Vehicle driving assistance device

Abstract

The present invention relates to a vehicle driving assistance device that determines a situation in which a driver is difficult to recognize or easy to recognize an object having a possibility of collision from a side and performs an effective warning. The vehicle driving assistance apparatus includes: a forward environment recognition device that acquires forward environment information of a host vehicle; a side environment recognition device that acquires side environment information of the vehicle; a notification device which reminds the driver to pay attention through an alarm, a warning display and the like; and a control means for inputting surrounding environment information such as the front environment information and the side environment information and driving the notification device, the control means calculating a cognitive load value of the driver on the basis of an object extracted from the surrounding environment information and detected within a cognitive field of view region of the driver, and controlling the notification device on the basis of the cognitive load value. The level of the warning level of a notification device driven when an object having a possibility of collision is detected in the side environment information is variably set.

Description

Technical Field

[0001] The present invention relates to a vehicle driving assistance device for warning a driver of objects with a possible collision, such as other vehicles. Background Art

[0002] In recent years, the detection range of advanced driver assistance systems has been expanded due to the increase in vehicle-mounted sensors and the widening of the angle of view. Therefore, the advanced driver assistance system can detect not only the front but also objects that the driver can easily miss, such as crossing vehicles approaching from the side.

[0003] As a function of side object detection, for example, it is disclosed in Patent Document 1. In the invention of Patent Document 1, a driver's sight line detection system and a sight line guiding device such as HUD are used. The invention of Patent Document 1 is a technology for guiding the driver's sight line toward an object when an object with a collision risk is detected approaching from outside the driver's sight line.

[0004] In addition, as a conventional example of not issuing a warning in a situation where the driver can easily see an obstacle so as not to bother the driver, there is disclosed, for example, in Patent Document 2. The invention of Patent Document 2 is a technology that determines whether a warning is necessary by assuming that a state where the degree of consistency between a photographic image and an object template is greater than a reference value is a state where the driver can easily visually confirm the object.

[0005] Prior art literature

[0006] Patent Literature

[0007] Patent Document 1: Japanese Patent Application Publication No. 2012-234409

[0008] Patent Document 2: Japanese Patent Application Publication No. 2013-171389 Summary of the invention

[0009] Technical problem to be solved by the invention

[0010] However, in the invention of Patent Document 1, even if the driver's line of sight is not directed toward the object with a collision risk, the driver's consciousness recognizes the object with a collision risk through the driver's peripheral vision. In this case, the driver may find the line of sight guidance performed by the line of sight guidance device troublesome. In particular, in a situation where side approaching objects frequently appear, the line of sight guidance of the driver also occurs frequently, which has the problem of not being a highly convenient safety control.

[0011] In addition, in the invention of patent document 2, the factor that affects the situation that the driver is likely to miss is set only to the template matching consistency. Therefore, the invention of patent document 2 has the problem of not being able to comprehensively judge the driver's psychological load state. In addition, in the invention of patent document 2, even if the template matching degree of the image is high, the driver may fall into a state where obstacles are easily missed depending on the number, type, and environmental state of the objects in the driver's field of view.

[0012] Therefore, an object of the present invention is to provide a vehicle driving assistance device that determines whether a driver has difficulty recognizing or ease recognizing an object with a possible collision coming from the side, and performs an effective warning.

[0013] Technical solutions for solving technical problems

[0014] A vehicle driving assistance device according to one embodiment of the present invention includes: a front environment recognition device, which obtains the front environment information of the vehicle; a side environment recognition device, which obtains the side environment information of the vehicle; a notification device, which reminds the driver to pay attention through alarms, warning displays, etc.; and a control unit, which is input with the surrounding environment information such as the front environment information and the side environment information, and drives the notification device, wherein the control unit calculates the cognitive load value of the driver based on the objects detected in the cognitive field of view of the driver extracted from the surrounding environment information, and according to the cognitive load value, variably sets the warning level of the notification device driven when an object with the possibility of collision is detected in the side environment information.

[0015] Effects of the Invention

[0016] According to the present invention, it is possible to provide a vehicle driving assistance device that determines whether a driver has difficulty recognizing or ease recognizing an object with a possible collision coming from the side and issues an effective warning. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a block diagram showing the configuration of a vehicle driving assistance device.

[0018] Figure 2 The diagram shows the surrounding environment information of the own vehicle and the driver's cognitive field of view, and shows a state in which there are few other vehicles and the like.

[0019] Figure 3 The diagram shows the surrounding environment information of the own vehicle and the driver's cognitive field of view, and shows a state in which there are many other vehicles and the like.

[0020] Figure 4 1 is a diagram showing a driver's cognitive visual field area that is variable depending on the vehicle speed and the driver's line of sight direction.

[0021] Figure 5 It is a table showing the basic load values ​​corresponding to the objects.

[0022] Figure 6 is a table showing cognitive load influencing factors and load value gain adjustments.

[0023] Figure 7 : is a table showing driving environment level influencing factors and cognitive load level correction.

[0024] Figure 8 : is a flowchart showing a control example executed by the control unit. DETAILED DESCRIPTION

[0025] The following is a detailed description of an implementation of one embodiment of the present invention in conjunction with the accompanying drawings. In addition, in the figures used in the following description, the size of each component is set to a degree that can be recognized on the figure, so the scale of each component is different, and the present invention is not limited to the number of components recorded in these figures, the shape of the components, the size ratio of the components, and the relative position relationship of each component. In addition, in this embodiment, the description is based on the premise of left-side traffic. Therefore, when it is right-side traffic, replace left with right for application.

[0026] like Figure 1 As shown, the vehicle driving assistance device 1 of this embodiment includes: an on-board camera unit 2, a left side sensor 6, a right side sensor 7, a vehicle speed sensor 8, a control unit (ECU) 10, a driver monitoring device 11, an in-vehicle camera 12 and a notification device 13.

[0027] The vehicle-mounted camera unit 2 is used to obtain the information of the vehicle 50 (refer to Figure 2 and Figure 3 The vehicle-mounted camera unit 2 includes an image processing unit (IPU) 5 that performs a predetermined image processing on the environmental information as the front image of the vehicle obtained by the main camera 3 and the sub-camera 4. The image processing unit 5 outputs the front environmental information 25 of the front driving environment image information (distance image information) after the predetermined image processing is performed on the front image of the vehicle to the control unit 10.

[0028] The left side sensor 6 and the right side sensor 7 are used to obtain the side environment information 26 and 27 of the vehicle 50 (see Figure 2 and Figure 3) side environment recognition device, which is arranged near the front bumper or the door mirror. The left side sensor 6 and the right side sensor 7 obtain environmental information in a relatively wide angle range from the left and right front and side to the rear that deviates from the field of view of the above-mentioned vehicle-mounted camera unit 2.

[0029] The left side sensor 6 and the right side sensor 7 are sensors that monitor the left and right sides and the oblique rear area from the oblique front that is difficult to identify in the image from the vehicle-mounted camera unit 2, and use the acquired information as the side environment information 26, 27 of the left and right side driving environment information (see Figure 2 and Figure 3 ) is output to the control unit 10. In addition, the control unit 10 receives the left side environment information 26 acquired by the left side sensor 6 and the right side environment information 27 acquired by the right side sensor 7.

[0030] The left side sensor 6 and the right side sensor 7 are ranging sensors such as millimeter wave radar, microwave radar, ultrasonic sensor, airborne laser radar (LiDAR: Light Detection and Ranging) or side cameras. In addition, the left side sensor 6 and the right side sensor 7 can also be composed of a ranging sensor and a side camera.

[0031] The vehicle-mounted camera unit 2, the left side sensor 6, and the right side sensor 7 function as a surrounding environment information acquisition unit of the present embodiment. That is, the front environment information 25 and the two side environment information 26, 27 correspond to the surrounding environment information of the present embodiment.

[0032] The control unit 10 recognizes three-dimensional objects, obstacles, etc. based on the surrounding environment information input from the vehicle-mounted camera unit 2, the left side sensor 6, and the right side sensor 7. The control unit 10 recognizes, for example, the type of three-dimensional object, the distance to the three-dimensional object, the speed of the three-dimensional object, and the relative speed with the three-dimensional object.

[0033] In the following description, objects such as three-dimensional objects and obstacles recognized based on the detection by the vehicle-mounted camera unit 2 , the left side sensor 6 , and the right side sensor 7 may be described as objects.

[0034] The vehicle speed sensor 8 is a vehicle speed detection unit that detects the speed of the vehicle. The vehicle speed sensor 8 outputs the detected vehicle speed to the control unit 10 .

[0035] The driver monitoring device 11 is connected to an in-vehicle camera 12 as a camera unit. The driver monitoring device 11 and the in-vehicle camera 12 constitute a driver monitoring system (DMS). The in-vehicle camera 12 is, for example, disposed on a dashboard in a vehicle cabin (driver's cab) not shown. In addition, the in-vehicle camera 12 can capture the driver sitting in the driver's seat (see Figure 4 , hereinafter referred to as the position of the driver 200), can be set at any position in the vehicle interior.

[0036] After the driver's recognition visual field area 30 (refer to Figure 2 and Figure 3 ), the notification device 13 notifies (warns) the driver 200 of the situation and reminds the driver to pay attention. In addition, the notification device 13 is composed of a monitor, a speaker, etc. The notification device 13 notifies the driver through text, images, sounds, etc.

[0037] That is, the notification device 13 performs notification by means of an audible alarm emitted from a speaker, or by displaying warning information around the meter of the instrument panel, on a monitor of the navigation system, or the like (none of which is shown in the figure).

[0038] The control unit 10 is constituted by a microcomputer having a CPU, a ROM, a RAM, a nonvolatile storage unit, etc. The ROM stores a control program, fixed data, etc. for realizing an operation set for each system.

[0039] The control unit 10 monitors the surrounding environment information acquired from the vehicle-mounted camera unit 2 , the left side sensor 6 , and the right side sensor 7 .

[0040] Here, the driver recognition field of view 30 of the present embodiment is described. The driver recognition field of view 30 is extracted by the control unit 10 from the surrounding environment information. Figures 2 to 4 The driver recognition visual field area 30 is an effective visual field range that can be observed by the visual characteristics of the driver 200.

[0041] like Figure 4 As shown, the control unit 10 changes the setting range of the driver recognition visual field area 30 from the front direction to the left and right direction according to the gaze direction based on the line of sight of the driver 200 detected by the driver monitoring system (DMS).

[0042] In addition, the control unit 10 changes the distance, front-to-back length, and left-to-right width of the setting range of the driver's cognitive visual field area 30 according to the speed of the vehicle detected by the vehicle speed sensor 8. The control unit 10 sets the driver's cognitive visual field area 30 to the far side, stretches the front-to-back direction, and sets the left-to-right direction to a narrow width when the speed of the vehicle is higher. In addition, the control unit 10 sets the driver's cognitive visual field area 30 to the near side, shortens the front-to-back direction, and sets the left-to-right direction to a wider width when the speed of the vehicle is slower.

[0043] The driver's cognitive visual field area 30 thus set by the control unit 10 is used to detect the cognitive load of the driver 200. The cognitive load here is an index showing the burden on the cognitive ability of the driver 200 corresponding to the amount of information that the human brain processes on a regular basis.

[0044] For example, in Figure 2 In the embodiment, only one vehicle 101 is included in the driver's cognitive visual field 30 of the driver 200 driving the host vehicle 50. Therefore, the driver 200 only looks at and recognizes the one vehicle 101. Therefore, the driver 200 is in a state where the amount of information processed by the brain is small and the cognitive load is low.

[0045] In addition, the peripheral visual field outside the range of the driver's cognitive visual field area 30 includes objects such as the oncoming vehicle 102 and the side vehicle 103 approaching or stopping from the side road. In this case, since the driver 200 is in a state of low cognitive load, it is not easy to miss the oncoming vehicle 102, the side vehicle 103 and other objects in the peripheral visual field, and it is easy to recognize. That is, the driver 200 is easy to notice the objects outside the range of the driver's cognitive visual field area 30.

[0046] On the other hand, for example Figure 3 In the driver's cognitive visual field 30 of the driver 200, there are a lane changing vehicle 105, a parked vehicle 106, a bicycle 107, a vehicle ahead 108, a pedestrian 109, an oncoming vehicle 110, an oncoming motorcycle 111, an intersection 120, and a traffic light 121. Therefore, the driver 200 must keep an eye on multiple objects such as the vehicles (105, 106, 108, 110), the bicycle 107, the pedestrian 109, the oncoming motorcycle 111, the intersection 120, and the traffic light 121. Therefore, the driver 200 is in a state where the amount of information processed by the brain is very large and the cognitive load is high.

[0047] In addition, in the peripheral vision outside the driver's cognitive visual field area 30, in addition to the side vehicle 103 approaching or stopping from the side road, there are also objects such as the front vehicle 112 that has passed the intersection 120, the vehicles 113 and 114 waiting for the signal on the side road of the intersection 120, the oncoming vehicle 115 farther than the intersection 120, and the bicycle 116 traveling in the oncoming lane. At this time, the driver 200 is in a state where the amount of information processed by the brain is large and the cognitive load is high.

[0048] Therefore, the driver 200 easily misses and does not easily recognize objects in the peripheral field of vision such as vehicles ( 103 , 112 , 113 , 114 , 115 ) and bicycle 116 . That is, the driver 200 does not easily notice objects outside the driver's cognitive field of vision area 30 .

[0049] However, the vehicle driving assistance device 1 of the present embodiment detects the amount of information (objects) in the driver's cognitive visual field area 30 , and performs effective warning control according to the low and high states of the cognitive load of the driver 200 .

[0050] In the vehicle driving assistance device 1, the control unit 10 calculates a driver cognitive load value D that digitizes the cognitive load level of the driver 200 based on vehicle exterior information obtained based on objects such as solid objects and obstacles included in the driver's cognitive visual field area 30 detected by the vehicle-mounted camera unit 2, the left side sensor 6, and the right side sensor 7. The control unit 10 of the vehicle driving assistance device 1 performs a missed judgment of the surrounding environment outside the driver's cognitive visual field area 30 based on the calculated driver cognitive load value D.

[0051] The control unit 10 adds the cognitive load gain (A_αn) adjusted by gain to the basic load value (A_n) of the classification category according to the state of the object for each object, and multiplies the result by the driving environment level correction value C to determine the final driver cognitive load value D.

[0052] In calculating the driver cognitive load value D, the control unit 10 reads in a map in which the basic load value (A_n) of the corresponding classification category, the cognitive load gain (A_αn) corresponding to the state of the subject, and the driving environment level correction value C are set.

[0053] Furthermore, the control unit 10 may set the basic load value (A_n) of the classification category, the cognitive load gain (A_αn) corresponding to the state of the object, and the driving environment level correction value C as condition values ​​selected by reading artificial intelligence (AI).

[0054] For example, Figure 5 As shown, for objects whose classification category is a stationary object such as a billboard, the basic load value (A_n) is set to a small value (A_1). In addition, for objects whose classification category is a stationary object related to road traffic such as an intersection 120, a traffic light 121, and a road sign, the basic load value (A_n) is set to a medium value (A_2). For objects whose classification category is a movable object such as a vehicle (103, 112, 113, 114, 115), a pedestrian 109, a motorcycle 111, and a bicycle 116, the basic load value (A_n) is set to a large value (A_3).

[0055] In addition, the control unit 10 calculates the load value gain adjustment for each factor that affects the basic load value (A_n) of the driver 200. For example, Figure 6As shown, the corresponding load value gain adjustment (A_α) value is set according to cognitive load influencing factors such as the speed of the object's movement, whether the indicator lights of the direction indicator, brake, etc. are lit when the object is a vehicle, and the distance between the vehicle 50 and the object.

[0056] That is, when the object movement speed as a cognitive load influencing factor is higher (faster), the control unit 10 adds a predetermined cognitive load gain (A_α1) as a load value gain adjustment. In addition, when the object as a cognitive load influencing factor is a vehicle, etc., if the indicator lights of its direction indicator, brake, etc. are on, the control unit 10 adds a predetermined cognitive load gain (A_α2) as a load value gain adjustment. Furthermore, the closer the distance between the vehicle 50 and the object as a cognitive load influencing factor is, the more the control unit 10 adds a predetermined cognitive load gain (A_α3) as a load value gain adjustment.

[0057] In this way, the control unit 10 calculates the object load value (A_t) after adding the cognitive load gain (A_αn) to the basic load value (A_n) of each object. Then, the control unit 10 calculates the reference load value B {B=Σ(A_t)} which is the sum of the object load values ​​(A_t) of all objects included in the driver's cognitive visual field area 30.

[0058] Next, the control unit 10 multiplies the reference load value B by the driving environment level correction value C to calculate the final driver cognitive load value D (D=B×C). Figure 7 As shown, the control unit 10 determines the driving environment level correction value C according to the image contrast of the driver's cognitive visual field area 30, the complexity of the forward driving path, and the like.

[0059] For example, the driving environment level correction value C is set according to the influence of the road environment such as nighttime, backlight, sunlight or street lamp illumination, and the degree of image contrast in the driver's cognitive visual field area 30. Specifically, when the image contrast is low, the driving environment level correction value C is set to be large, and when the image contrast is high, the driving environment level correction value C is set to be small.

[0060] In addition, for example, the magnitude of the driving environment level correction value C is set according to the complexity of the driving path ahead, such as a straight road, an intersection, a multi-branch road, a curved road, etc. Specifically, when the driving path ahead is a complex one such as an intersection, a multi-branch road, a branch road, etc., the driving environment level correction value C is set to be larger, and when the driving path ahead is a straight road with a good view, the driving environment level correction value C is set to be smaller.

[0061] The following is based on Figure 8The flowchart shown in the figure explains an example in which the control unit 10 of the vehicle driving support device 1 configured as described above executes control.

[0062] First, the control unit 10 obtains surrounding environment information ( S1 ). The control unit 10 obtains surrounding environment information including front environment information 25 output by the vehicle camera unit 2 , left environment information 26 output by the left sensor 6 , and right environment information 27 output by the right sensor 7 .

[0063] The control unit 10 determines whether an object is detected on the side (S2). The control unit 10 determines whether an object such as a side vehicle 103 approaching or stopping from the side road is detected in the left side environmental information 26 and the right side environmental information 27. In addition, since the vehicle is passing on the left side, the control unit 10 may also determine whether an object is detected only in the side environmental information of the left side environmental information 26.

[0064] When an object such as the side vehicle 103 is not detected in the left and right side environmental information ("No" in step S2), the control unit 10 returns to the determination procedure of step S1 and executes the subsequent processing again.

[0065] When an object such as the side vehicle 103 is detected in the left and right side environmental information (Yes in step S2 ), the control unit 10 detects the speed of the host vehicle ( S3 ). The control unit 10 detects the speed of the host vehicle input from the vehicle speed sensor 8 .

[0066] The control unit 10 detects the sight line direction of the driver 200 (S4). The control unit 10 detects the sight line direction of the driver 200 input from the driver monitoring system (DMS).

[0067] The control unit 10 sets the driver's cognitive visual field area 30 corresponding to the detected vehicle speed and the sight direction of the driver 200 (S5). The control unit 10 changes the distance, front-to-back length, and left-to-right width according to the vehicle speed detected by the vehicle speed sensor 8, and sets the driver's cognitive visual field area 30 corresponding to the gaze direction based on the sight direction of the driver 200.

[0068] The control unit 10 detects an object in the driver recognition field of view 30 (S6). The control unit 10 detects an object such as a vehicle in the driver recognition field of view 30 set in step S5.

[0069] The control unit 10 calculates the driver's cognitive load value D ( S7 ). The control unit 10 calculates the basic load value (A_n) of each object in the driver's cognitive visual field area 30 .

[0070] Next, the control unit 10 adds a predetermined cognitive load gain (A_αn) to the factors that affect the calculated cognitive load value (A_n) of each object. Then, the control unit 10 calculates a reference load value B that is the sum of the object load values ​​(A_t) of the objects included in the driver's cognitive visual field area 30. Finally, the control unit 10 multiplies the reference load value B by the driving environment level correction value C to calculate the final driver cognitive load value D.

[0071] The control unit 10 determines whether the driver cognitive load value D is equal to or greater than a predetermined threshold value Dth ( S8 ). The control unit 10 determines whether the final driver cognitive load value D calculated in the driver cognitive visual field area 30 is equal to or greater than a predetermined threshold value Dth.

[0072] The predetermined threshold value Dth is a preset driver cognitive load value D when the driver 200 has difficulty recognizing (noticing) objects in the peripheral visual field outside the driver cognitive visual field area 30. The predetermined threshold value Dth can be changed as appropriate.

[0073] When the driver's cognitive load value D is greater than the predetermined threshold value Dth ("Yes" in step S8), the control unit 10 sets the warning level to high (S9). When the driver's cognitive load value D is less than the predetermined threshold value Dth ("No" in step S8), the control unit 10 sets the warning level to low (S10). Then, the control unit 10 executes a warning corresponding to the set level (S11).

[0074] When the warning level is set to high, the control unit 10 determines that the driver's cognitive load value D is high, it is difficult to recognize objects in the peripheral field of view, and the possibility of overlooking is high. In other words, the control unit 10 determines that the driver 200 is in a state where it is difficult to easily notice objects in the peripheral field of view.

[0075] Therefore, the control unit 10 increases the level of the alarm, warning display, etc. of the notification device 13 to drive when detecting objects such as a side vehicle 103 approaching or stopped from the side road based on the left side environmental information 26 and the right side environmental information 27.

[0076] That is, when the driver's cognitive load value D is high, the vehicle driving assistance device 1 performs a warning drive to increase the alarm volume or warning display of the notification device 13 so that the driver 200 can easily identify the existence of objects with the possibility of side collision, such as the side vehicle 103 approaching or paused from the side road.

[0077] When the warning level is set to low, the control unit 10 determines that the driver's cognitive load value D is low, objects in the peripheral field of view are easily recognized, and the possibility of overlooking is low. In other words, the control unit 10 determines that the driver 200 is in a state where objects in the peripheral field of view are easily noticed.

[0078] Therefore, the control unit 10 performs a warning drive to reduce the warning level of the alarm, warning display, etc. of the notification device 13 based on the left side environmental information 26 and the right side environmental information 27, even when an object such as a side vehicle 103 approaching or paused from the side road is detected.

[0079] That is, when the driver's cognitive load value D is low, even if there is an object with a possibility of side collision, such as a side vehicle 103 approaching or stopping from the side road, the vehicle driving assistance device 1 performs a warning with a reduced volume or does not display a warning. In addition, when the control unit 10 determines that the driver's cognitive load value D is high but the warning level is set to a low level, even if there is an object with a risk of side collision, the vehicle driving assistance device 1 may not drive the notification device 13 and may not issue an alarm or a warning display at all.

[0080] As described above, the vehicle driving assistance device 1 can change the level of the warning action for objects (obstacles) with a possibility of side collision, such as the side vehicle 103 approaching or stopping from the side, based on the driver cognitive load value D of the driver 200. Thus, the vehicle driving assistance device 1 can perform effective warnings to the driver 200.

[0081] As a result, when the driver 200 can easily identify (difficult to miss) an object with potential side collision in the peripheral field of vision, the vehicle driving assistance device 1 can lower the warning level or not issue a warning, thereby reducing the trouble for the driver 200 caused by the alarm of the notification device 13, etc.

[0082] As described above, the vehicle driving support device 1 of the present embodiment is configured to determine whether it is difficult or easy for the driver to recognize an object with a possible collision coming from the side, and to issue an effective warning.

[0083] In addition, under conditions such as high-speed driving where the driver's cognitive load value D is high, the left-right direction of the driver's cognitive visual field area 30 caused by the driver 200 becomes narrower, so the vehicle driving assistance device 1 can also expand the range of detecting obstacles from the side as the warning object (objects with the possibility of side collision). That is, the area of ​​the left and right side environmental information detected based on the left side environmental information 26 and the right side environmental information 27 can also be expanded.

[0084] The width of the driver's 200 viewing angle varies depending on the individual, age, etc. Therefore, the driver's cognitive visual field area 30 for calculating the driver's cognitive load value D, the predetermined threshold value Dth, etc. may be appropriately changed by individual setting, learning, etc. of each driver 200.

[0085] Furthermore, the area of ​​the driver's cognitive visual field area 30 used to calculate the driver's cognitive load value D is preferably the visual field of the driver 200. In addition, when the line of sight of the driver 200 cannot be detected by the driver monitoring system (DMS), the control unit 10 extracts and sets the driver's cognitive visual field area 30 as the target area as the premise that the driver 200 looks at the center of the front from the surrounding environment information.

[0086] In addition, the control unit 10 has a processor including a central processing unit (CPU), a storage device such as a ROM, and a RAM. In addition, all or part of the structure of multiple circuits of the processor can also be executed by software. For example, the CPU can read and execute various programs corresponding to various functions stored in the ROM.

[0087] Furthermore, all or part of the functions of the processor may be constituted by logic circuits or analog circuits. In addition, the processing of various programs may also be implemented by electronic circuits such as FPGA.

[0088] The invention described in the above embodiments is not limited to the above-mentioned modes. In addition, various modifications can be implemented in the implementation stage without departing from the scope of the present invention. Furthermore, the above-mentioned embodiments include inventions at various stages, and various inventions can be extracted by appropriately combining the disclosed multiple constituent elements.

[0089] For example, even if some components are deleted from all the components shown in each embodiment, the problem can be solved and the effect can be obtained, and the structure without the components can be extracted as an invention.

[0090] Explanation of symbols

[0091] 1……Vehicle driving assistance device

[0092] 2...In-vehicle camera unit

[0093] 3…Main camera

[0094] 4...Secondary camera

[0095] 5……Image processing unit

[0096] 6... Left side sensor

[0097] 7……Right side sensor

[0098] 8...Speed ​​sensor

[0099] 10……Control Unit (ECU)

[0100] 11……Driver Monitoring Device

[0101] 12...In-car camera

[0102] 13……Notification device

[0103] 25……Environmental information ahead

[0104] 26……Environmental information on the left side

[0105] 27……Right side environmental information

[0106] 30……Driver’s cognitive field of vision

[0107] 50... This vehicle

[0108] 101, 108, 112... Vehicles ahead

[0109] 102, 110, 115...oncoming vehicles

[0110] 103...Sideways

[0111] 105...Lane changing vehicle

[0112] 106...Parked vehicles

[0113] 107...Bicycle

[0114] 109... Pedestrians

[0115] 111...Motorcycle

[0116] 113, 114... Waiting for signal vehicle

[0117] 116...Bicycle

[0118] 120...intersection

[0119] 121…Signal light

[0120] 200...driver

[0121] A_n……Basic load value

[0122] B……Base load value

[0123] C……Correction value

[0124] D……driver cognitive load value

[0125] Dth……prescribed threshold value.

Claims

1. A vehicle driving assistance device, characterized in that: include: A front environment recognition device, which obtains the front environment information of the vehicle; A side environment recognition device, which obtains the side environment information of the vehicle; Notification devices, which alert the driver through alarms, warning displays, etc.; as well as a control unit which receives the surrounding environment information such as the front environment information and the side environment information and drives the notification device, In which, the control unit calculates the cognitive load value of the driver based on the objects extracted from the surrounding environment information and detected within the driver's cognitive field of view, and according to the cognitive load value, variably sets the warning level of the notification device driven when an object with the possibility of collision is detected in the side environment information.

2. The vehicle driving assistance device according to claim 1, characterized in that: The control unit calculates the cognitive load value by correcting the sum of reference load values ​​according to the driving environment, the reference load value being a value obtained by performing gain adjustment based on a cognitive load influencing factor on a basic load value of each object detected in the cognitive visual field of the driver.

3. The vehicle driving assistance device according to claim 2, characterized in that: have: a vehicle speed sensor for detecting the vehicle speed of the host vehicle; and an on-board camera unit, which detects the driver's line of sight, The control unit is input with the vehicle speed and the sight line direction, and extracts the vehicle speed and the recognition visual field area corresponding to the sight line direction from the surrounding environment information.

4. The vehicle driving assistance device according to claim 3, characterized in that: When the warning level is set to high, the control unit drives the notification device in such a manner that the volume of the alarm and the warning display become larger, and when the warning level is set to low, the control unit drives the notification device in such a manner that the volume of the alarm is smaller than when the setting is high without displaying the warning, or does not drive the notification device.

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