Safe driving assistance system

Abstract

A safe driving assistance system is mounted on a vehicle provided with an automobile data recorder. A safe driving assistance system includes a control device and a notification device. The control device executes the following steps: acquiring an image shot by the automobile data recorder; detecting a surrounding vehicle reflected in the acquired image; determining whether a driver identifier is displayed on the detected surrounding vehicle; and outputting a warning signal when the peripheral vehicle on which the driver identifier is displayed is detected. Upon receiving the warning signal output by the control device, the notification device notifies the driver of the presence of the surrounding vehicle on which the driver identifier is displayed.

Description

Technical Field

[0001] The invention relates to a safe driving assistance system. Background Art

[0002] Japanese Patent Application Laid-Open No. 2007-072641 discloses a dangerous vehicle detection device that determines whether another vehicle is driving dangerously based on the behavior of another vehicle near the vehicle driven by the driver. The dangerous vehicle detection device notifies the driver of the presence of the other vehicle when detecting another vehicle driving dangerously.

[0003] By providing such notification, the driver can perform defensive driving to prevent traffic accidents, such as ensuring a distance from the other vehicle. Summary of the invention

[0004] It is preferable to perform driving with a margin such as ensuring a sufficient inter-vehicle distance for a vehicle driven by a beginner, an elderly person, or the like.

[0005] Means for solving the above-mentioned problems and their effects are described below.

[0006] The safe driving assistance system for solving the above-mentioned problems is installed in a vehicle equipped with a driving recorder. The safe driving assistance system includes a control device, which performs the following operations: obtaining an image captured by the driving recorder; detecting surrounding vehicles reflected in the obtained image; determining whether the detected surrounding vehicles display a driver mark; and outputting a warning signal when a surrounding vehicle displaying the above-mentioned driver mark is detected. The safe driving assistance system includes a reporting device, which reports to the driver the existence of surrounding vehicles displaying the above-mentioned driver mark when receiving the above-mentioned warning signal output by the above-mentioned control device.

[0007] The driver of the vehicle equipped with the safe driving assistance system can easily notice the surrounding vehicles displaying the driver mark. Therefore, the driver of the vehicle equipped with the safe driving assistance system can easily perform a margin driving for the surrounding vehicles displaying the driver mark. BRIEF DESCRIPTION OF THE DRAWINGS

[0008] Features, advantages and technical and industrial significance of this invention will become more apparent from the following detailed description of preferred embodiments of the invention with reference to the accompanying drawings, wherein like reference numerals denote like elements and wherein:

[0009] Figure 1 It is a block diagram showing the overall configuration of a vehicle equipped with the safe driving support system according to the embodiment.

[0010] Figure 2 FIG. 1 is a diagram showing an example of an image captured by a drive recorder of the driving safety support system.

[0011] Figure 3 This is a flowchart for reporting surrounding vehicles with driver logos displayed to the driver in the safe driving assistance system.

[0012] Figure 4 This is a flowchart for switching the safe driving assistance mode in the safe driving assistance system.

[0013] Figure 5 The diagram shows a comparison between the inter-vehicle distance to surrounding vehicles displaying a driver sign and the inter-vehicle distance to surrounding vehicles displaying no driver sign in the safe driving support system.

[0014] Figure 6 The diagram shows a comparison between the lateral distance to the surrounding vehicles on which the driver sign is displayed and the lateral distance to the surrounding vehicles on which the driver sign is not displayed in the safe driving support system. DETAILED DESCRIPTION

[0015] Below, refer to Figure 1 to Figure 6 An embodiment of the safe driving assistance system will be described.

[0016] <Structure of safe driving support system>

[0017] The safe driving assistance system is mounted on the vehicle 100 , and performs driving assistance for the vehicle 100 in response to objects such as surrounding vehicles and obstacles in the driving environment of the vehicle 100 .

[0018] like Figure 1 As shown, the vehicle 100 includes a driving recorder 10, a control device 20, a sensor group 30, a powertrain 40, a power steering system 50, a brake system 60, and a reporting device 70. The driving recorder 10, the control device 20, the sensor group 30, the powertrain 40, the power steering system 50, the brake system 60, and the reporting device 70 constitute a safe driving assistance system.

[0019] The control device 20 can control the vehicle 100 as a whole and manage the movement of the vehicle 100. The control device 20 can adjust the travel speed of the vehicle 100 by controlling the powertrain 40 and the brake system 60. The control device 20 can adjust the steering angle of the tires to adjust the travel direction of the vehicle 100 by controlling the power steering system 50.

[0020] The sensor group 30 can obtain the relative distance between the vehicle 100 and the surrounding vehicles and obstacles located around the vehicle 100. The sensor group 30 sends the relative distance obtained above to the control device 20. For example, the sensor group 30 can be composed of various sensors such as a camera, a millimeter wave radar, LiDAR (Light Detection and Ranging), and an ultrasonic sensor (sonar). In addition, the sensor group 30 may also include other sensors such as an accelerator sensor, a brake sensor, a gyro sensor, and an acceleration sensor.

[0021] The reporting device 70 is connected to the control device 20 in a manner capable of receiving a warning signal from the control device 20. When receiving the warning signal from the control device 20, the reporting device 70 reports to the driver of the vehicle 100 that there are surrounding vehicles displaying a driver logo. The specific method of the reporting device 70 is not particularly limited as long as it can issue a warning to draw the attention of the driver of the vehicle 100.

[0022] For example, a speaker that emits a warning sound, a display device of a navigation system mounted on the vehicle 100, a display device of the drive recorder 10, a steering wheel with a warning function, and an instrument panel can be used as the reporting device 70. The display device issues a warning by displaying a warning. The steering wheel with a warning function issues a warning by vibrating. The instrument panel issues a warning by lighting a warning lamp or by displaying a warning on an information display.

[0023] Figure 2 1 shows an example of an image captured by the driving recorder 10. Figure 2 As shown, the drive recorder 10 captures and records the image of the front of the vehicle as seen from the driver's seat.

[0024] exist Figure 2 In the example shown, a driver mark 200a is displayed on one of the surrounding vehicles traveling in front of the vehicle 100. The driver mark 200a includes a novice driver mark displayed for a novice driver, an elderly driver mark displayed for an elderly driver, and the like. Figure 2 In the example shown, the learner driver logo is displayed.

[0025] For safe driving, it is preferable to drive with a margin such as ensuring a sufficient inter-vehicle distance for vehicles driven by beginners or elderly persons. Therefore, the safe driving assistance system detects surrounding vehicles displaying the driver mark 200a from the image captured by the driving recorder 10. Then, when the safe driving assistance system detects surrounding vehicles displaying the driver mark 200a, it notifies the driver of the existence of the surrounding vehicles displaying the driver mark 200a.

[0026] Below, refer to Figure 3 to Figure 6 The flow of processing executed in this safe driving support system will be described in detail.

[0027] Figure 3 2 is a flowchart for reporting surrounding vehicles displaying the driver mark 200a to the driver of the vehicle 100 in the safe driving assistance system. This series of processing is executed by the control device 20 while the vehicle 100 is traveling. Figure 3 As shown, when the series of processes starts, the control device 20 first acquires the image captured by the drive recorder 10 in the process of step S100. Specifically, the image in front of the vehicle 100 captured by the front camera of the drive recorder 10 while the vehicle is traveling is acquired.

[0028] Next, in the process of step S110, the control device 20 detects surrounding vehicles from the image obtained in the process of step S100. Specifically, the control device 20 detects surrounding vehicles reflected in the obtained image by performing image recognition processing, wherein the image recognition processing uses a learned model that has been trained by a teacher so that the vehicle reflected in the image can be detected. Figure 2 In the example shown, four detected surrounding vehicles 200 , 300 , 400 , and 500 are enclosed and shown by solid lines.

[0029] Next, in step S120, the control device 20 determines whether the driver mark 200a is displayed for each surrounding vehicle detected from the image captured by the driving recorder 10. Specifically, the control device 20 determines whether the driver mark 200a is displayed on the detected surrounding vehicles by performing image recognition processing, wherein the image recognition processing uses a learned model that has been trained by a teacher so that the driver mark 200a reflected in the image can be detected. Figure 2 In the illustrated example, the driver mark 200 a is displayed on the surrounding vehicle 200 among the four detected surrounding vehicles 200 , 300 , 400 , and 500 .

[0030] In the process of step S120 , when it is determined that the driver mark 200 a is displayed on the surrounding vehicle (step S120 : Yes), the control device 20 advances the process to step S130 .

[0031] In the process of step S130, the control device 20 causes the warning signal for calling the driver of the vehicle 100's attention to the presence of the surrounding vehicle displaying the driver mark 200a to be output to the notification device 70. Then, the control device 20 ends the series of processes.

[0032] The reporting device 70 that has received the warning signal reports to the driver the existence of a surrounding vehicle displaying the driver mark 200 a .

[0033] On the other hand, when it is determined in the process of step S120 that there is no surrounding vehicle displaying the driver mark 200a (step S120: No), the control device 20 does not execute the process of step S130 and ends the series of processes.

[0034] <Switching the safe driving assistance mode>

[0035] The safe driving assistance system switches the safe driving assistance mode according to whether a surrounding vehicle displaying a driver logo 200a is detected. The safe driving assistance system has general driving assistance and specific driving assistance as safe driving assistance modes. Driving assistance includes speed control for controlling the powertrain 40 and the braking system 60 to ensure the vehicle-to-vehicle distance relative to the preceding vehicle, and steering assistance for operating the power steering system 50 to ensure the lateral distance relative to the surrounding vehicles. The difference between general driving assistance and specific driving assistance will be described later.

[0036] Figure 4 2 is a flowchart for switching the safe driving assistance mode in the safe driving assistance system. The series of processes is executed by the control device 20 while the vehicle 100 is traveling.

[0037] like Figure 4 As shown, when the series of processes is started, the control device 20 determines in step S200 whether a surrounding vehicle displaying the driver mark 200a is detected.

[0038] In the process of step S200, when it is determined that a surrounding vehicle displaying the driver mark 200a is detected (step S200: Yes), the control device 20 advances the process to step S210. In step S210, the control device 20 performs specific driving assistance for the surrounding vehicle displaying the driver mark 200a.

[0039] If it is determined in the process of step S200 that the driver mark 200a is not displayed (step S200: No), the control device 20 advances the process to step S220. In step S220, the control device 20 performs general driving assistance for the surrounding vehicles that do not display the driver mark 200a.

[0040] After performing specific driving assistance or general driving assistance in this manner, the control device 20 ends the series of processing.

[0041] Next, refer to Figure 5 and Figure 6The difference between general driving assistance and specific driving assistance is explained. Figure 5 The difference between general speed control, which is speed control in general driving assistance, and specific speed control, which is speed control in specific driving assistance, is shown.

[0042] Figure 5 The preceding vehicle 600 shown is a vehicle traveling in front of the vehicle 100. When the preceding vehicle 600, which is a surrounding vehicle, does not display the driver mark 200a, the control device 20 performs general driving assistance as described above. In the speed control in the general driving assistance, i.e., the general speed control, the control device 20 controls the powertrain 40 and the brake system 60 so that the inter-vehicle distance with the preceding vehicle 600 is ensured to be greater than the first inter-vehicle distance D1.

[0043] On the other hand, when the preceding vehicle 600, which is a surrounding vehicle, displays the driver mark 200a, the control device 20 performs the specific driving assistance as described above. In the speed control in the specific driving assistance, i.e., the specific speed control, the control device 20 controls the powertrain 40 and the brake system 60 so that the inter-vehicle distance with the preceding vehicle 600 is ensured to be greater than the second inter-vehicle distance D2. Figure 5 As shown, the second inter-vehicle distance D2 is longer than the first inter-vehicle distance D1. The first inter-vehicle distance D1 may be appropriately set to reliably prevent a collision with the preceding vehicle 600 in consideration of the speed of the vehicle 100 and the braking distance of the vehicle 100.

[0044] Figure 6 The distinction between general steering assistance, which is steering assistance in general driving assistance, and specific steering assistance, which is steering assistance in specific driving assistance, is shown.

[0045] Figure 6 The surrounding vehicle 700 shown is a surrounding vehicle traveling in a lane adjacent to the lane in which the vehicle 100 is traveling. In a case where the surrounding vehicle 700 does not display the driver mark 200a, the control device 20 performs general driving assistance as described above. In the steering assistance in the general driving assistance, that is, the general steering assistance, the control device 20 operates the power steering system 50 in such a way that the lateral distance to the surrounding vehicle 700 is ensured to be greater than the first lateral distance LT1. On the other hand, in a case where the surrounding vehicle 700 displays the driver mark 200a, the control device 20 of the safety driving assistance system performs specific driving assistance as described above. In the steering assistance in the specific driving assistance, that is, the specific steering assistance, the control device 20 operates the power steering system 50 in such a way that the lateral distance to the surrounding vehicle 700 is ensured to be greater than the second lateral distance LT2. Figure 6As shown, the second lateral distance LT2 is longer than the first lateral distance LT1. The first lateral distance LT1 may be appropriately set based on the road conditions, the running environment of the vehicle 100, the speed, and the like.

[0046] <Function of this embodiment>

[0047] As reference Figure 3 As described above, the control device 20 of the safe driving assistance system detects surrounding vehicles from the image captured by the driving recorder 10. Then, the control device 20 determines whether the detected surrounding vehicles display the driver mark 200a. When the control device 20 detects a surrounding vehicle displaying the driver mark 200a, the reporting device 70 reports the existence of the surrounding vehicle displaying the driver mark 200a to the driver of the vehicle 100.

[0048] In this way, the safe driving assistance system recognizes surrounding vehicles displaying the driver mark 200 a to call the driver's attention.

[0049] <Effects of the present embodiment>

[0050] (1) The driver of the vehicle 100 equipped with the above-mentioned safe driving assistance system can easily notice the surrounding vehicles displaying the driver mark 200a. Therefore, the driver of the vehicle 100 equipped with the above-mentioned safe driving assistance system can easily perform a margin driving with respect to the surrounding vehicles displaying the driver mark 200a.

[0051] (2) The above-mentioned safe driving support system is mounted on a vehicle 100 having a sensor group 30 for measuring the distance to surrounding vehicles. When the control device 20 detects a surrounding vehicle displaying a driver mark 200a as a preceding vehicle, the control device 20 performs speed control to operate the powertrain 40 and the brake system 60 in a manner to ensure the inter-vehicle distance with respect to the preceding vehicle.

[0052] In the above-mentioned safe driving assistance system, when the control device 20 detects a surrounding vehicle displaying the driver mark 200a as a preceding vehicle, it can easily grasp the inter-vehicle distance relative to the preceding vehicle based on the distance measurement result of the sensor group 30. Therefore, the control device 20 can reliably ensure the inter-vehicle distance relative to the preceding vehicle by executing speed control of operating the powertrain 40 and the brake system 60. Thus, the above-mentioned safe driving assistance system can perform driving assistance in a manner that reliably ensures the inter-vehicle distance relative to the surrounding vehicles displaying the driver mark 200a.

[0053] (3) When the control device 20 detects a surrounding vehicle that does not display the driver mark 200a as the preceding vehicle, the control device 20 performs general speed control. General speed control is a speed control that operates the powertrain 40 and the brake system 60 in such a manner that the inter-vehicle distance with the preceding vehicle is ensured to be greater than the first inter-vehicle distance D1. On the other hand, when the control device 20 detects a surrounding vehicle that displays the driver mark 200a as the preceding vehicle, the control device 20 performs specific speed control. Specific speed control is a speed control that operates the powertrain 40 and the brake system 60 in such a manner that the inter-vehicle distance with the preceding vehicle is ensured to be greater than the second inter-vehicle distance D2 that is greater than the first inter-vehicle distance D1.

[0054] In the above-mentioned safe driving assistance system, the control device 20 performs general speed control to ensure that the inter-vehicle distance is greater than the first inter-vehicle distance D1 for the preceding vehicle that does not display the driver logo 200a. On the other hand, the control device 20 performs specific speed control in a manner to ensure that the inter-vehicle distance is greater than the second inter-vehicle distance D2 greater than the first inter-vehicle distance D1 relative to the preceding vehicle that displays the driver logo 200a. Therefore, the control device 20 can selectively perform general speed control and specific speed control according to the presence or absence of the driver logo 200a. In this way, by utilizing the speed control of operating the powertrain 40 and the braking system 60, not only can the inter-vehicle distance be reliably ensured relative to the surrounding vehicles, but also, in particular, driving with a margin is achieved relative to the preceding vehicle that displays the driver logo 200a.

[0055] (4) The above-mentioned safe driving assistance system is mounted on a vehicle 100 having a sensor group 30 for measuring the distance to surrounding vehicles. When the control device 20 detects a surrounding vehicle displaying a driver mark 200a, the control device 20 performs steering assistance for operating the power steering system 50 in a manner to ensure the lateral distance to the surrounding vehicle displaying the driver mark 200a.

[0056] In the above-mentioned safe driving assistance system, when the control device 20 detects a surrounding vehicle displaying the driver mark 200a, it can easily grasp the lateral distance to the surrounding vehicle based on the distance measurement result of the sensor group 30. Therefore, the control device 20 can reliably ensure the lateral distance to the surrounding vehicle by performing the steering operation assistance of operating the power steering system 50. As a result, the above-mentioned safe driving assistance system can perform driving assistance in a manner that reliably ensures the lateral distance to the surrounding vehicle displaying the driver mark 200a.

[0057] (5) When the control device 20 detects a surrounding vehicle that does not display the driver mark 200a, the control device 20 performs general steering assistance. General steering assistance is steering assistance that operates the power steering system 50 in a manner that ensures that the lateral distance to the surrounding vehicles is greater than the first lateral distance LT1. On the other hand, when the control device 20 detects a surrounding vehicle that displays the driver mark 200a, the control device 20 performs specific steering assistance. Specific steering assistance is steering assistance that operates the power steering system 50 in a manner that ensures that the lateral distance to the surrounding vehicles is greater than the second lateral distance LT2 that is greater than the first lateral distance LT1.

[0058] In the above-mentioned safe driving assistance system, the control device 20 performs general steering assistance to ensure that the lateral distance is greater than the first lateral distance LT1 for surrounding vehicles that do not display the driver logo 200a. On the other hand, the control device 20 performs specific steering assistance to ensure that the lateral distance is greater than the second lateral distance LT2 greater than the first lateral distance LT1 for surrounding vehicles that display the driver logo 200a. Therefore, the control device 20 can selectively perform general steering assistance and specific steering assistance according to the presence or absence of the driver logo 200a. In this way, by using the steering assistance for operating the power steering system 50, not only can the lateral distance with respect to the surrounding vehicles be reliably ensured, but also, in particular, driving with a margin is achieved with respect to the surrounding vehicles that display the driver logo 200a.

[0059] <Change Example>

[0060] The present embodiment can be implemented by being modified as follows. The present embodiment and the following modified examples can be implemented in combination with each other within a range that does not technically contradict each other.

[0061] The vehicle 100 is provided with a sensor group 30 for obtaining the relative distance to the surrounding vehicles. However, the safe driving assistance system of the present embodiment can also be applied to a vehicle that does not have a sensor group 30 for obtaining the relative distance to the surrounding vehicles. For example, the safe driving assistance system can recognize the surrounding vehicles displaying the driver logo 200a to arouse the driver's attention, and it is not necessary to manage the movement of the vehicle 100. In this case, the control device 20 may not be connected to the powertrain 40, the power steering system 50, and the braking system 60. That is, the safe driving assistance system may not have the powertrain 40, the power steering system 50, and the braking system 60.

[0062] The safe driving assistance system may be a system that performs only one of speed control and steering assistance as driving assistance.

[0063] The example of a safe driving assistance system that switches between general driving assistance and specific driving assistance depending on whether a surrounding vehicle displaying the driver mark 200a is detected is described. In contrast, the safe driving assistance system may be a system that does not switch the driving assistance method.

Claims

1. A safe driving assistance system, mounted on a vehicle equipped with a driving recorder, wherein: The safe driving assistance system comprises: A control device, the control device executing: obtaining an image captured by the driving recorder; detecting surrounding vehicles reflected in the obtained image; determining whether the detected surrounding vehicles display a driver mark; and outputting a warning signal when a surrounding vehicle displaying the driver mark is detected; as well as A reporting device reports to a driver the existence of a surrounding vehicle displaying the driver mark when receiving the warning signal output by the control device.

2. The safe driving assistance system according to claim 1, wherein: The safe driving assistance system is mounted on the vehicle and includes a sensor group, and the sensor group measures the distance between the vehicle and the surrounding vehicles. When the control device detects a surrounding vehicle displaying the driver mark as a preceding vehicle, the control device performs speed control that operates a powertrain and a brake system in such a manner as to ensure an inter-vehicle distance between the vehicle and the preceding vehicle.

3. The safe driving assistance system according to claim 2, wherein: When the control device detects a surrounding vehicle that does not display the driver mark as a preceding vehicle, the control device performs a general speed control that operates the powertrain and the brake system in such a manner that the inter-vehicle distance between the vehicle and the preceding vehicle is ensured to be greater than a first inter-vehicle distance, When the control device detects a surrounding vehicle displaying the driver identification as a leading vehicle, the control device performs a specific speed control as the speed control, which operates the powertrain and the braking system in such a way that the inter-vehicle distance between the vehicle and the leading vehicle is ensured to be above a second inter-vehicle distance, wherein the second inter-vehicle distance is greater than the first inter-vehicle distance.

4. The safe driving assistance system according to claim 1, wherein: The safe driving assistance system is mounted on the vehicle and includes a sensor group, and the sensor group measures the distance between the vehicle and the surrounding vehicles. When the control device detects a surrounding vehicle displaying the driver mark, the control device performs steering assistance that operates a power steering system in a manner that ensures a lateral distance of the vehicle relative to the surrounding vehicle displaying the driver mark.

5. The safe driving assistance system according to claim 4, wherein: When the control device detects a surrounding vehicle that does not display the driver mark, the control device performs general steering assistance, which operates the power steering system in such a way that the lateral distance between the vehicle and the surrounding vehicles is ensured to be greater than a first lateral distance, When the control device detects a surrounding vehicle displaying the driver identification, the control device performs a specific steering operation assist as the steering operation assist, and the specific steering operation assist operates the power steering system in such a way that the lateral distance between the vehicle and the surrounding vehicles is ensured to be greater than a second lateral distance, wherein the second lateral distance is greater than the first lateral distance.

Images