DRIVING ASSISTANCE DEVICE

Abstract

A driver assistance device (100) designed to be installed in a vehicle, comprising: an image acquisition unit (111, 112) designed to capture an image of another vehicle driving behind the one vehicle equipped with the driver assistance device (100); a close-range determination unit (102) designed to determine, on the basis of the image captured by the image acquisition unit (111, 112), whether the other vehicle is following closely behind the first vehicle; a continuity determination unit (103) configured to determine whether a dense approach, as determined by the dense approach determination unit (102), was carried out continuously; an information provision unit (106) configured to provide a driver of one vehicle with information about the other vehicle when the continuity determination unit (103) determines that the close following was carried out continuously; and wherein the driver assistance device (100) is designed to determine, on the basis of the image captured by the image acquisition unit (111, 112), whether the tailgating of the other vehicle has ceased; and with a memory (121) designed to store the information about the other vehicle therein, wherein the driving assistance device (100) is configured to store the information about the other vehicle in the memory (121) if the other vehicle overtakes the first vehicle and the close following of the other vehicle has ended, , and wherein the driving assistance device (100) is configured not to store the information about the other vehicle in the memory (121) if the close following of the other vehicle has ended, and the other vehicle has changed course or the other vehicle maintains a specific distance from the first vehicle.

Description

[0001] The present invention relates to a driver assistance device.

[0002] If a vehicle (hereinafter referred to as a preceding vehicle) is driving, and the driver of another vehicle (hereinafter referred to as a following vehicle) traveling behind the preceding vehicle feels that a driving condition desired by the driver is being obstructed by the preceding vehicle, the following vehicle may tailgate the preceding vehicle (e.g., drive close behind the preceding vehicle). Tailgating includes high-risk actions, such as following a preceding vehicle too closely.

[0003] Generally, most drivers who tailgate are habitual tailgaters, and these habitual tailgaters are often unaware that they are tailgating. However, there is currently no effective way to warn such habitual tailgaters. Therefore, to prevent accidents, preventative safety measures focused on driver self-defense are crucial.

[0004] In related techniques, if a vehicle in question is closely followed by another vehicle, in order to determine whether the following vehicle is one that has closely followed the vehicle in question in the past, the driver of the vehicle in question must, for example, look in the rearview mirror or turn their head to check the following vehicle. Therefore, the driver's workload is considerable.

[0005] A driver assistance device has been proposed for determining the state of another vehicle in the vicinity of a vehicle equipped with the driver assistance device, and for determining the possibility that another vehicle will closely follow the vehicle equipped with the driver assistance device, at least on the basis of the result of determining the state of another vehicle, and for performing a display control for the driver of the vehicle equipped with the driver assistance device on the basis of the result of determining the possibility (see JP 2006 - 205 773 A).

[0006] This document describes a risk indicator designed to inform the driver that a risk exists, implemented as an indicator control.

[0007] Document US 2015 / 0307025A1 discloses that an image of a following vehicle is captured using a rear-view camera, that a distance to the following vehicle is determined, and that an initial safety response is activated when the distance to the following vehicle is less than a predetermined distance.

[0008] DE 10 2012 215 173 A1 discloses a vehicle safety system and a method that can be used to detect a potential close-range collision involving another vehicle and to send a corresponding warning to the driver.

[0009] DE 10 2011 016 217 A1 discloses a method for warning a driver of a motor vehicle of a risk of collision using a camera system of the motor vehicle by taking an image of an area behind the motor vehicle using a camera of the camera system and by warning the driver on the basis of the recorded image.

[0010] US Patent 2013 / 0187771A1 discloses a method and a system for determining a recommended distance between a first vehicle and a second vehicle.

[0011] US patent 2015 / 0317523A1 discloses a vehicle-related video processing system that includes vehicle-integrated cameras.

[0012] However, the technology disclosed in JP 2006 - 205 773 A merely performs the risk indication to inform the driver that there is a risk and does not take into account how the driver of the vehicle in question, which is equipped with the driver assistance device, determines whether another vehicle is being driven by a habitual tailgater, and how the driver of the vehicle in question, which is equipped with the driver assistance device, ensures preventive safety, primarily with a focus on self-defense.

[0013] It is therefore an object of at least one aspect of the embodiments of the present invention to provide a driver assistance device that improves preventive safety by enabling the driver of a vehicle equipped with the driver assistance device to take an action in self-defense, given whether the driver of another vehicle is a habitual tailgater.

[0014] The problem is solved by a driver assistance device according to claim 1. The dependent claims relate to further advantageous embodiments of the invention.

[0015] According to the embodiment of the present invention, the driver of the vehicle in question, which is equipped with the driver assistance device, can perform an act of self-defense in view of whether the driver of another vehicle is a habitual tailgater, and thereby preventive safety can be improved.

[0016] The attached drawings contain: Fig. 1 a view illustrating a rough configuration of a driver assistance device according to one embodiment, Fig. 2 a view illustrating a control flow of the driver assistance device according to the embodiment, Fig. 3 a schematic diagram illustrating the relationship between a vehicle equipped with the driver assistance device and a following vehicle in the embodiment, Fig. 4 a schematic diagram illustrating the relationship between the vehicle equipped with the driver assistance device and the following vehicle in the embodiment, Fig. 5 a schematic diagram illustrating the relationship between the situation behind the vehicle equipped with the driver assistance device and a rear view image in the embodiment, Fig. Figure 6 is a schematic diagram illustrating a rear-view camera mounting position in the case where the vehicle equipped with the driver assistance device is a motorcycle according to the embodiment. Fig. 7 a view illustrating the flow of a continuity determination procedure carried out in the driver assistance device according to the embodiment, Fig. 8 a view illustrating the flow of a continuity-density collision handling procedure carried out in the driver assistance device according to the embodiment, Fig. 9 a view illustrating the flow of a temporary close-combustion handling procedure carried out in the driver assistance device according to the embodiment, and Fig. 10 A schematic diagram illustrating an example of how the driver assistance device provides information to a driver according to the embodiment.

[0017] An embodiment of the present invention is described in detail below with reference to the accompanying drawings. Furthermore, a four-wheeled automobile utilizing a driver assistance device according to the present invention is described as an example, although the objects to which the present invention can be applied are not limited to such an object, and the present invention can be applied to various objects. For example, the driver assistance device according to some embodiments of the present invention can be applied to other types of vehicles (for example, vehicles with a riding seat, such as motorcycles and motor tricycles). A motorcycle is described below as a representative example of a vehicle with a riding seat.

[0018] In a situation where a vehicle is tailgating, if an adjacent lane is empty or the vehicle in question is traveling below a speed limit, it is relatively easy to escape the tailgating. However, if the road is narrow, if the vehicle in question is traveling in a no-overtaking zone, or if adjacent lanes are congested, it is difficult to allow other vehicles to overtake. Furthermore, if the vehicle in question is traveling at a speed close to the upper limit of the speed limit, it is difficult to accelerate to maintain a sufficient distance from the vehicle behind. In such cases, escaping the tailgating becomes challenging.

[0019] It is also possible to warn the following vehicle through inter-vehicle communication to prevent tailgating. However, in some cases, such as when inter-vehicle communication is possible and the driver of the following vehicle ignores the warning, the behavior of the driver of the vehicle in question becomes key to accident prevention.

[0020] Generally, most drivers who tailgate are habitual tailgaters, and such habitual tailgaters are hardly aware that they are tailgating. Therefore, preventive safety measures focusing on the self-defense of the driver of the vehicle in question are key to accident prevention.

[0021] If the driver of the vehicle in question determines that a habitual tailgater is driving the vehicle behind them, it is easy to take action in self-defense. Generally, on roads (commuter roads) that people frequently use, there are not many habitual tailgaters. Therefore, the driver must search their memory for the license plate number or external characteristics of the following vehicle to determine if it is driven by a habitual tailgater. In this case, the driver must, for example, look in the rearview mirror or turn their head to check the vehicle behind them. Therefore, the burden on the driver is considerable.

[0022] More precisely, in the event of a rear-end collision with a vehicle with a sidecar, it is generally easy for the motorcycle to change course to the side of the road so that the following vehicle can overtake. However, on a narrow road, since it is not possible to ensure sufficient road width to allow other vehicles to overtake safely, the rider must pay attention to the situation behind the motorcycle. Therefore, the rider's workload increases.

[0023] Furthermore, it is not easy to determine whether a following vehicle is driven by a habitual tailgater, as the driver can only rely on their memory.

[0024] Consequently, supporting the driver of a vehicle in question in self-help efforts (performing self-protective driving) would improve preventive safety measures.

[0025] A driver assistance device is provided to assist the driver of a vehicle equipped with the driver assistance device in searching the driver's memory to determine whether the driver of a following vehicle is a habitual tailgater, by providing the driver of the vehicle in question with information about the following vehicle if the following vehicle is continuously tailgating.

[0026] In other words, a driver assistance device is provided, designed to be installed in a vehicle, comprising: an image acquisition unit designed to acquire an image of another vehicle traveling behind the vehicle equipped with the driver assistance device; a close-ratio detection unit designed to determine, based on the image acquired by the image acquisition unit, whether the other vehicle is following closely behind the first vehicle; a continuity detection unit designed to determine whether close-ratio driving, as determined by the close-ratio detection unit, has been carried out continuously; and an information provision unit designed to provide information about the other vehicle to the driver of the other vehicle when the continuity detection unit determines that it has been carried out continuously.that the approach to the road was carried out continuously.

[0027] An embodiment of the present invention will now be described in detail with reference to the drawings. First, the configuration of a driver assistance device 100 according to the present embodiment will be described. Fig. Figure 1 is a view illustrating a basic configuration of the driver assistance device according to the present embodiment. It is further assumed that a vehicle 1, to which the driver assistance device 100 is applied, has the same components (such as a drive motor and tires) as those generally found in four-wheeled automobiles, although its description is not provided.

[0028] The driver assistance device 100 (see Fig. 1) According to the present embodiment, an electronic control unit (ECU) 101, which is an example of a processing unit, comprises. The ECU 101 is, for example, equipped with a processor for performing various processes.

[0029] The ECU 101 is designed to execute programs as a processing unit and can therefore implement an Inter-vehicle Distance Determination Unit (a Close-Range Determination Unit) 102, a Continuity Determination Unit 103, an End Determination Unit 104, a Vehicle Information Management Unit 105, an Information Provisioning Unit 106, an Image Processing Unit 107 and a Parking Assistance Unit 108.

[0030] Furthermore, the driver assistance device 100 includes a reversing camera 111, which is an example of an image capture unit for capturing an image of the area behind the vehicle 1 in question, and the reversing camera is electrically connected to the ECU 101 in such a way that the output of the reversing camera is entered into the ECU.

[0031] Furthermore, the driver assistance device 100 includes a front view camera 112, which is an example of an image acquisition unit for capturing an image of the area in front of the vehicle 1 in question, and the front view camera is electrically connected to the ECU 101 such that the output of the front view camera is entered into the ECU.

[0032] Furthermore, the driving assistance device 100 includes a gear position sensor 113 for determining whether the gear of the vehicle 1 in question is a reverse gear position, and the gear position sensor is electrically connected to the ECU 101 in such a way that the output of the gear position sensor is entered into the ECU.

[0033] In addition, a memory 121, a sound output 122, a communication unit 123, a display unit 124 and a navigation device 125 are electrically connected to the ECU 101 in such a way that each unit can transmit signals to the ECU and receive signals from the ECU, or each unit can either transmit signals to the ECU or receive signals from the ECU.

[0034] Furthermore, the navigation device 125 is electrically connected to the display unit 124 and a GPS receiver unit (not shown in the drawings) in such a way that the navigation device can control the display unit 124 and receive GPS signals from the GPS receiver unit.

[0035] The inter-vehicle distance detection unit 102, which is an example of a tail-detection unit, is designed to determine whether a following vehicle is tailgating, based on whether the distance between the vehicle in question 1 and the following vehicle, calculated from a rear-view image (a captured image) captured by the rear-view camera 101, is shorter than a certain distance, as described below.

[0036] The continuity determination unit 103 is designed to measure the elapsed time from a specific point in time using, for example, the clock function of the ECU 101 (see Fig. 1), and to determine that a dense approach has been carried out continuously if the elapsed time exceeds a reference value t.

[0037] The end determination unit 104 is designed to determine whether the following vehicle, which was tailgating closely, has overtaken the vehicle in question, based on images captured by the rear-view camera 111 and the front-view camera 112, and concludes or infers that the following vehicle, which was tailgating dangerously closely, has overtaken, or determines that tailgating has ended when the following vehicle changes course or ensures a sufficient distance from the vehicle in question.

[0038] The vehicle information management unit 105 is designed to store information about a following vehicle, for example the license plate number, in memory 121 when the end determination unit 104 determines that the following vehicle has overtaken.

[0039] The information delivery unit 106 is designed to provide the driver of the vehicle 1 in question with information about a following vehicle by controlling the sound output unit 122, the communication unit 123, and the display unit 124. Details of the information delivery are described below.

[0040] The image processing unit 107 is designed to perform a variety of image processing operations, such as a method of storing images (still images or videos) captured by the rear view camera 111 and the front view camera 112 in the memory 121 and a method of recognizing the license plate numbers of following and preceding vehicles present in images by analyzing the images.

[0041] The parking assistance unit 108 performs a procedure of displaying rear-view images, captured by the rear-view camera 112, on the display unit 124 when, based on the output of the gear position sensor 113, it is determined that the gear is in reverse. The parking assistance unit 108 is a known device, and a person skilled in the art can easily understand its details.

[0042] In addition, the driver assistance device 100 ( Fig. 1) the memory 121 is equipped with one or more storage media of a read-only memory (ROM), a random access memory (RAM) and the like, depending on the use.

[0043] The sound output unit 122 is designed to output a message, for example with a synthetic sound from a loudspeaker (not shown in the drawings).

[0044] The driver assistance device may include an alarm generation unit instead of the sound output unit 122. The alarm generation unit is designed to warn the driver of the vehicle 1 in question. The alarm generation unit may, for example, be equipped with an alarm generator and a loudspeaker.

[0045] An example of the communication unit 123 is a near-field communication unit for conducting communication with a portable information processing terminal (for example, a smartphone). Bluetooth (registered trademark) and Wi-Fi (registered trademark) can be used as the communication unit, but the communication unit is not further restricted.

[0046] Another example of communication unit 123 is a mobile radio communication unit for accessing the internet. The communication unit could, for example, be a mobile telephone communication device (such as 3G, 3G and LTE), but the communication unit is not further restricted.

[0047] The display unit 124 can be, for example, a display included in the navigation device 125 (which will be described below), or, for example, an overhead display (not shown in the drawings) for projecting images onto a windscreen.

[0048] The navigation device 125 is designed to display a map on a display (an example of the display unit 124) included in the navigation device, for example based on map data stored in a memory included in the navigation device.

[0049] The GPS receiver unit (not shown in the drawings) is designed to receive GPS signals from GPS satellites and to output the GPS signals to the ECU 101 and the navigation device 125.

[0050] Up to now, the driver assistance device 100, which is mounted on the four-wheeled automobile, which is the vehicle in question 1, has been described in relation to Fig. 1 described. However, it is also possible to mount the driver assistance device 100 on a motorcycle (in the example of a vehicle with a seat), which is another example of the vehicle 1 in question. The case in which the driver assistance device is mounted on the motorcycle differs from the case in which the driver assistance device is mounted on the four-wheeled automobile in that the driver assistance device transmits information to an external communication device (not shown in the drawings), which is integrated into a driver's helmet, via the communication unit 123 in such a way that the external communication device can provide the driver with the information, for example, by means of a sound instead of displaying information on the display unit 124. Of course, a device mounted on the motorcycle can be used similarly to the case of the four-wheeled automobile.

[0051] Similarly, a head-mounted display (an example of the Display Unit 124) such as "smart classes" can be used as the external communication device for displaying information.

[0052] Furthermore, motorcycles generally do not require a parking assistance unit, and therefore they do not have rear-view cameras 111. However, it is necessary to provide the rear-view camera 111 to monitor the area behind the vehicle in order to implement the embodiment of the present invention.

[0053] However, the configuration of the driver assistance device 100 for the motorcycle can, of course, be the same as that of the four-wheeled automobile. Furthermore, both the four-wheeled automobile and the motorcycle are meant in the following description when referring to the vehicle 1 in question.

[0054] Now, a control flow of the driver assistance device 100 according to the present embodiment is described. Fig. Figure 2 is a view illustrating the control flow of the driver assistance device 100 according to the present embodiment.

[0055] First, in step ST101, the inter-vehicle distance determination unit 102 is determined (see Fig. 1) whether there is another vehicle (also referred to as a following vehicle) driving behind the vehicle in question. The inter-vehicle distance detection unit can make such a determination, for example, by determining whether an image captured by the rear-view camera 111 includes any following vehicle.

[0056] If the result of step ST101 is “NO”, the driver assistance device repeats step ST101.

[0057] If the determination result of step ST101 is “YES”, the inter-vehicle distance determination unit 102 performs a close-up determination procedure in step ST102.

[0058] In the present embodiment, a close approach, which is detected by the inter-vehicle distance determination unit 102, means that a following vehicle 2 is following the vehicle 1 in question too closely.

[0059] Fig. 3 and Fig. Figure 4 are schematic diagrams illustrating the relationship between the vehicle 1 in question and the following vehicle in the present embodiment. As shown in Fig. 3 and Fig. As shown in Figure 4, the rear part of the vehicle 1 in question has the reversing camera 111 to take an image of the area behind the vehicle 1 in question (shown by dashed lines in Figure 4). Fig. 3 and Fig. 4) to record. As it is in Fig. 3 and Fig. As shown in Figure 4, if the following vehicle 2 approaches vehicle 1 from behind, the reversing camera 111 can capture images containing the following vehicle 2, and also an image of a license plate 41 (see Figure 41). Fig. 4) capture. In addition, the front of the vehicle in question has the front-view camera 112 attached to it.

[0060] Fig. Figure 5 is a schematic diagram illustrating the relationship between the situation behind the vehicle 1 in question and a rear view image in the present embodiment. The rear view camera 111 captures a rear view image 51 that shows part of the following vehicle 2 driving behind the vehicle 1 in question (see Figure 5). Fig. 1), as it is in Fig. 5 is shown. The inter-vehicle distance determination unit 102 (see Fig. 1) Establishes a coordinate system that has the lower left corner of the rear view image 51 as its origin 0. Then the inter-vehicle distance determination unit determines a value Y in the Y-direction that corresponds to a specific or determined distance, based on a value in a Y-direction (a vertical direction in Fig. 5) of the corresponding coordinate system and the measured distances from the rear end of the vehicle in question 1 and represents a defining line A, which is defined by the value Y and parallel to an X-direction (a left-right direction in Fig. 5) happens. Then, when a value Y1 in the Y-direction of a virtual line B (in Fig. 5 represented by a dashed line), which passes through the lowest end of the following vehicle 2, is smaller than the value Y of the determining line A in the Y direction, that is, if the virtual line B is closer to the origin 0 than the determining line A, the inter-vehicle distance determining unit 102 determines that the inter-vehicle distance d (see Fig. 4) the distance between the vehicle 1 in question and the following vehicle 2 is shorter than the specified distance, and the following vehicle 2 is driving very close behind.

[0061] Here, the specific distance depends on the speed of vehicle 1 and the driver's actions. The primary, or fundamental, factor in determining the specific distance is the relative speed between vehicle 1 and the following vehicle 2. As an example, on typical roads, a distance of approximately 6 meters can be used as a guideline, calculated by adding a difference or range to the length of a typical car (around 5 meters). In the case where the distance between the vehicles is 6 meters and the relative speed is 10 kilometers per hour, it takes 2.2 seconds for the two vehicles to make contact.

[0062] Fig. Figure 6 is a schematic diagram illustrating a rear-view camera mounting position in the present embodiment where the vehicle 1 in question is a motorcycle. As shown in Fig. As shown in Figure 6, the rear-view camera 111 is attached to the underside of the rear seat of a motorcycle 3 in such a way that the rear-view camera captures an image of the area (shown by dashed lines in Figure 6). Fig. (as shown in section 6) can detect the area behind the motorcycle 3. In addition, the front-view camera 112 is attached to the front of the motorcycle 3. The motorcycle 3 can also determine whether another vehicle is closely following it, as described above in relation to... Fig. 3 to 5 was described.

[0063] As it is in Fig. The inter-vehicle distance determination unit 102 (as shown in Figure 2) determines the distance between vehicles (see Figure 2). Fig. 1) in step ST103, whether the following vehicle 2 (see Fig. 3) follows closely, based on the result of the collision detection procedure (step ST102). If the detection result of step ST103 is “NO”, the driver assistance device returns to step ST101.

[0064] If the determination result of step ST103 is “YES”, the continuity determination unit 103 begins in step ST104 to measure the elapsed time by using the clock function of the ECU 101.

[0065] The image processing unit 107 begins next (see Fig. 1) In step ST107, rear-view images are recorded in memory 121. At this time, the image processing unit can continuously record images captured by the rear-view camera as a video, or it can intermittently record images as sets of still images at intervals of a specific time (e.g., 1 second). However, the recording mode is not further restricted.

[0066] In step ST106, the image processing unit then stores information (vehicle information) about the following vehicle 2 (see Fig. 3 to 5) in memory 121 (see Fig. 1) Here, the information about the following vehicle 2 is, for example, the license plate number of the following vehicle 2, an image of the license plate, and an image showing the front of the following vehicle 2 (including external features such as the hood, front grille, bumper, and headlights, which are helpful in specifying the vehicle model, the vehicle color, and the like), without this being further limited. In the present embodiment, the license plate number of the following vehicle 2, which is captured by image recognition of the image processing unit 107, is used.

[0067] Furthermore, it is preferable to store the information about the following vehicle 2 in conjunction with date and time and the vehicle position information (the coordinates) acquired by the navigation device 125, so that the close-up situation can be analyzed.

[0068] Furthermore, in the case where the rear-view camera 112 has an image area larger than that of the rear-view image 51, which is in Fig. As shown in Figure 5, the image processing unit can be extended to capture an image of the driver of the following vehicle 2 and analyze more detailed information, such as the facial expression of the driver of the following vehicle 2, thereby capturing more detailed information such as whether the driver of the following vehicle 2 intends to tailgate and whether the risk is high.

[0069] Subsequently, in step ST107, the continuity determination unit 103 determines whether a sealing run-up was carried out continuously. Fig. Figure 7 is a view illustrating the flow of the continuity determination procedure performed in the driver assistance device 100 according to the present embodiment. As shown in Fig. As shown in Figure 7, the continuity determination unit first performs a density determination procedure (step ST201). The density determination procedure is identical to step ST102, which is described in relation to Fig. 2 was described.

[0070] In step ST202, the driver assistance device determines whether the following vehicle 2 (see Fig. 3) Following closely, based on the result of the following-traffic collision determination procedure (step ST201). If the determination result of step ST202 is “NO”, the driver assistance device determines in step ST204 that the elapsed time is equal to or less than the reference value t and determines that following closely was temporary, not continuous, and has ended. The procedure is then terminated.

[0071] However, if the result of step ST202 is “YES”, the unit of determination is determined (see Fig. 1) In step ST203, the system determines whether the elapsed time exceeds the reference value t. If the result of step ST203 is "NO", the driver assistance system returns to step ST201. If the result of step ST203 is "YES", the system determines in step ST205 that a close-up maneuver has been performed continuously until the elapsed time exceeds the reference value T. The procedure then ends.

[0072] Whether tailgating is continuous or intermittent depends on the driver's perception; it is generally preferable for the driver to set the reference value t. For example, it is assumed that if vehicle 1 is continuously tailgated while traveling 330 meters at a speed of 60 km / h, the driver will feel unsafe and uncomfortable. In this case, the tailgating continues for over 20 seconds. Therefore, as a guideline, the reference value t can be set to 20 seconds.

[0073] Subsequently, in step ST108, the driver assistance device determines whether the following vehicle 2 is tailgating (see Fig. 3) has been carried out continuously, based on the result of the continuity determination procedure (step ST107). If the determination result of step ST108 is “YES”, the end determination unit 104 performs a continuity tightening recovery procedure in step ST109. However, if the determination result of step ST108 is “NO”, the end determination unit performs a temporary tightening recovery procedure in step ST110.

[0074] Fig. Figure 8 is a view illustrating the flow of the continuity-close-run handling procedure, which is carried out in the driver assistance device 100 according to the present embodiment. As shown in Fig. As shown in Figure 8, in step ST101 the information provision unit 106 first controls the display unit 124 so that the display unit shows the rear view image 51 (see Figure 8). Fig. 5), which was captured by the rear-view camera 111 and includes the following vehicle 2. At this stage, the display unit can continuously reproduce images captured by the rear-view camera 111 as a video, or it can intermittently display still images at intervals of a specific time (for example, 1 second). However, the image display mode is not further restricted.

[0075] The following determines the information provision unit 106 (see Fig. 1) in step ST302 with reference to information about other vehicles that have been close to the vehicle 1 in the past, which is stored in memory 121 by the vehicle information management unit 105, whether the following vehicle has overtaken the vehicle 1 in the past (which is to be described below), on the ON / OFF state of an overtaking flag (an example of identification information).

[0076] If the determination result of step ST302 is “YES”, the information provision unit 106 controls the display unit 124 in step ST303 so that the display unit performs a display to direct the attention of the driver of the vehicle 1 concerned (see Fig. 1) The information provision unit 106 can send a message for directing attention with a synthetic sound from the sound output 122 (see Fig. 1) spend instead of or while conducting an advertisement to direct attention.

[0077] However, the driver assistance device continues with step ST304 without performing step ST303 if the determination result of step ST302 is “NO”.

[0078] Regarding the tax flow that is in Fig. As shown in section 8, steps ST304 to ST307 are for determining whether a following vehicle 2 is tailgating (see Fig. 3 to 5). A tailgating situation ends when the following vehicle 2 overtakes the vehicle 1 in question (Case A), when the following vehicle 2 changes course to a route (a road or a lane) different from that of the vehicle 1 in question (Case B), or when the following vehicle maintains the specific distance from the vehicle 1 in question (Case C).

[0079] From this, it can be assumed that in case A, regardless of whether tailgating has been continuous, the driver of the following vehicle 2 is a habitual tailgater and dangerous. Therefore, in the case where tailgating ends with an overtaking maneuver, the driver assistance device records an overtaking flag indicating an ON state in memory 121 (see Fig. 1) in conjunction with the license plate number, which is an example of information about the following vehicle 2.

[0080] More precisely, the end determination unit 104 (see Fig. 1) in step ST304, whether the vehicle in question 1 has been overtaken by the following vehicle 2. The end determination unit 104 acts as an overtaking determination unit and determines whether the following vehicle has overtaken the vehicle in question 1, together with the inter-vehicle distance determination unit 102, based on rear-view images captured by the rear-view camera 111 and front-view images captured by the front-view camera 112. In other words, in the case where the following vehicle 2 (see Fig. 5), which is included in the rear view image 51, is not included in the next rear view image, and a front view image includes a vehicle ahead which is the same following vehicle 2, the end determination unit determines that the following vehicle 2 has overtaken the vehicle 1 in question. Whether the vehicle ahead is the same following vehicle 2 can be determined by checking whether the license plate number of the vehicle ahead, which is displayed by the image processing unit 107 (see Fig. 7) is recognized, which is the same as that of the following vehicle 2.

[0081] If the determination result of step ST304 is “YES”, the vehicle information management unit 105 takes an overtaking flag, which has an ON state, into memory 121 (see Fig. 1) in conjunction with the license plate number of the following vehicle 2. Subsequently, the end-determination unit 104 terminates the provision of information in step ST303. Then the driver assistance device terminates the continuity-close-range collision management procedure.

[0082] If the determination result of step ST304 is “NO”, the end determination unit 104 determines in step ST306 whether the following vehicle has changed lanes, in cooperation with the inter-vehicle distance determination unit 102, based on rear-view images captured by the rear-view camera 111 and front-view images captured by the front-view camera 112. In other words, if the following vehicle 2 (see Fig. 5) that is included in the rear view image, is not shown in the next rear view image, and a front view image does not include a preceding vehicle or includes a preceding vehicle that is different from the following vehicle 2, the end determination unit 104 determines that the following vehicle has changed lanes. Whether the preceding vehicle is the same as the following vehicle can be determined in the manner described above.

[0083] If the determination result of step ST306 is "YES", the End Determination Unit 104 terminates the Continuity Close-to-Flee Response Procedure. However, if the determination result of step ST306 is "NO", the End Determination Unit 104, in step ST307, determines whether the following vehicle 2 has maintained the specific or determined distance from the vehicle 1 in question, in cooperation with the Inter-Vehicle Distance Determination Unit 102, based on rear-view images captured by the rear-view camera 111. In other words, if a rear-view image 51 shows the following vehicle (see Fig. 5) includes, and the virtual line P passing through the lower end of the following vehicle 2 is higher than the determination line A, the end determination unit 104 determines that the inter-vehicle distance T between the vehicle 1 in question and the following vehicle 2 is equal to or greater than the specific distance, and determines that the following vehicle 2 has established the specific distance from the vehicle 1 in question.

[0084] If the determination result of step ST307 is "YES", the end determination unit 104 completes the provision of information. The driver assistance device then terminates the continuity-close-up handling procedure. However, if the determination result of step ST307 is "NO", the end determination unit returns to step ST304 and repeats the determination of whether a close-up has been completed.

[0085] Fig. Figure 9 is a view illustrating the flow of a temporary close-combustion handling procedure performed in the driver assistance device 100 according to the present embodiment. As shown in Fig. As shown in 9, the continuity determination unit 103 (see Fig. 3) A measurement of the elapsed time in step ST401 is taken and it is determined whether a following vehicle is tailgating the vehicle in question 1 and whether tailgating is continuous tailgating (steps ST402 and ST403). Determining continuity is done in the same way as in the case which is related to Fig. 7, as described. If the determination result of step ST403 is “YES”, the driver assistance device proceeds with step ST301 of the Continuity Close-to-Combustion handling procedure, which is described in Fig. 8 is shown, and continues and executes the procedures from steps ST301 to ST308.

[0086] However, if the result of ST403 is “NO”, the driver assistance device continues with step ST404.

[0087] In the tax flow that is in Fig. As shown in 9, steps ST404 to ST407 are for determining whether a following vehicle 2 is tailgating (see Fig. 3 to 5) has been completed, and are identical to steps ST304 to ST307, which refer to Fig. 8 were described, and their descriptions are omitted.

[0088] Fig. Figure 10 is a schematic diagram illustrating an example of how the driver assistance device 100 provides information to the driver according to the present embodiment. Fig. Figure 10 shows an example of how the navigation device 125 (see Fig. 1) displays an image on a screen (an example of the 124 display unit). As shown in Fig. As shown in 10, a rear view image 201, displayed by the rear view camera 111 (see map 200, which is shown by the navigation device 125), is shown on a map 200, which is displayed by the navigation device 125 (see Fig. 1) was detected, and that the front part of the following vehicle 2 (see Fig. 2 to 5) is superimposed. Furthermore, a text 202 for a warning, which is an example of attention-directing information, is superimposed on the rear view image 201.

[0089] The rear view image 201 and the text 202, which is in Fig. The values ​​shown in step 2 are displayed continuously until, based on the determination result of one of the steps ST304 to ST307, Fig. 8 is determined to end a tailgating incident and the possibility that the vehicle (see Fig. 2 to 5) poses a risk, is eliminated. Even if the vehicle in question is a articulated vehicle, it is impossible to simply escape a tailgating incident into a no-overtaking zone. Moreover, compared to four-wheeled automobiles, articulated vehicles are more prone to rollovers due to the effects of tailgating. Therefore, to improve preventive safety, it is effective to continuously provide the driver with information about a following vehicle and attention-grabbing information while the following vehicle is overtaking.

[0090] Again referring to Fig. 2. When the continuity density approach handling procedure (step ST109) or the temporary density approach handling procedure (step ST110) is completed, the image synthesis unit 17 in step ST110 stops acquiring rear view images. Additionally, the continuity determination unit 103 in step ST112 stops measuring elapsed time.

[0091] The ECU 101 is then determined (see Fig. 1) In step ST113, for example, the decision is based on whether the drive motor is running or whether driving has ended. If the result of step ST113 is "NO", the driver assistance device returns to step ST101. However, if the result is "YES", the driver assistance device ends the entire procedure.

[0092] The sequence of individual procedures of the control flow of the driver assistance device 100 described above is an example, and a person skilled in the art can understand that it is possible to change the sequence.

[0093] As described above, the driver must, according to the driving assistance device of the present embodiment, since the driver is provided with information about the following vehicle 2 (see Fig. 2 to 5) is provided, which is supplied to the vehicle 1 in question (see Fig. 1) Driving too closely, the driver does not look in the rearview mirror or turn their head to check whether the following vehicle 2 is driven by a habitual tailgater whom the driver remembers, and no burden is placed on the driver. Furthermore, since the driver can recognize, based on their memory, that there is a possibility that another vehicle will tailgate dangerously closely and can direct their attention to the corresponding vehicle, preventive safety can be effectively improved.

[0094] Furthermore, the driver can easily determine whether the following vehicle 2 is a vehicle driven by a habitual tailgater that the driver remembers, by searching his or her memory for the license plate number or external features of the following vehicle 2 that were detected by the rear-view camera 201 (see Fig. 10) are identified, which include the following vehicle 2.

[0095] Furthermore, since the driver is provided with attention-directing information such as text 202, as in Fig. As shown in 10, the driver can easily see that the following vehicle 2 is driving very close.

[0096] Furthermore, if the following vehicle 2, which is tailgating vehicle 1, has overtaken vehicle 1 in the past, the likelihood that the driver of the following vehicle 2 is a habitual tailgater is higher. For this reason, the driver assistance system stores the overtaking flag, which is in the ON state, in conjunction with the license plate number of the following vehicle 2.Subsequently, if the vehicle in question 1 has been continuously tailgating by the following vehicle 2, and if the memory 121 receives the overtaking flag, which has the ON state, in conjunction with the license plate number of the following vehicle 2, because the possibility that the following vehicle 2 will tailgate dangerously closely is particularly high, the driver assistance device directs attention to prevent the driver from relying solely on his or her memory, thereby further improving the preventive safety effect.

[0097] Furthermore, since the inter-vehicle distance determination unit 102 (see Fig. 1) determines whether the following vehicle is following closely, based on whether the following vehicle 2 is within the specified distance of the vehicle 1 in question in the rear view image 51 (see Fig. 5) which is detected by the rear view camera 111, it can be determined with a simple configuration by a simple procedure whether the vehicle in question is following too closely.

[0098] Furthermore, in the case where the vehicle in question is a vehicle with a driving articulated axle, it is preferable that the information provision unit 106 (see Fig. 1) provides the driver with information through a device mounted on the vehicle with a riding saddle, or a communication device worn by the driver of the vehicle with a riding saddle. In this case, the vehicle with a riding saddle also has a configuration in which it is difficult to check the area behind the vehicle in question, whereby it can be determined whether the following vehicle 2 is a vehicle driven by a habitual tailgater whom the driver remembers without imposing a burden on the driver.In other words, since the driver does not need to look in the rearview mirror or turn his head to check the area behind the vehicle in question, and since the driver can recognize, based on his memory, that there is a possibility that another vehicle will be driving dangerously close behind, and can direct his attention to the corresponding vehicle, the preventive safety effect is improved.

[0099] Furthermore, in the case where the vehicle 1 in question is a four-wheeled car, since the rear-view camera 111 also serves as a rear-view imaging unit for the parking assistance unit 108, the rear-view imaging unit for the parking assistance unit can be used effectively while the vehicle in question is driving.

[0100] Furthermore, in the case where the following vehicle 2 is tailgating (“YES”, as determined in step ST103 in Fig. 2) Rear view images are recorded in memory 121. Therefore, if tailgating causes a driving accident and the accident is investigated, the rear view images can be used as strong evidence to prove that the vehicle in question was tailgating by the following vehicle.

[0101] The present invention is not limited to the embodiments described above and can be modified and implemented in various versions. With regard to the sizes, shapes, and the like of the embodiments shown in the accompanying drawings, the present invention is not limited thereto and can be suitably modified.

[0102] For example, in the embodiment described above, if the memory 121 (see Fig. 1) receives the overtaking flag, which has the ON state, in conjunction with the license plate number, since there is a possibility that the following vehicle 2 (see Fig. 3 to 5) is following dangerously closely, thereby posing a risk to the vehicle 1 in question, the driver assistance device provides the driver with attention-directing information. However, if the vehicle 1 in question is an autonomous or self-driving vehicle, the driver assistance device may control the behavior of the vehicle 1 instead of, or during, the provision of attention-directing information. Controlling the behavior of the vehicle 1 in question includes, but is not limited to, specifically controlling the drive motor to accelerate the vehicle 1, controlling it to ensure a sufficient distance from the following vehicle 2, or controlling the steering angle to change course towards the shoulder of the road.

[0103] If the following vehicle (2) is continuously tailgating but has not overtaken in the past, the driver assistance system does not intervene. Therefore, there is no concern that excessive control of the vehicle's behavior could be implemented, thus preventing smooth driving.

[0104] Furthermore, in the embodiment described above, when the end determination unit 104, which is the overtaking determination unit, determines that the following vehicle, which is closely following the vehicle in question, has overtaken the vehicle in question 1, and the memory 121 receives the overtaking flag, which has the ON state, in conjunction with the license plate number (steps ST1302 and ST303 of Fig. 8), the driver assistance device performs the attention guidance procedure. However, in the case where memory 121 contains the license plate number (step ST106 of Fig. 2) Regardless of whether the overtaking flag is in the ON state, the driver assistance device can perform the same attention-directing procedure. In this case, since the following vehicle 2, which has been tailgating closely in the past, is very likely to tailgate dangerously closely again, the driver can be warned not to rely solely on their memory and to pay attention to the following vehicle.

[0105] Furthermore, in the embodiment described above, in the case where the following vehicle 2, which has been following closely, overtakes the vehicle in question 1 (step ST305 of Fig. 8 and step ST405 of Fig. 9), the driver assistance system determines that the driver of the following vehicle 2 is highly likely to tailgate dangerously closely. Thereafter, if the following vehicle continues to tailgate closely, the driver assistance system initiates the attention-directing procedure (step ST303 of Fig. 8) by. However, the action by which it is possible to determine that the following vehicle is very likely to be tailgating dangerously closely is not limited to overtaking. For example, even if the following vehicle 2 has activated its turn signal, high beams, headlights, has passed the vehicle in question 1, or has made a U-turn, it can be considered that the following vehicle is very likely to be tailgating dangerously closely. The driver assistance device can generate rear-view images through the image processing unit 107 (see Fig. 1) analyze, and thereby recognize such actions, and record information representing the following vehicle that has performed such actions in memory 121, so that the corresponding information can be used to determine whether it is necessary to direct attention, as in the case where the following vehicle has overtaken.

[0106] Even if the following vehicle 2 has previously tailgated while the horn was sounding, it is possible to consider that the following vehicle is highly likely to tailgate dangerously closely. In such a case, a microphone (a sound sensor) can be used as a component other than the rear-view camera 111 (see Fig. 1) be provided. In this case, when the microphone picks up the sound of the horn, the driver assistance device records information representing the following vehicle that was tailgating while sounding its horn in memory 121, so that the corresponding information can be used to determine whether it is necessary to direct attention, as in the case where the following vehicle has overtaken.

[0107] Thus, when determining whether it is necessary to direct attention, not only overtaking but also actions associated with a multiple instances of tailgating, i.e., actions that show that the following vehicle most likely poses a risk to the vehicle in question, can be used.

[0108] Furthermore, in the embodiment described above, in the density determination procedure (step ST102 of Fig. 2) The driver assistance device determines whether the following vehicle is tailgating, based on the distance between the vehicle in question 1 and the following vehicle 2 (see Fig. 3 to 5).

[0109] If the following vehicle is tailgating, the driver assistance system performs the procedures of step ST103 and the subsequent steps. However, the driver assistance system may determine whether the vehicle in question can escape tailgating by changing lanes, altering its course to the shoulder, accelerating, or similar actions. If the determination result is "YES", the driver assistance system may proceed to step ST101 (see Fig. 2) return without performing the procedures of step ST103 and the subsequent steps. Such determination can be carried out using a known technology, a connection to ITS (Intelligent Transport System) or ASV (Advanced Safety Vehicle).

[0110] Furthermore, in the embodiment described above, the case of comparing the determination line A and the virtual line B, which passes through the lower end of the following vehicle 2, as described in relation to Fig. 3 to 5, and a determination that the following vehicle 2 is following closely is described as an example. However, the driver assistance device can determine the relative distance of the following vehicle 2 to the vehicle 1 in question based on images from the rear-view camera 111 (see Fig. 1) to be detected, calculate and determine whether the following vehicle 2 is tailgating, based on whether the calculated relative distance is less than a specific or determined distance.

[0111] Furthermore, in the embodiment described above, the case of using the rear view camera 111 and images captured by the rear view camera 111, which are used by the parking assistance 108, was described; however, images acquired by a rear view camera used by a driving recorder can also be used.

[0112] Furthermore, in the embodiment described above, as shown in steps ST305 to ST307 of Fig. As shown in Figure 8, when the following vehicle overtakes (Case A) or changes lanes (Case B), or ensures a sufficient distance between vehicles, the driving assistance device determines that tailgating has ended. However, the present invention is not limited to this. For example, the driving assistance device can determine that tailgating has ended when the following vehicle 2 (see Figure 8) overtakes (Case A) or changes lanes (Case B), or ensures a sufficient distance between vehicles. Fig. 5) is not shown in the following rear view images, as shown in the rear view image 51.

[0113] As described above, some embodiments of the present invention have the effect that the driver of the vehicle in question performs a self-protection measure in view of whether the drivers of other vehicles are habitually tailgaters, thereby improving preventive safety, and the embodiments are useful or advantageous particularly in driver assistance devices for four-wheeled automobiles, vehicles with a riding saddle and the like.

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