarm information presentation device 24.
[0045]
In step S172, the position of the obstacle is calculated from the image held in the image memory 223. When the obstacle image exists within θ = 5 ° on the front window, the process is terminated, and within θ = 5 °. If not, the process proceeds to step S173.
[0046]
In step S173, the contour line of the obstacle held in the image memory 242 is displayed blinking in red on the head-up type display device 241, and the image emphasized by bordering the obstacle in red on the front window. Will be displayed. Here, the blinking cycle is set to 2.5 Hz with a lighting time of 200 milliseconds and a turn-off time of 200 milliseconds based on the appropriate alarm determination rule shown in FIG. 7 held in the appropriate alarm determination rule holding memory 232.
[0047]
In step S174, the position of the obstacle is calculated from the image held in the image memory 223. If the obstacle image exists at θ = 20 ° or more on the front window, the process proceeds to step S175.
[0048]
In step S175, a buzzer 243 having a frequency of 3 kHz is presented for 2 seconds while controlling at a duty of 100 milliseconds / 300 milliseconds based on the appropriate alarm determination rule shown in FIG. 7 held in the appropriate alarm decision rule holding memory 232. To finish the process.
[0049]
The flow of processing at the operating load level 4 is shown in the flowchart of FIG.
[0050]
First, in step S181, the image memory 223 of the obstacle detection device 22 is referred to, and the contents of the image memory are taken into the image memory 242. In step S182, the contour line of the obstacle held in the image memory 242 is displayed blinking in red by the head-up display device 241, and the image emphasized by bordering the obstacle in red on the front window. Will be displayed. Here, the blinking cycle is set to 5.0 Hz with a lighting time of 100 milliseconds and a turn-off time of 100 milliseconds based on the appropriate warning determination rule shown in FIG. 7 held in the appropriate warning determination rule holding memory 232.
[0051]
In step S183, the position of the obstacle is calculated from the image held in the image memory 223. If the obstacle image exists at θ = 10 ° or more on the front window, the process proceeds to step S184, and θ = 10 °. If it exists within the range, the process ends.
[0052]
In step S184, the position of the obstacle is calculated from the image held in the image memory 223. If the obstacle image exists within θ = 30 ° on the front window, the process proceeds to step S185, and θ = 30 °. If it exists, the process proceeds to step S186.
[0053]
In step S185, based on the appropriate alarm determination rule shown in FIG. In step S186, the buzzer 242 having a frequency of 3 kHz is presented for 4 seconds while being controlled at a duty of 50 milliseconds / 50 milliseconds, and the process ends.
[0054]
The flow of processing at the operating load level 5 is shown in the flowchart of FIG.
[0055]
First, in step S191, the image memory 223 of the obstacle detection device 22 is referred to, and the contents of the image memory are taken into the image memory 242 provided in the alarm information presentation device 24. In step S192, the outline of the obstacle held in the image memory 242 is displayed blinking in red on the head-up display device, and an image emphasized by bordering the obstacle in red on the front window is displayed. It will be displayed. Here, the blinking cycle is set to 10.0 Hz with a lighting time of 50 milliseconds and a turn-off time of 50 milliseconds based on the appropriate alarm determination rule shown in FIG. 7 held in the appropriate alarm determination rule holding memory 232.
[0056]
In step S193, the position of the obstacle is calculated from the image held in the image memory 231, and if the obstacle image exists at θ = 10 ° or more on the front window, the process proceeds to step S194, and θ = 10 °. If it exists within the range, the process ends.
[0057]
In step S194, the position of the obstacle is calculated from the image held in the image memory 231. If the obstacle image exists within θ = 20 ° on the front window, the process proceeds to step S195, and θ = 20 °. If it exists, the process proceeds to step S186.
[0058]
In step S195, a buzzer 242 having a frequency of 3 kHz is presented for 2 seconds while controlling at a duty of 100 milliseconds / 300 milliseconds based on the appropriate alarm determination rule shown in FIG. 5 held in the appropriate alarm decision rule holding memory 232. In step S196, the buzzer 242 having a frequency of 3 kHz is presented for 4 seconds while controlling at a duty of 50 milliseconds / 50 milliseconds, and the process is terminated.
[0059]
As described above, according to the present embodiment, the driver's driving load is detected based on the driver's biological information, and an obstacle detection range and an alarm given to the driver when an obstacle is detected based on the driver's driving load are detected. Since it is possible to change the direction, it is possible to present alarm information reliably when an alarm is required, and to the driving load imposed on the driver and the cognitive characteristics at that time when presenting the alarm. It became possible to present warnings according to the situation. For this reason, the driver can quickly and surely understand the contents of the alarm and the alarm with respect to the presentation of the alarm information, and can quickly move to the obstacle avoidance action.
[0060]
FIG. 14 is a block diagram of an alarm control device according to the second embodiment of the present invention.
[0061]
In this figure, the basic configuration is the same as the block configuration diagram of the first embodiment of FIG. 2, and the same reference numerals are given and redundant description is omitted.
[0062]
The operation state detection device 30 is a device that detects the driving operation state of the driver. Specifically, the operation state detection device 30 determines the accelerator opening, the brake operation, the steering angle, the shift operation, the number of operations of the switches provided in the passenger compartment, and the like. There is a way to detect. The vehicle state detection device 31 is a device that detects an operation state of the vehicle, and specifically includes a method of detecting vehicle speed, vehicle longitudinal acceleration, lateral acceleration, yaw rate, and the like.
[0063]
The driving load determination device 32 determines the driving load of the driver based on the signals detected by the operation state detection device 30 and the vehicle state detection device 31. Various methods can be considered for this determination method. For example, in the case of a method for obtaining the driving load of the driver from the driving operation state, for example, in the case of the accelerator opening, the time derivative of the accelerator opening for a certain time is summed up. And according to the magnitude | size of the value, it allocates to the driving | running load classification of 5 steps memorize | stored in the driving load determination apparatus 32 previously. That is, for example, in the case of a steering angle, the time differential of the steering angle for a certain time is summed, and the five levels of driving load classifications stored in advance in the driving load determination device 32 according to the magnitude of the value. Allocate. Further, for example, in the case of a brake operation, a shift operation, and a switch operation, the total number of brake operations, the number of shift operations, and the number of switch operations for a certain period of time are summed up, and the driving load determination device is previously set according to the magnitude of the value. A method of allocating to the five operation load classifications stored in 32 is conceivable.
[0064]
Further, in the method of obtaining the driving load from the operation state of the vehicle, for example, in the case of the vehicle speed, the time differentiation of the speed for a predetermined time is summed, and the driving load determination device 32 is preliminarily determined according to the magnitude of the value. For example, if the vehicle's longitudinal acceleration, lateral acceleration, and yaw rate are allotted to the five stored driving load categories, the time derivatives of these values over a certain period of time are summed, and depending on the magnitude of each value. A method of allocating to five stages of driving load categories stored in advance in the driving load determination device 32 is conceivable.
[0065]
It is good also as a driver | operator's driving load determination which the driving load determination apparatus 32 presents by calculating the average about all the five steps of driving loads detected by these driving load determination methods. Note that the driving load of the driver determined by the driving load determination device 32 is stored in the driving load category holding memory 321.
[0066]
The obstacle detection device 22 includes the television camera 221 that captures a scene in front of the vehicle, the image processing device 222 that extracts an obstacle from the image of the television camera 221, the image memory 223, the pedestrian detection device 225, and the obstacle. It consists of an object classification holding memory 224.
[0067]
The pedestrian detection device 225 includes a transmitter that transmits radio waves carried by a pedestrian and a receiver mounted on the vehicle, and the receiver mounted on the vehicle detects the radio waves that the transmitter starts. By doing so, it is possible to detect the presence of a pedestrian at a certain position. That is, when the image processing apparatus 222 detects any obstacle and receives the transmitter's radio wave, the obstacle classification holding memory 224 holds a record that there is a pedestrian in the traveling direction. If no radio wave is received, the obstacle classification holding memory 224 holds a record that there is an obstacle in the traveling direction.
[0068]
The process flow in the controller 23 shown in FIG. 14 is the same as the process flow of the controller 23 in FIG. 2 in the first embodiment of the present invention shown in FIGS.
[0069]
As described above, according to the present embodiment, the driver's driving load is detected based on the driver's driving operation information and the vehicle behavior information, and the obstacle detection range and the alarm when the obstacle is detected based on the detection are detected. Since the method has been changed, it is possible to reliably present alarm information when an alarm is required. Furthermore, when presenting an alarm, the driving load imposed on the driver and the cognitive characteristics at that time can be considered. It is possible to present an alarm according to the response.
[0070]
FIG. 15 is a block diagram of an alarm control device according to the third embodiment of the present invention.
[0071]
In this figure, the basic configuration is the same as the block configuration diagram of the first embodiment of the present invention shown in FIG. 2 and the block configuration diagram of the second embodiment of the present invention shown in FIG. The explanations made are omitted.
[0072]
The driving load determination device 41 integrates output signals from the biological signal detection device 20, the operation state detection device 30, and the vehicle state detection device 31, and determines the driving load of the driver according to the magnitude of the value in advance. It is a device that makes a determination by allocating to three stages of operation load categories stored in the category holding memory 421.
[0073]
The line-of-sight analysis device 42 is a device that detects the driver's line-of-sight position. For example, an eyeball image is captured by an eye camera attached to an instrument panel of the vehicle, and the driver's line-of-sight position is detected by performing image processing. It is a device to do. Further, the gaze analysis device 42 includes a gaze position holding memory 421 capable of holding the detected gaze position information of the driver.
[0074]
The line-of-sight guidance device 44 displays information for guiding the driver's line-of-sight position to a predetermined position on the head-up display 241 based on the input from the controller 43, and the driver's line-of-sight position is set to the predetermined position. It is a device that determines whether or not it has arrived.
[0075]
The controller 43 is a device that appropriately controls alarm information presented to the driver via the alarm information presentation device 24 based on the processing results of the driving load determination device 41, the line-of-sight analysis device 42, and the obstacle detection device 22. , An appropriate alarm determination circuit 431, an appropriate alarm determination rule holding memory 432, an obstacle detection range determination circuit 433, and an obstacle detection range determination rule holding memory 434.
[0076]
Hereinafter, the processing flow in the present embodiment will be described based on the flowchart shown in FIG. 19, but the basic processing flow is the same as that in the first embodiment shown in FIG. The steps different from the processing will be described. Hereinafter, in the present embodiment, the obstacle detection range and the visual alarm display position are defined as a line connecting the driver's line-of-sight position 66 and the driver's eyebrow position 67 shown in FIG. It is expressed by an angle η formed by a straight line 73 connecting an arbitrary position 68 of the window 63 and the position between the eyebrows and a line of sight line.
[0077]
In step S31, the gaze position of the driver is detected by the gaze analysis device 42, and the detected gaze position is held in the gaze position holding memory 421. Subsequently, in step S32, based on the line-of-sight position detected in step S31, the driving load classification read in step S10, and the obstacle detection range decision rule shown in FIG. 17 held in the obstacle detection range decision rule holding memory 433. The obstacle detection range determination circuit 433 determines the obstacle detection range and the obstacle detection level. For example, as shown in the obstacle detection range determination rule in FIG. 17, when the driving load of the driver held in the driving load category holding memory 211 is level 1, the obstacle detection range is “η = 15. The detection level is “high”.
[0078]
In step S33, the driving load classification holding memory 211 is read, and when the driving load level is “1” in the three stages of driving load levels held in the memory, the processing of the driving load level 1 is performed. When the driving load level is “2”, the process proceeds to step S35 for performing the processing of the driving load level 2. When the driving load level is “3”, the process of the driving load level 3 is performed. Proceed to These processes are performed by an appropriate alarm determination circuit 431 inside the controller 43.
[0079]
Hereinafter, the processing from the operation load level 1 to the operation load level 3 will be described in order. These processes are performed by referring to the appropriate rule holding law shown in FIG. 18 held in the appropriate alarm determination rule holding memory 432 by the appropriate alarm determination circuit 431 in the controller 43.
[0080]
The flow of processing at the operating load level 1 is shown in the flowchart of FIG.
[0081]
First, in step S341, the obstacle classification holding memory 224 of the obstacle detection device 22 is referred to. If the obstacle classification held in the memory is a pedestrian, the process proceeds to step S342, and if it is an obstacle, the process proceeds to step S346.
[0082]
In step S342, the position of the pedestrian is calculated from the image held in the image memory 221, and the driver's line-of-sight position held in the line-of-sight position holding memory 421 is read. Subsequently, in step S343, when the pedestrian image is within the angle η = 20 ° with respect to the driver's line of sight direction, the process proceeds to step S344, and when it is not within η = 20 °, the process proceeds to step S345. I do.
[0083]
In step S344, no warning is presented. This is because, when the driving load is as low as level 1, the driver can recognize the overall environment, so that the pedestrian located within the angle η = 20 ° with respect to the line of sight line is wrong. This is because it can be detected. On the other hand, in step S345, a visual warning is displayed with characters or icons indicating the presence of a pedestrian using a head-up display at a position within an angle η = 15 ° with respect to the line of sight. Depending on the size. This is because, even when the driving load is as low as level 1, the presence of a pedestrian located at an angle η = 20 ° or more with the line of sight line may be missed.
[0084]
In step S346, the position of the obstacle is calculated from the image held in the image memory 231, and the driver's line-of-sight position held in the line-of-sight position holding memory 421 is read. Subsequently, in step S347, when the obstacle exists within an angle η = 25 ° with respect to the line of sight of the driver, the process proceeds to step S348, and when it does not exist within 25 °, the process proceeds to step S349.
[0085]
In step S348, no warning is presented. This is because when the driving load is as low as level 1, the driver can recognize the overall environment. Therefore, the obstacle located within the angle η = 25 ° with respect to the line of sight is incorrect. This is because it can be detected. On the other hand, in step S349, at a position within an angle η = 15 ° with respect to the line of sight, a visual warning is displayed with a character or icon indicating the presence of an obstacle using a head-up display with a viewing angle of 2 °. Depending on the size. This is because, even when the driving load is as low as level 1, the presence of a pedestrian located at an angle η = 25 ° or more with respect to the line of sight line may be missed.
[0086]
The flow of processing at the operating load level 2 is shown in the flowchart of FIG.
[0087]
First, in step S351, the contents of the image memory held with reference to the image memory 223 of the obstacle detection device 22 are taken into the image memory 242, and further, the driver held with reference to the line-of-sight position holding memory 421 is stored. Capture the line-of-sight position.
[0088]
In step S352, the position of the obstacle is calculated from the image held in the image memory 223. When the obstacle image exists within an angle η = 5 ° with respect to the line of sight line, the process is terminated, and η = 5 °. If not, the process proceeds to step S353.
[0089]
In step S353, the outline of the obstacle held in the image memory 242 is highlighted by blinking red using a head-up display, and by highlighting the obstacle in red on the front window. The displayed image is displayed. Here, the blinking cycle is set to 2.5 Hz with a lighting time of 200 milliseconds and a turn-off time of 200 milliseconds based on the appropriate alarm determination rule shown in FIG. 18 held in the appropriate alarm determination rule holding memory 232.
[0090]
In step S354, the position of the obstacle is calculated from the image held in the image memory 223. If the obstacle image is present at an angle η = 20 ° or more with respect to the line of sight of the driver, the process proceeds to step S355. , Η = 20 ° or more, the process is terminated.
[0091]
In step S355, a buzzer 243 having a frequency of 3 kHz is presented for 2 seconds while controlling at a duty of 100 milliseconds / 300 milliseconds based on the appropriate alarm determination rule shown in FIG. 5 held in the appropriate alarm decision rule holding memory 232. To finish the process.
[0092]
The flow of processing at the operating load level 3 is shown in the flowchart of FIG.
[0093]
First, in step S361, the image memory 223 of the obstacle detection device 22 is referred to, the contents of the image memory are taken into the image memory 242, and further, the driver's line-of-sight position held with reference to the line-of-sight position holding memory 421 is determined. take in. In step S362, the outline of the obstacle held in the image memory 242 is highlighted by blinking red using a head-up display, and the obstacle is highlighted in red on the front window. The displayed image is displayed. Here, the blinking cycle is set to 10.0 Hz with a lighting time of 50 milliseconds and a turn-off time of 50 milliseconds based on the appropriate alarm determination rule shown in FIG. 5 held in the appropriate alarm determination rule holding memory 232.
[0094]
In step S363, the position of the obstacle is calculated from the image held in the image memory 231. If the obstacle image is present at an angle η = 10 ° or more with respect to the line of sight of the driver, step S363 is executed. The process proceeds to S364, and if it exists within η = 10 °, the process is terminated.
[0095]
In step S364, the position of the obstacle is calculated from the image held in the image memory 231, and if the obstacle image is within an angle η = 20 ° with respect to the driver's line of sight direction, the process proceeds to step S365. If η = 20 ° or more, the process proceeds to step S366.
[0096]
In step S365, the buzzer 242 having a frequency of 3 kHz is presented for 2 seconds while controlling at a duty of 100 milliseconds / 300 milliseconds based on the appropriate alarm determination rule shown in FIG. 18 held in the appropriate alarm decision rule holding memory 232. To finish the process.
[0097]
In step S366, the buzzer 242 having a frequency of 3 kHz is controlled with a duty of 50 milliseconds / 50 milliseconds. Furthermore, information for guiding the driver's line of sight using the head-up display and the line-of-sight guidance device 44 installed in the front window 63 is presented. Specifically, as shown in FIG. 23, an arrow 82 indicating the direction in which the obstacle / pedestrian 81 exists from the driver's line-of-sight position 80 is displayed.
[0098]
In step S367, the driver's line-of-sight position is detected again, and in step S368, it is determined whether the driver's line-of-sight position has reached a position where an obstacle exists. If the driver's line-of-sight position has reached an obstacle, the process proceeds to step S369 to stop the alarm sound and the process is terminated. If the line-of-sight position has not reached the obstacle, the process proceeds to step S366. Return.
[0099]
As described above, according to the present embodiment, the driver's driving load is detected based on the driver's biological information, driving operation information, and vehicle behavior information, and the obstacle detection range and the obstacle are detected based on the detection. Since the alarm method at the time is changed, it is possible to reliably present the alarm information when the alarm is necessary. Further, when the alarm is presented, the driving load imposed on the driver and the current time It is possible to present an alarm according to the cognitive characteristics. Furthermore, since the visual alarm presentation position is changed according to the visual line direction line, or the visual line guidance is performed when the driving load is high, the alarm information can be presented more accurately.
[0100]
【The invention's effect】
According to the first aspect of the present invention, the detection range of the presence of an obstacle that may make the vehicle traveling difficult in front of the vehicle is limited according to the driving load state of the driver, and further, the driver If an obstacle that should be warned is detected, it corresponds to the driving load condition of the driver. Regarding the reception of visual or auditory information Obstacle warning information is presented to the driver according to cognitive characteristics and types of obstacles, so the driver will not receive an unnecessary and annoying alarm presentation, and the warning and warning will show easily The contents can be recognized, and the action for the alarm can be quickly performed.
[0101]
According to the invention described in claim 2, in addition to the effect of the invention described in claim 1, the alarm presenting method determination means can Regarding reception of corresponding visual or auditory information Based on the cognitive characteristics, it is determined that the warning information is presented by one or both of auditory display and visual display, and when the warning information is presented by visual display, the warning presentation method determining means On driving load Regarding reception of corresponding visual or auditory information Since the appropriate display position of the visual display is determined based on the cognitive characteristics, the driver can obtain the alarm information suitable for the cognitive characteristics. Therefore, the alarm and the contents indicated by the alarm can be recognized more reliably.
[0102]
According to the third aspect of the invention, in addition to the effects of the first and second aspects of the invention, the driving load detection means uses the driver's driving load as the biological information driving load detection means, and the driver's electrocardiogram. , Pulse wave signal, respiratory signal, blood pressure signal, myoelectric signal from at least one biological information, and driving load is detected in the operation information driving load detection means, the driver's accelerator operation amount, brake operation amount , The driving load is detected from at least one vehicle operation information of the steering wheel operation amount, and the driving load is detected by the vehicle behavior driving load detecting means, and at least one of the vehicle speed, the lateral acceleration, and the yaw rate is detected. Since it is detected from the behavior information, it is possible to detect the driving load of the driver who is driving the vehicle from the biological information, the vehicle operation information, and the vehicle behavior information.
[0103]
According to the invention described in claim 4, in addition to the effect of the invention described in claim 1, claim 2, or claim 3, the driving load detection means displays the driving load status of the driver in the driving load status classification means. According to the degree, the alarm presentation method determining means determines the appropriate alarm information presentation method according to the classification indicated by the driving load status classification means. Alarm information can be presented.
[0104]
According to the invention described in claim 5, in addition to the effects of the invention described in claims 1 to 4, the obstacle type determination means causes the person / object classification means to classify the obstacle into a human and a non-human, Furthermore, the warning presentation method determining means determines the appropriate warning information presentation method according to the classification indicated by the person / item classification means, so that the warning information according to the classification of the obstacle type can be presented to the driver. It becomes possible.
[0105]
According to the invention of claim 6, in addition to the effects of the inventions of claims 1 to 5, the driver detecting the obstacle detection range limited by the obstacle detection range limitation means is detected by the driving load detection means. The larger the driving load, the wider the range, so it is possible to detect a wide range of obstacles as the driving load increases, and the narrower range of obstacles can be detected instantaneously and in detail as the driving load decreases. Is possible.
[Brief description of the drawings]
FIG. 1 is a block diagram showing a configuration of the present invention.
FIG. 2 is a block diagram showing a configuration of a first embodiment of the present invention.
FIG. 3 is a view showing an example of attachment of an ultrasonic sensor and a respiration sensor of the same embodiment.
FIG. 4 is a flowchart showing a calculation processing procedure in the obstacle detection apparatus of the embodiment.
FIG. 5 is an explanatory diagram of information stored in an obstacle detection range determination rule holding memory according to the embodiment;
FIG. 6 is an explanatory diagram of an angle θ used for indicating an obstacle detection range and a visual alarm display position according to the embodiment.
FIG. 7 is an explanatory diagram of information stored in an appropriate alarm determination rule holding memory according to the embodiment;
FIG. 8 is a flowchart showing a calculation processing procedure in the controller of the embodiment;
FIG. 9 is a flowchart showing a calculation processing procedure when the operation load level is 1 in the controller of the same embodiment;
FIG. 10 is a flowchart showing a calculation processing procedure when the operation load level is 2 in the controller of the same embodiment;
FIG. 11 is a flowchart showing a calculation processing procedure when the operation load level is 3 in the controller of the embodiment;
FIG. 12 is a flowchart showing a calculation processing procedure when the operation load level is 4 in the controller of the same embodiment;
FIG. 13 is a flowchart showing a calculation processing procedure when the operation load level is 5 in the controller of the same embodiment;
FIG. 14 is a block diagram showing a configuration of a second embodiment of the present invention.
FIG. 15 is a block diagram showing a configuration of a third embodiment of the present invention.
FIG. 16 is an explanatory diagram of an angle η used for indicating an obstacle detection range and a visual alarm display position according to the embodiment.
FIG. 17 is an explanatory diagram of information stored in an obstacle detection range determination rule holding memory according to the embodiment;
FIG. 18 is an explanatory diagram of information stored in a proper alarm determination rule holding memory according to the embodiment;
FIG. 19 is a flowchart showing a calculation processing procedure in the controller of the embodiment;
FIG. 20 is a flowchart showing a calculation processing procedure when the operation load level is 1 in the controller of the embodiment;
FIG. 21 is a flowchart showing a calculation processing procedure when the operation load level is 2 in the controller of the embodiment;
FIG. 22 is a flowchart showing a calculation processing procedure when the operation load level is 3 in the controller of the embodiment;
FIG. 23 is an explanatory diagram of the operation of the line-of-sight guidance device according to the embodiment.
[Explanation of symbols]
10 Driver load judgment device
11 Obstacle detection range determination means
12 Obstacle detection means
13 Obstacle type discrimination means
14 Warning presentation method decision means
15 Alarm information presentation means

Claims (6)

Obstacle detection means for detecting the presence of an obstacle that may hinder vehicle travel in front of the vehicle;
Driving load detection means for detecting the driving load state of the driver;
Obstacle detection range limiting means for limiting an obstacle detection range in which the obstacle detection means detects an obstacle according to the driving load state detected by the driving load detection means;
Obstacle type determination means for determining the type of the obstacle;
When an obstacle is detected in the obstacle detection range by the obstacle detection means, the visual information corresponding to the driving load state detected by the driving load detection means , or a cognitive characteristic related to reception of auditory information, and the obstacle According to the determination result by the object type determination means, an alarm presentation method determination means for determining a method for presenting appropriate alarm information to the driver;
Alarm information presenting means for presenting the appropriate alarm information;
An alarm control device characterized by having. The alarm control device according to claim 1,
The alarm presentation method determining means determines to present the appropriate alarm information by either or both of an auditory display and a visual display based on the cognitive characteristics, and further, the appropriate alarm information of the visual display is determined. An alarm control device comprising means for determining an appropriate display position of the visual display based on the cognitive characteristics when presenting. In the alarm control device according to claim 1 and claim 2,
The driving load detection means is a driving load detection means for detecting driving load from at least one biological information of a driver's electrocardiogram signal, pulse wave signal, respiratory signal, blood pressure signal, myoelectric signal,
An operation driving load detection means for detecting a driving load from at least one vehicle operation information of a driver's accelerator operation amount, a brake operation amount, and a steering wheel operation amount;
Vehicle behavior driving load detecting means for detecting driving load from at least one vehicle behavior information of vehicle speed, lateral acceleration, yaw rate,
An alarm control device having at least one of the following. In the alarm control device according to claim 1 or 3,
The driving load detection means has driving load state classification means for classifying the driving load state of the driver according to the degree thereof,
The alarm control apparatus according to claim 1, wherein the alarm presentation method determining means determines a method of presenting the appropriate alarm information according to the classification indicated by the driving load state classification means of the driving load detection means. The alarm control device according to claim 1 to 4,
The obstacle type determined by the obstacle type determining means has a person / object classification means for classifying the obstacle into a human and a non-human,
The alarm control apparatus according to claim 1, wherein the alarm presentation method determining means determines the appropriate alarm information presenting method according to the classification indicated by the person / object classification means of the obstacle type determining means. The alarm control device according to any one of claims 1 to 5,
2. The alarm control device according to claim 1, wherein the obstacle detection range limited by the obstacle detection range limiting means becomes wider as the driving load of the driver detected by the driving load detection means increases.

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