Shake determination device, shake determination method, and storage medium

Abstract

The invention relates to a shake determination apparatus, a shake determination method, and a storage medium. The shake determination device is provided with a shake determination unit for determining whether or not there is a shake while the own vehicle is traveling, and when a target is present in the vicinity of the own vehicle while traveling and the face or the line of sight of the driver of the own vehicle faces the target, the shake determination unit determines whether or not the shake is present on the basis of the positional relationship between the own vehicle and the target. The threshold value changing unit changes a shake determination threshold value used for determining the presence or absence of shake during the travel of the host vehicle, or the shake determination unit stops the determination of the presence or absence of shake during the travel of the host vehicle.

Description

Technical Field

[0001] The present disclosure relates to a shake determination device, a shake determination method, and a storage medium. Background Art

[0002] Japanese Patent Application Laid-Open No. 2017-107299 discloses a technique for determining vehicle sway. In the technique disclosed in Japanese Patent Application Laid-Open No. 2017-107299, sway behavior is learned for each driving scene of the vehicle, and the vehicle sway determination is performed using the learning result. Summary of the invention

[0003] However, in the technology described in Japanese Patent Laid-Open No. 2017-107299, the vehicle's shaking behavior is not learned when changing lanes or overtaking before and after changing lanes, when a large vehicle adjacent to the own vehicle (this vehicle) approaches the own vehicle, and when driving in a section where the lane width is narrowed due to construction and / or obstacles. That is, these scenes are set as scenes excluded from the learning object. That is, in the technology described in Japanese Patent Laid-Open No. 2017-107299, the vehicle's shaking behavior is not learned when overtaking before and after changing lanes (that is, when the own vehicle overtakes the preceding vehicle as a target object (detection object) existing around the own vehicle before and after changing lanes), when a large vehicle adjacent to the own vehicle approaches the own vehicle (that is, when a large vehicle as a target object existing around the own vehicle approaches the driving own vehicle), when the own vehicle is driving in a section where the width of the drivable lane is narrowed and a construction signboard as a target object is set, and when the own vehicle is driving in a section where the width of the drivable lane is narrowed and there is an obstacle as a target object. Therefore, in the technology described in Japanese Patent Application Laid-Open No. 2017-107299, at such a time (that is, when there are target objects around the traveling vehicle and the traveling vehicle is traveling in a scene that has not been learned), it may not be possible to properly determine whether the traveling vehicle is shaking.

[0004] In view of the above, an object of the present disclosure is to provide a shake determination device, a shake determination method, and a storage medium. In detail, an object of the present disclosure is to provide a shake determination device, a shake determination method, and a storage medium that can appropriately determine whether a moving own vehicle is shaking. The shake determination device, the shake determination method, and the storage medium can suppress the possibility of mistakenly determining the following behaviors of the own vehicle as shaking of the own vehicle: behaviors accompanied by operations performed by the driver of the own vehicle for avoiding targets existing around the moving own vehicle.

[0005] A technical solution disclosed in the present invention relates to a shake determination device, which includes a shake determination unit for determining whether a own vehicle is shaking while traveling. When there is a target object around the traveling own vehicle and the face or sight of the driver of the own vehicle is directed toward the target object, a threshold change unit changes a shake determination threshold used for determining whether the own vehicle is shaking while traveling, according to the positional relationship between the own vehicle and the target object, or the shake determination unit stops determining whether the own vehicle is shaking while traveling.

[0006] According to the present disclosure, it is possible to appropriately determine whether or not a traveling vehicle is shaking. BRIEF DESCRIPTION OF THE DRAWINGS

[0007] Hereinafter, features, advantages, and technical and industrial significance of exemplary embodiments of the present invention will be described with reference to the accompanying drawings, in which like reference numerals represent like elements, and wherein:

[0008] Figure 1 1 is a diagram showing an example of the own vehicle 1 to which the shake determination device 18 according to the first embodiment is applied;

[0009] Figure 2 Yes means Figure 1 FIG. 1 is a diagram showing an example of a specific configuration of the shake determination device 18;

[0010] Figure 3 is a flowchart for explaining an example of processing executed by the processor 18C of the shake determination device 18 according to the first embodiment;

[0011] Figure 4 1 is a diagram for explaining a specific example in which the threshold value changing unit C5 changes the threshold value for shaking determination;

[0012] Figure 5A 1 is a diagram for explaining a specific example of changing the threshold value for shaking determination by the threshold value changing unit C5, and shows the change over time of the recognition result of the surrounding vehicle by the surrounding condition sensor 12 (the change over time of the determination result of the target object existence determination unit C2) when the own vehicle 1 overtakes the surrounding vehicle (target object TG) (when the surrounding vehicle intrudes (breaks into) the scheduled travel area LA of the own vehicle 1);

[0013] Figure 5B 1 is a diagram for explaining a specific example of changing the threshold value for shaking determination by the threshold value changing unit C5, and shows the change over time of the intrusion amount (overlap amount OA) of the surrounding vehicle (target object TG) into the scheduled driving area LA of the own vehicle 1 when the own vehicle 1 overtakes the surrounding vehicle (target object TG) (when the surrounding vehicle intrudes into the scheduled driving area LA of the own vehicle 1);

[0014] Figure 5C 1 is a diagram for explaining a specific example of changing the threshold value for shaking determination by the threshold value changing unit C5, and shows the change over time of the recognition state of the surrounding vehicles by the driver of the own vehicle 1 when the own vehicle 1 overtakes the surrounding vehicles (target objects TG) (when the surrounding vehicles intrude into the scheduled travel area LA of the own vehicle 1) (the change over time of the determination result of the target object recognition determination unit C3);

[0015] Figure 5D 1 is a diagram for explaining a specific example of the threshold value changing unit C5 changing the threshold value for shaking determination, showing the temporal change of the steering angle operation amount by the driver of the own vehicle 1 when the own vehicle 1 overtakes the surrounding vehicle (target object TG) (when the surrounding vehicle intrudes into the scheduled travel area LA of the own vehicle 1) and the temporal change of the shaking determination threshold value (left) and the shaking determination threshold value (right);

[0016] Figure 5E 1 is a diagram for explaining a specific example of the threshold value change unit C5 changing the threshold value for shaking determination, and shows the change over time of the operating state of the rest suggestion (proposal) device 19 when the own vehicle 1 overtakes the surrounding vehicle (target object TG) (when the surrounding vehicle intrudes into the scheduled travel area LA of the own vehicle 1);

[0017] Figure 6 This is a flowchart for explaining an example of processing executed by the processor 18C of the shake determination device 18 according to the second embodiment. DETAILED DESCRIPTION

[0018] Hereinafter, embodiments of a shake determination device, a shake determination method, and a storage medium disclosed herein will be described with reference to the accompanying drawings.

[0019] First Embodiment

[0020] Figure 1 This is a diagram showing an example of the own vehicle 1 to which the shake determination device 18 according to the first embodiment is applied. Figure 2 Yes means Figure 1 FIG. 1 is a diagram showing an example of a specific configuration of the shake determination device 18 shown.

[0021] exist Figure 1 and Figure 2 In the illustrated example, the host vehicle 1 includes a vehicle state sensor 11 , a surrounding condition sensor 12 , a position information acquisition device 13 , a map information acquisition device 14 , and a shake determination device 18 .

[0022] The vehicle state sensor 11 detects the state of the own vehicle 1. The vehicle state sensor 11 includes, for example, a vehicle speed sensor, a yaw rate sensor, an acceleration sensor, a steering angle sensor, and a torque sensor for detecting a steering torque. The vehicle state sensor 11 sends the detection result of the state of the own vehicle 1 to the shaking determination device 18 and the like.

[0023] The surrounding situation sensor 12 detects a target object TG (see Figure 4 ) etc. The target object TG includes, for example, surrounding vehicles (such as the preceding vehicle, adjacent vehicles, etc.), fallen objects, guardrails, obstacles (such as construction signs, accident handling vehicles, etc.), pedestrians, and vehicles located on the driving road L (refer to Figure 4 ) inside the electric pole, the markings (white lines) LL and LR (see Figure 4 ), and roadside objects, etc. The surrounding condition sensor 12 includes, for example, a camera, a laser radar (LIDAR: Laser Imaging Detection and Ranging), a radar, a sonar, etc. The surrounding condition sensor 12 sends the detection result of the target object TG, etc. existing around the own vehicle 1 to the shaking determination device 18, etc.

[0024] The position information acquisition device 13 acquires information indicating the position and orientation of the own vehicle 1. The position information acquisition device 13 includes, for example, a GPS (Global Positioning System) device that measures the position and orientation of the own vehicle 1. The position information acquisition device 13 may also perform a known own position estimation process (localization) to improve the accuracy of the information indicating the position and orientation of the own vehicle 1. The position information acquisition device 13 may also have the following functions: based on an image including marking lines LL and LR captured by a camera, detect the width direction ( Figure 4 The position information acquisition device 13 sends information indicating the position and orientation of the own vehicle 1 to the shaking determination device 18 and the like.

[0025] The map information acquisition device 14 acquires map information indicating lane configuration, road shape, etc. from a map database. The map database may be stored in a storage device (not shown) mounted on the own vehicle 1, or may be stored in a management server external to the own vehicle 1. In the example where the map database is stored in a management server external to the own vehicle 1, the map information acquisition device 14 acquires map information from the map database via communication between the own vehicle 1 and the management server. The map information acquisition device 14 may also detect (calculate) the curvature of the driving road L of the own vehicle 1, and acquire information indicating the curvature of the driving road L of the own vehicle 1 as map information. The map information acquisition device 14 sends the map information indicating lane configuration, road shape, etc. to the shaking determination device 18, etc.

[0026] Furthermore, the own vehicle 1 includes a driver monitoring device 15 , an HMI (Human Machine Interface) 16 , and a rest recommendation device 19 .

[0027] The driver monitoring device 15 includes a driver monitoring camera (driver monitor camera) that captures a driver monitoring camera image including the face of the driver of the own vehicle 1. The driver monitoring camera is arranged on the upper part of the steering column (not shown) of the own vehicle 1 so as to be able to capture the face and a part of the upper body of the driver of the own vehicle 1.

[0028] In other examples, the driver monitoring camera may be arranged in the center cluster of the own vehicle 1, or the driver monitoring camera may be arranged in the interior rearview mirror, the instrument panel, the instrument cover, etc. of the own vehicle 1. In these examples, the driver monitoring camera may also capture the face and a part of the upper body of the driver of the own vehicle 1.

[0029] exist Figure 1 and Figure 2 In the example shown, the driver monitoring device 15 generates line of sight information indicating the direction of the face or line of sight of the driver of the own vehicle 1 based on the driver monitoring camera image including the face of the driver of the own vehicle 1 captured by the driver monitoring camera. Furthermore, the driver monitoring device 15 sends the line of sight information to the shaking determination device 18 and the like.

[0030] The HMI 16 is an interface for inputting and outputting information between the rest suggestion device 19 and the driver of the own vehicle 1. The HMI 16 includes at least one of the following devices / devices: a display, for example, that visually notifies the driver of the own vehicle 1 of the rest suggestion based on a control signal from the rest suggestion device 19, a speaker, for example, that auditorily notifies the driver of the own vehicle 1 of the rest, and a vibration generating device, for example, built into a steering wheel, a driver's seat, etc., that tactilely notifies the driver of the own vehicle 1 of the rest. In addition, the HMI 16 includes operation buttons, a touch panel, etc. that accept input operations of the driver of the own vehicle 1.

[0031] In addition, the vehicle 1 includes a travel control device 17, a steering device (steering actuator) 17A, a drive device (drive actuator) 17B, and a brake device (brake actuator) 17C. The steering device 17A includes, for example, a power steering system, a wire-controlled steering system, a rear-wheel steering system, etc. The drive device 17B has a function of accelerating the vehicle 1. The drive device 17B includes, for example, an engine, an EV (battery electric vehicle) system, a hybrid system, a fuel cell system, etc. The brake device 17C has a function of decelerating the vehicle 1. The brake device 17C includes, for example, a hydraulic brake, an electric regenerative brake, etc.

[0032] The driving control device 17 is composed of a computer having a communication interface (I / F), a memory, and a processor. The driving control device 17 sends a control signal to the steering device 17A to operate (actuate) the steering device 17A according to the steering operation of the driver of the own vehicle 1, etc. In addition, the driving control device 17 sends a control signal to the driving device 17B to operate according to the accelerator operation of the driver of the own vehicle 1, etc. The driving control device 17 sends a control signal to the braking device 17C to operate according to the brake operation of the driver of the own vehicle 1, etc.

[0033] The shaking determination device 18 is composed of a computer having a communication interface (I / F) 18A, a memory 18B (storage medium), and a processor 18C. The processor 18C has a function as an acquisition unit C1, a function as a target existence determination unit C2, a function as a target recognition determination unit C3, a function as a target avoidance determination unit C4, a function as a threshold value change unit C5, and a function as a shaking determination unit C6.

[0034] The acquisition unit C1 acquires information indicating the state of the own vehicle 1 from the vehicle state sensor 11 (e.g., detection results of the vehicle speed sensor, detection results of the yaw rate sensor, detection results of the steering angle sensor (the amount of steering angle operation), detection results of the torque sensor (steering torque), etc.). In addition, the acquisition unit C1 acquires detection results of target objects TG and the like existing around the own vehicle 1 obtained by the surrounding condition sensor 12. Furthermore, the acquisition unit C1 acquires information indicating the position and orientation of the own vehicle 1 from the position information acquisition device 13, and acquires map information from the map information acquisition device 14. In addition, the acquisition unit C1 acquires line of sight information (driver monitoring camera image) indicating the direction of the face or line of sight of the driver of the own vehicle 1 from the driver monitoring device 15.

[0035] The target object presence determination unit C2 determines whether a target object TG exists around the traveling own vehicle 1 based on the detection result of the vehicle speed sensor and the detection result of the surrounding condition sensor 12 acquired by the acquisition unit C1 .

[0036] The object recognition determination unit C3 determines whether the face or sight of the driver of the own vehicle 1 is directed toward the target TG existing in the periphery of the own vehicle 1 while traveling, based on the sight line information (driver monitoring camera image) indicating the direction of the face or sight line of the driver of the own vehicle 1 acquired by the acquisition unit C1. That is, the object recognition determination unit C3 determines whether it can be estimated that the driver of the own vehicle 1 has recognized the target TG existing in the periphery of the own vehicle 1 while traveling. Specifically, the object recognition determination unit C3 determines whether the face or sight line of the driver of the own vehicle 1 is directed toward the target TG existing in the periphery of the own vehicle 1 while traveling, based on, for example, the sight line information (driver monitoring camera image) indicating the direction of the face or sight line of the driver of the own vehicle 1 acquired by the acquisition unit C1, an image including the target TG existing in the periphery of the own vehicle 1 while traveling, captured by the camera as the surrounding condition sensor 12, and the positional relationship between the driver monitoring camera and the camera as the surrounding condition sensor 12.

[0037] The target object avoidance determination unit C4 determines whether an operation by the driver of the own vehicle 1 is necessary to avoid a collision between the target object TG existing in the periphery of the own vehicle 1 and the own vehicle 1 during travel (for example, an operation of the steering angle of the own vehicle 1). Specifically, the target object avoidance determination unit C4 determines whether an operation by the driver of the own vehicle 1 is necessary to avoid a collision between the target object TG existing in the periphery of the own vehicle 1 during travel and the own vehicle 1, for example, by using the technology described in paragraph 0085 of Japanese Patent No. 7247931.

[0038] The threshold value changing unit C5 performs processing such as changing a threshold value (threshold value for shaking determination) used for determining whether the own vehicle 1 is shaking while driving, which is performed by the shaking determination unit C6. Specifically, the threshold value changing unit C5 changes the threshold value for shaking determination so that when an operation is performed by the driver of the own vehicle 1 to avoid a collision between the own vehicle 1 and a target object TG existing in the periphery of the own vehicle 1 while driving, the shaking determination unit C6 does not mistakenly determine that the own vehicle 1 is shaking while driving (shaking of the own vehicle 1 accompanied by signs of fatigue or drowsiness of the driver of the own vehicle 1, etc.).

[0039] The shaking determination unit C6 determines whether the vehicle 1 is shaking while traveling. Specifically, the shaking determination unit C6 determines whether the vehicle 1 is shaking while traveling when the amount of steering angle operation to the left is greater than the "shaking determination threshold value (left)" (see Figure 5D )" ("The amount of steering angle operation (change) (refer to Figure 5D )” is lower than the shake determination threshold (left). Figure 5D In the case of the upper side of the vehicle 1, the shake determination unit C6 determines that the vehicle 1 is shaking while traveling. In addition, when the right steering angle operation amount is greater than the "shake determination threshold value (right)" (refer to Figure 5D )" (the value of "the amount of operation (change) of the steering angle" is lower than the threshold value for shaking judgment (right) Figure 5D The shaking determination unit C6 determines that the own vehicle 1 is shaking while traveling when the amount of operation of the left steering angle is less than the "shaking determination threshold value (left)" or the amount of operation of the right steering angle is less than the "shaking determination threshold value (right)". The amount of operation of the left steering angle is detected by the steering angle sensor as the vehicle state sensor 11. The amount of operation of the right steering angle is detected by the steering angle sensor as the vehicle state sensor 11.

[0040] In another example, the shake determination unit C6 may determine that the own vehicle 1 is shaking while driving when the left steering torque is greater than the "shake determination threshold value (left)". In this example, the shake determination unit C6 determines that the own vehicle 1 is shaking while driving when the right steering torque is greater than the "shake determination threshold value (right)". Furthermore, the shake determination unit C6 determines that the own vehicle 1 is not shaking while driving when the left steering torque is less than the "shake determination threshold value (left)" or the right steering torque is less than the "shake determination threshold value (right)". The left steering torque is detected by the torque sensor serving as the vehicle state sensor 11. The right steering torque is detected by the torque sensor serving as the vehicle state sensor 11.

[0041] In another example, the shake determination unit C6 may determine that the own vehicle 1 is shaking while traveling when the yaw rate in the counterclockwise direction is greater than the "sway determination threshold value (counterclockwise)". In this example, the shake determination unit C6 determines that the own vehicle 1 is shaking while traveling when the yaw rate in the clockwise direction is greater than the "sway determination threshold value (clockwise)". Furthermore, the shake determination unit C6 determines that the own vehicle 1 is not shaking while traveling when the yaw rate in the counterclockwise direction is less than the "sway determination threshold value (counterclockwise)" or the yaw rate in the clockwise direction is less than the "sway determination threshold value (clockwise)". The yaw rate in the counterclockwise direction is detected by the yaw rate sensor as the vehicle state sensor 11. The yaw rate in the clockwise direction is detected by the yaw rate sensor as the vehicle state sensor 11.

[0042] In another example, the shaking determination unit C6 may determine that the own vehicle 1 is shaking while traveling when the amount of change in the position of the own vehicle 1 in the width direction of the traveling road L detected by the position information acquisition device 13 is greater than the shaking determination threshold. In this example, the shaking determination unit C6 determines that the own vehicle 1 is not shaking while traveling when the amount of change in the position of the own vehicle 1 in the width direction of the traveling road L in the traveling road L of the own vehicle 1 is less than the shaking determination threshold.

[0043] In another example, since it is difficult to accurately determine whether the own vehicle 1 is shaking while driving when the curvature of the driving road L of the own vehicle 1 is large, the shaking determination unit C6 may also determine that the own vehicle 1 is not shaking while driving when the curvature of the driving road L of the own vehicle 1 detected (calculated) by the map information acquisition device 14 is greater than a predetermined value.

[0044] In still another example, the determination methods of the above-mentioned examples may be appropriately combined.

[0045] exist Figure 1 and Figure 2 In the example shown, the rest suggestion device 19 is composed of a computer having a communication interface, a memory, and a processor. When the shaking determination unit C6 determines that the own vehicle 1 is shaking during driving, the rest suggestion device 19 determines that the own vehicle 1 is shaking, which is likely accompanied by signs of fatigue or drowsiness of the driver of the own vehicle 1, and causes the HMI 16 to output at least one of a visual notification, an auditory notification, and a tactile notification to suggest a rest to the driver of the own vehicle 1.

[0046] The rest suggestion device 19 has the function of detecting the driver of the own vehicle 1 looking sideways (not paying attention to the road, distracted driving) and / or fatigue caused by sleepiness, and prompting (urging) the driver of the own vehicle 1 to take a rest. Figure 1 and Figure 2 In the example shown, as a method for detecting fatigue of the driver of the own vehicle 1, a method for detecting abnormal vehicle behavior (shaking of the own vehicle 1 during driving) caused by fatigue of the driver of the own vehicle 1 can be used. Even if the driver of the own vehicle 1 is not in a fatigued state, when it is necessary to avoid a collision between the target object TG existing in the vicinity of the own vehicle 1 and the own vehicle 1 (for example, when avoiding a falling object as the target object TG, when moving the own vehicle 1 away from a guardrail as the target object TG, an adjacent lane AL (see Figure 4 ) in the vehicle, etc.). In order to suppress the occurrence of such vehicle behavior (that is, when it is necessary to avoid a collision between the target object TG existing in the vicinity of the own vehicle 1 and the own vehicle 1, etc.), the rest suggestion device 19 prompts the driver of the own vehicle 1 to rest. Figure 1 and Figure 2 In the example shown in FIG. 1 , the threshold value changing unit C5 changes the threshold value for shaking determination. Figure 1 and Figure 2 In the example shown, when it is necessary to avoid a collision between the target object TG around the own vehicle 1 and the own vehicle 1, the shaking determination unit C6 determines that the own vehicle 1 is not shaking during travel, and the rest suggestion device 19 does not prompt the driver of the own vehicle 1 to rest.

[0047] That is, in Figure 1 and Figure 2 In the example shown in FIG. 1 , it is possible to appropriately determine whether the traveling vehicle 1 is shaking. Figure 1 and Figure 2 In the example shown, the possibility of erroneously determining the behavior of the own vehicle 1 accompanying the operation performed by the driver of the own vehicle 1 to avoid the target object TG existing around the traveling own vehicle 1 as the shaking of the own vehicle 1 can be suppressed.

[0048] Figure 3 This is a flowchart for explaining an example of processing executed by the processor 18C of the shake determination device 18 according to the first embodiment.

[0049] exist Figure 3 In the example shown, in S11, the target object presence determination unit C2 determines whether a target object TG exists around the traveling vehicle 1. If "yes", the process proceeds to S12, and if "no", the process proceeds to S15.

[0050] In S12 , the object recognition determination unit C3 determines whether the face or sight of the driver of the own vehicle 1 is directed toward the object TG existing around the traveling own vehicle 1 . If “yes”, the process proceeds to S13 , and if “no”, the process proceeds to S15 .

[0051] In S13, the target avoidance determination unit C4 determines whether an operation by the driver of the own vehicle 1 is necessary to avoid a collision between the target object TG existing around the own vehicle 1 and the own vehicle 1. If "yes", the process proceeds to S14, and if "no", the process proceeds to S15.

[0052] In S14, the threshold value changing unit C5 changes the threshold value for shaking determination. Specifically, the threshold value changing unit C5 changes the threshold value for shaking determination so that when an operation is performed by the driver of the own vehicle 1 to avoid a collision between the target object TG existing in the periphery of the own vehicle 1 while the own vehicle 1 is traveling, the shaking determination unit C6 does not mistakenly determine that the own vehicle 1 is shaking while traveling.

[0053] In S15, the threshold value changing unit C5 does not change the threshold value for shaking determination. That is, in S12, when the target object recognition determination unit C3 determines that the face or sight of the driver of the own vehicle 1 is not facing the target object TG existing in the periphery of the own vehicle 1 while traveling (that is, when the face or sight of the driver of the own vehicle 1 is facing a direction different from the target object TG), the threshold value changing unit C5 does not change the threshold value for shaking determination.

[0054] Figure 4 and Figure 5A to Figure 5E 1 is a diagram for explaining a specific example of how the threshold value changing unit C5 changes the threshold value for shaking determination. Figure 4 The example in which the surrounding vehicle intrudes into the planned travel area LA of the own vehicle 1 when the own vehicle 1 overtakes the surrounding vehicle (target object TG) traveling in the adjacent lane AL adjacent to the travel road L of the own vehicle 1 is shown. Figure 5A It shows the temporal change of the recognition result of the surrounding vehicles by the surrounding condition sensor 12 (the temporal change of the determination result of the target object existence determination unit C2) when the own vehicle 1 overtakes the surrounding vehicles (target object TG) (when the surrounding vehicles intrude into the planned driving area LA of the own vehicle 1). Figure 5B The change over time of the amount of intrusion (overlap amount OA) of the surrounding vehicle (target object TG) into the scheduled travel area LA of the own vehicle 1 at this time is shown. Figure 5C The following diagram shows the change over time in the recognition state of the surrounding vehicles by the driver of the own vehicle 1 at this time (the change over time in the determination result of the object recognition determination unit C3 ). Figure 5D The following diagram shows the temporal changes in the steering angle operation amount by the driver of the own vehicle 1 at this time, and the temporal changes in the rolling determination threshold value (left) and the rolling determination threshold value (right). Figure 5E The change over time of the operating state of the rest recommendation device 19 at this time is shown.

[0055] exist Figure 4 and Figure 5A to Figure 5E In the example shown, at time t1, the surrounding situation sensor 12 recognizes (detects) a surrounding vehicle (target object TG) traveling in the adjacent lane AL, and the target object existence determination unit C2 determines that there is a target object TG ( Figure 3 The result of S11 is "yes"). Figure 4 The planned travel area LA of the host vehicle 1 shown is set by, for example, the shake determination unit C6 at time t1 or the like.

[0056] Next, at time t2, the target object recognition determination unit C3 determines that the face or line of sight of the driver of the own vehicle 1 is directed toward a surrounding vehicle (target object TG) existing around the traveling own vehicle 1 based on the line of sight information (driver monitoring camera image) indicating the direction of the face or line of sight of the driver of the own vehicle 1 ( Figure 3 The result of S12 is "yes").

[0057] Next, at time t3, the surrounding vehicle (target object TG) crosses the marking line LR and intrudes into the travel path L of the own vehicle 1, and the target object avoidance determination unit C4 determines that an operation (operation of the steering angle of the own vehicle 1) by the driver of the own vehicle 1 is required to avoid a collision between the own vehicle 1 and the target object TG ( Figure 3 The result of S13 is "yes").

[0058] Then, at time t4, the surrounding vehicle (target object TG) invades the planned driving area LA of the own vehicle 1, and the overlap amount OA increases from zero. In addition, the driver of the own vehicle 1 begins to increase the amount of operation of the left steering angle. The threshold value change unit C5 changes the shake determination threshold value (left) and the shake determination threshold value (right) according to the positional relationship between the own vehicle 1 and the surrounding vehicles (target object TG). In detail, the threshold value change unit C5 changes the shake determination threshold value (left) and the shake determination threshold value (right) according to the overlap amount OA. In more detail, the threshold value change unit C5 changes the shake determination threshold value (left) and the shake determination threshold value (right) in such a way that the larger the overlap amount OA, the easier it is for the shake determination unit C6 to determine that the own vehicle 1 is not shaking while driving.

[0059] In other examples, the threshold change unit C5 may also change the threshold value for shaking judgment (left) and the threshold value for shaking judgment (right) according to the positional relationship between the own vehicle 1 and the target object TG (for example, the positional relationship when the inter-vehicle distance between the own vehicle 1 and the preceding vehicle serving as the target object TG is short, when the own vehicle 1 and the preceding vehicle may collide, etc.), so that even if the driver of the own vehicle 1 operates the steering angle to avoid a collision between the own vehicle 1 and the preceding vehicle, it is not judged that the own vehicle 1 is shaking while driving.

[0060] In the comparative example in which the threshold value changing unit C5 does not change the shake determination threshold value (left) and the shake determination threshold value (right), at time t5, Figure 5D As shown in FIG. 1 , the amount of steering operation to the left by the driver of the own vehicle 1 becomes larger than the shaking determination threshold value (left), and it is determined that the own vehicle 1 is shaking while traveling. Figure 5E As shown, the rest suggestion device 19 is in an operating state, and notifies the driver of the own vehicle 1 to take a rest until time t6.

[0061] On the other hand, Figure 4 and Figure 5A to Figure 5E In the example shown in FIG. 1 (an example of the vehicle 1 to which the shake determination device 18 of the first embodiment is applied), as shown in FIG. Figure 5D As shown in FIG. 1 , the amount of steering angle operation to the left by the driver of the own vehicle 1 does not become greater than the shaking determination threshold value (left). Therefore, the shaking determination unit C6 determines that the own vehicle 1 is not shaking during driving. As a result, Figure 5E As shown, the rest suggestion device 19 is not in an operating state, and does not issue a notification suggesting a rest to the driver of the own vehicle 1 .

[0062] exist Figure 4 and Figure 5A to Figure 5E In the example shown, the vehicle 1 depicts Figure 4 The vehicle 1 is driven by the vehicle 1 and the target object TG is detected by the target object recognition and determination unit C3. The target object recognition and determination unit C3 determines that the driver's face or line of sight of the vehicle 1 is not facing the target object TG. Then, at time t8, the steering angle operation amount of the driver of the vehicle 1 becomes zero. In other words, the steering angle operation of the driver of the vehicle 1 to avoid collision between the target object TG and the vehicle 1 is completed.

[0063] exist Figure 4 and Figure 5A to Figure 5E In the example shown, after a predetermined time has passed since the driver of the own vehicle 1 has completed the operation of the steering angle to avoid a collision between the surrounding vehicles (target object TG) and the own vehicle 1, the shake determination threshold (left) and the shake determination threshold (right) are restored to their original values ​​(values ​​before time t4).

[0064] In other examples, when the driver of the own vehicle 1 completes the operation of the steering angle to avoid a collision between the surrounding vehicles (target object TG) and the own vehicle 1 (time t8), the shake determination threshold (left) and the shake determination threshold (right) may be restored to their original values ​​(values ​​before time t4).

[0065] Second Embodiment

[0066] The vehicle 1 to which the shake determination device 18 of the second embodiment is applied is similar to the vehicle 1 of FIG. Figure 1 The vehicle 1 to which the shake determination device 18 of the first embodiment is applied is configured in the same manner as shown. The shake determination device 18 of the second embodiment is similar to the vehicle 1 to which the shake determination device 18 of the first embodiment is applied, except that the processor 18C does not have a function as the threshold value changing unit C5. Figure 2 The shake determination device 18 of the first embodiment shown is configured similarly.

[0067] Figure 6 This is a flowchart for explaining an example of processing executed by the processor 18C of the shake determination device 18 according to the second embodiment.

[0068] exist Figure 6 In the example shown, in S21, the target object presence determination unit C2 determines whether a target object TG exists around the traveling vehicle 1. If yes, the process proceeds to S22, and if no, the process proceeds to S25.

[0069] In S22 , the object recognition determination unit C3 determines whether the face or sight of the driver of the own vehicle 1 is directed toward the object TG existing around the traveling own vehicle 1 . If “yes”, the process proceeds to S23 , and if “no”, the process proceeds to S25 .

[0070] In S23, the target avoidance determination unit C4 determines whether an operation by the driver of the own vehicle 1 is necessary to avoid a collision between the target object TG existing around the own vehicle 1 and the own vehicle 1. If "yes", the process proceeds to S24, and if "no", the process proceeds to S25.

[0071] In S24, the shaking determination unit C6 stops determining whether the own vehicle 1 is shaking while driving. Specifically, the shaking determination unit C6 stops determining whether the own vehicle 1 is shaking while driving so that when an operation is performed by the driver of the own vehicle 1 to avoid a collision between the target object TG existing in the periphery of the own vehicle 1 while driving and the own vehicle 1, it is not erroneously determined that the own vehicle 1 is shaking while driving.

[0072] In S25, the shaking determination unit C6 does not stop determining whether the own vehicle 1 is shaking while traveling (the shaking determination unit C6 determines whether the own vehicle 1 is shaking while traveling). That is, in S22, when the target object recognition determination unit C3 determines that the face or sight line of the driver of the own vehicle 1 is not directed toward the target object TG existing in the periphery of the own vehicle 1 while traveling (that is, when the face or sight line of the driver of the own vehicle 1 is directed in a direction different from the target object TG), the shaking determination unit C6 does not stop determining whether the own vehicle 1 is shaking while traveling.

[0073] exist Figure 6 In the example shown, if S23 is judged as "yes" and S24 is executed, and the driver of the own vehicle 1 operates the steering angle to avoid a collision between the surrounding vehicles (target object TG) and the own vehicle 1, then after a predetermined time has passed after the operation is completed, the shaking determination unit C6 restarts the determination of whether there is shaking in the driving of the own vehicle 1.

[0074] In other examples, it is also possible that when the judgment in S23 is "yes" and S24 is executed, when the driver of the own vehicle 1 operates the steering angle to avoid a collision between the surrounding vehicles (target object TG) and the own vehicle 1, at the end of the operation, the shaking determination unit C6 restarts the determination of whether there is shaking during the driving of the own vehicle 1.

[0075] As described above, the embodiments of the shake determination device, shake determination method, and storage medium of the present disclosure are described with reference to the accompanying drawings. However, the shake determination device, shake determination method, and storage medium of the present disclosure are not limited to the above-mentioned embodiments, and can be appropriately changed without departing from the scope of the purpose of the present disclosure. The configurations of the various examples of the above-mentioned embodiments can also be appropriately combined. In the various examples of the above-mentioned embodiments, the processing performed in the shake determination device 18 is described as software processing performed by executing a program. However, the processing performed in the shake determination device 18 can also be processing performed by hardware. Alternatively, the processing performed in the shake determination device 18 can also be a combination of both software and hardware processing. In addition, the program stored in the memory 18B of the shake determination device 18 (the program that implements the function of the processor 18C of the shake determination device 18) can also be recorded on a computer-readable storage medium such as a semiconductor memory, a magnetic recording medium, an optical recording medium, etc., for example, to be provided, circulated, etc.

Claims

1. A shaking determination device, A shake determination unit is provided to determine whether the vehicle is shaking while driving. When there is a target object around the moving own vehicle and the face or line of sight of the driver of the own vehicle is directed toward the target object, the threshold change unit changes the shake determination threshold used to determine whether the own vehicle is shaking while driving, based on the positional relationship between the own vehicle and the target object, or the shake determination unit stops determining whether the own vehicle is shaking while driving.

2. The shake determination device according to claim 1, When the target object exists in the vicinity of the moving own vehicle and the face or line of sight of the driver of the own vehicle is directed toward the target object, the threshold change unit changes the threshold for shaking judgment according to the amount of intrusion, i.e., the amount of overlap, of the target object into the planned driving area of ​​the own vehicle.

3. The shaking determination device according to claim 2, When the target object exists in the vicinity of the own vehicle while it is moving, and the face or line of sight of the driver of the own vehicle is directed toward the target object, the threshold changing unit changes the shake determination threshold in such a manner that the larger the overlap amount, the easier it is for the shake determination unit to determine that the own vehicle is not shaking while driving.

4. A shaking determination method, comprising the following steps: The shaking determination device determines whether the own vehicle is shaking while driving; and When there is a target object around the moving own vehicle and the face or line of sight of the driver of the own vehicle is directed toward the target object, the shaking judgment device changes the shaking judgment threshold used to judge whether the own vehicle is shaking while driving, or stops the step of judging whether the own vehicle is shaking while driving, according to the positional relationship between the own vehicle and the target object.

5. A storage medium storing a program, wherein the program causes a processor to execute the following steps: A step of determining whether the own vehicle is shaking while driving; and When there is a target object around the moving own vehicle and the face or line of sight of the driver of the own vehicle is directed toward the target object, the shaking determination threshold used to determine whether the own vehicle is shaking while driving is changed according to the positional relationship between the own vehicle and the target object, or the step of determining whether the own vehicle is shaking while driving is stopped.

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