Stagger determination system, stagger determination method, and program

Abstract

To properly determine whether or not an own vehicle is staggering while traveling.SOLUTION: A stagger determination system 18 includes a stagger determination unit C6 that determines whether or not an own vehicle 1 is staggering while traveling. When a target TG exists around the own vehicle 1 which is traveling, if a face or line of sight of a driver of the own vehicle 1 is oriented to the target TG, a threshold alteration unit C5 alters a stagger determination threshold, which is employed in determining whether or not the own vehicle 1 is staggering while traveling, according to a positional relationship between the own vehicle 1 and target TG, or the stagger determination unit C6 suspends determination on whether or not the own vehicle 1 is staggering while traveling.SELECTED DRAWING: Figure 4

Description

[Technical field]

[0001] The present disclosure relates to a sway determination device, a sway determination method, and a program. [Background technology]

[0002] Patent Document 1 describes a technology for determining vehicle sway. In the technology described in Patent Document 1, sway behavior is learned for each driving scene of the vehicle, and the vehicle sway is determined using the learning result. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2017-107299 A Summary of the Invention [Problem to be solved by the invention]

[0004] However, in the technology described in Patent Document 1, the vehicle's swaying behavior is not learned when changing lanes or overtaking before and after a lane change, when a large vehicle adjacent to the vehicle pulls close to the vehicle, when the vehicle is traveling in a section where the lane width is reduced due to construction or an obstacle, etc. In other words, these scenes are set as learning excluded scenes. That is, in the technology described in Patent Document 1, the vehicle's swaying behavior is not learned when overtaking before and after a lane change (i.e., when the vehicle overtakes a preceding vehicle as a target existing around the vehicle before and after a lane change), when a large vehicle adjacent to the vehicle pulls close to the vehicle (i.e., when a large vehicle as a target existing around the vehicle pulls close to the vehicle while traveling), when the vehicle is traveling in a section where the drivable lane width is reduced and where construction signs or the like are installed as targets, and when the vehicle is traveling in a section where the drivable lane width is reduced and where an obstacle as a target is present. Therefore, the technology described in Patent Document 1 may not be able to properly determine whether or not the vehicle is swaying while traveling in such a situation (i.e., when there are targets around the vehicle while it is traveling and the vehicle is traveling in a scene where learning is not taking place).

[0005] In view of the above, the present disclosure aims to provide a sway determination device, a sway determination method, and a program that can appropriately determine whether or not a host vehicle is swaying while traveling. In particular, the present disclosure aims to provide a sway determination device, a sway determination method, and a program that can reduce the risk that the behavior of the host vehicle associated with an operation by the driver of the host vehicle to avoid a target that exists around the host vehicle while traveling is erroneously determined as swaying of the host vehicle. [Means for solving the problem]

[0006] One aspect of the present disclosure is a sway determination device that includes a sway determination unit that determines whether or not the host vehicle is swaying while traveling, and when a target object is present in the vicinity of the host vehicle while traveling and the face or line of sight of the driver of the host vehicle is directed toward the target, a threshold change unit changes a sway determination threshold value used to determine whether or not the host vehicle is swaying while traveling, or the sway determination unit stops determining whether or not the host vehicle is swaying while traveling, depending on the positional relationship between the host vehicle and the target. Effect of the Invention

[0007] According to the present disclosure, it is possible to appropriately determine whether or not the host vehicle is swaying while traveling. [Brief description of the drawings]

[0008] [Figure 1] 1 is a diagram showing an example of a host vehicle 1 to which a sway determination device 18 of a first embodiment is applied. [Diagram 2] 2 is a diagram showing an example of a specific configuration of a stagger determining device 18 shown in FIG. [Diagram 3] 5 is a flowchart for explaining an example of processing executed by a processor 18C of the stagger determination device 18 of the first embodiment. [Figure 4] 13 is a diagram for explaining a specific example in which the threshold value changing unit C5 changes the threshold value for determining wobble. FIG. [Diagram 5] 13 is a diagram for explaining a specific example in which the threshold value changing unit C5 changes the threshold value for determining wobble. FIG. [Figure 6] 10 is a flowchart for explaining an example of processing executed by a processor 18C of a stagger determination device 18 of a second embodiment. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0009] Hereinafter, with reference to the drawings, embodiments of a sway determination device, a sway determination method, and a program according to the present disclosure will be described.

[0010] First Embodiment Fig. 1 is a diagram showing an example of a host vehicle 1 to which a sway determination device 18 according to a first embodiment is applied. Fig. 2 is a diagram showing an example of a specific configuration of the sway determination device 18 shown in Fig. 1. In the example shown in FIGS. 1 and 2, 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 sway determination device 18. The vehicle state sensor 11 detects the state of the host 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, a torque sensor for detecting steering torque, etc. The vehicle state sensor 11 transmits the detection result of the state of the host vehicle 1 to the sway determination device 18, etc. The surrounding condition sensor 12 detects targets TG (see FIG. 4) and the like present around the vehicle 1. The targets TG include, for example, surrounding vehicles (e.g., a preceding vehicle, an adjacent vehicle, and the like), fallen objects, guard rails, obstacles (e.g., a construction sign, an accident processing vehicle, and the like), pedestrians, utility poles installed in the travel path L (see FIG. 4), dividing lines (white lines) LL and LR (see FIG. 4) installed on the road surface of the travel path L, roadside objects, and the like. The surrounding condition sensor 12 includes, for example, a camera, a LIDAR (Laser Imaging Detection and Ranging), a radar, a sonar, and the like. The surrounding condition sensor 12 transmits the detection results of targets TG and the like present around the vehicle 1 to a sway determination device 18 and the like.

[0011] The position information acquisition device 13 acquires information indicating the position and orientation of the 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 vehicle 1. The position information acquisition device 13 may perform a known self-position estimation process (localization) to improve the accuracy of the information indicating the position and orientation of the vehicle 1. The position information acquisition device 13 may have a function of detecting the position of the vehicle 1 in the width direction (up and down direction in FIG. 4) of the road L on which the vehicle 1 is traveling, based on an image including the lane markings LL and LR captured by a camera. The position information acquisition device 13 transmits information indicating the position and orientation of the vehicle 1 to the sway determination device 18, etc. The map information acquisition device 14 acquires map information indicating lane arrangement, road shape, etc. from a map database. The map database may be stored in a storage device (not shown) mounted on the vehicle 1, or may be stored in a management server external to the vehicle 1. In an example in which the map database is stored in a management server external to the vehicle 1, the map information acquisition device 14 acquires map information from the map database via communication between the vehicle 1 and the management server. The map information acquisition device 14 may detect (calculate) the curvature of the road L on which the vehicle 1 is traveling, and acquire information indicating the curvature of the road L on which the vehicle 1 is traveling as map information. The map information acquisition device 14 transmits map information indicating lane arrangement, road shape, etc. to the sway determination device 18, etc.

[0012] The vehicle 1 also includes a driver monitoring device 15, an HMI (Human Machine Interface) 16, and a rest suggestion device 19. The driver monitoring device 15 includes a driver monitor camera that captures a driver monitor camera image including the face of the driver of the vehicle 1. The driver monitor camera is disposed on the upper part of the steering column (not shown) of the vehicle 1 so as to be able to capture an image of the face and part of the upper body of the driver of the vehicle 1. In other examples, the driver monitor camera may be disposed in a center cluster of the host vehicle 1, or may be disposed in a rearview mirror, a meter panel, a meter hood, etc. of the host vehicle 1. In these examples, the driver monitor camera can also capture an image of the face and part of the upper body of the driver of the host vehicle 1.

[0013] In the example shown in Figures 1 and 2, the driver monitoring device 15 generates gaze information indicating the face or gaze direction of the driver of the vehicle 1 based on a driver monitor camera image including the face of the driver of the vehicle 1 captured by the driver monitor camera, and transmits the gaze information to a swaying determination device 18, etc. The HMI 16 is an interface for inputting and outputting information between the rest suggestion device 19 and the driver of the vehicle 1. The HMI 16 includes at least one of a visual notification such as a display that suggests a break to the driver of the vehicle 1 based on a control signal from the rest suggestion device 19, an audible notification such as a speaker that suggests a break to the driver of the vehicle 1, and a tactile notification such as a steering wheel or a vibration generator built into the driver's seat that suggests a break to the driver of the vehicle 1. The HMI 16 also includes operation buttons, a touch panel, etc. that accept input operations by the driver of the vehicle 1.

[0014] The host vehicle 1 also includes a cruise control device 17, a steering device (steering actuator) 17A, a drive device (drive actuator) 17B, and a braking device (braking actuator) 17C. The steering device 17A includes, for example, a power steering system, a steer-by-wire steering system, a rear wheel steering system, etc. The driving device 17B has a function of accelerating the host vehicle 1. The driving device 17B includes, for example, an engine, an EV (electric vehicle) system, a hybrid system, a fuel cell system, etc. The braking device 17C has a function of decelerating the host vehicle 1. The braking device 17C includes, for example, a hydraulic brake, a regenerative brake, etc. The driving control device 17 is configured by a computer having a communication interface (I / F), a memory, and a processor. The driving control device 17 transmits a control signal to the steering device 17A to operate the steering device 17A in response to a steering operation or the like by the driver of the vehicle 1. The driving control device 17 also transmits a control signal to the driving device 17B to operate the driving device 17B in response to an accelerator operation or the like by the driver of the vehicle 1, and transmits a control signal to the braking device 17C to operate the braking device 17C in response to a brake operation or the like by the driver of the vehicle 1.

[0015] The sway determination device 18 is configured by a computer having a communication interface 18A, a memory 18B, and a processor 18C. The processor 18C has a function as an acquisition unit C1, a function as a target presence 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 sway determination unit C6. The acquisition unit C1 acquires information indicating the state of the host vehicle 1 (for example, detection results of a vehicle speed sensor, detection results of a yaw rate sensor, detection results of a steering angle sensor (amount of steering angle operation), detection results of a torque sensor (steer torque), etc.) from the vehicle state sensor 11. The acquisition unit C1 also acquires detection results of targets TG and the like present around the host vehicle 1 by the surrounding situation sensor 12. Furthermore, the acquisition unit C1 acquires information indicating the position and orientation of the host vehicle 1 from the position information acquisition device 13, and acquires map information from the map information acquisition device 14. The acquisition unit C1 also acquires gaze information (driver monitor camera image) indicating the face or gaze direction of the driver of the host vehicle 1 from the driver monitoring device 15. The target presence determination unit C2 determines whether or not a target TG exists around the host vehicle 1 while the host vehicle 1 is traveling, based on the detection results of the vehicle speed sensor, the detection results of the surrounding condition sensor 12, and the like acquired by the acquisition unit C1. The target recognition determination unit C3 determines whether or not the face or gaze of the driver of the vehicle 1 is directed to a target TG present in the vicinity of the vehicle 1 while traveling, based on gaze information (driver monitor camera image) indicating the direction of the face or gaze of the driver of the vehicle 1 acquired by the acquisition unit C1. That is, the target recognition determination unit C3 determines whether or not it can be estimated that the driver of the vehicle 1 recognizes a target TG present in the vicinity of the vehicle 1 while traveling. In detail, the target recognition determination unit C3 determines whether or not the face or gaze of the driver of the vehicle 1 is directed to a target TG present in the vicinity of the vehicle 1 while traveling, based on, for example, gaze information (driver monitor camera image) indicating the direction of the face or gaze of the driver of the vehicle 1 acquired by the acquisition unit C1, an image including a target TG present in the vicinity of the vehicle 1 while traveling captured by a camera as the surrounding situation sensor 12, and the positional relationship between the driver monitor camera and the camera as the surrounding situation sensor 12.

[0016] The target avoidance determination unit C4 determines whether or not an operation by the driver of the host vehicle 1 (for example, an operation of the steering angle of the host vehicle 1) is required to avoid a collision between the host vehicle 1 and a target TG present in the vicinity of the host vehicle 1 while the vehicle 1 is traveling. In detail, the target avoidance determination unit C4 determines whether or not an operation by the driver of the host vehicle 1 is required to avoid a collision between the host vehicle 1 and a target TG present in the vicinity of the host vehicle 1 while the vehicle 1 is traveling, for example, by using a technique described in paragraph 0085 of Japanese Patent No. 7247931 or the like. The threshold value changing unit C5 executes a process of changing a threshold value (threshold value for sway determination) used in determining the presence or absence of swaying while the host vehicle 1 is traveling, which is executed by the sway determination unit C6. In detail, the threshold value changing unit C5 changes the threshold value for sway determination so that the sway determination unit C6 does not erroneously determine that the host vehicle 1 is swaying while traveling (swaying of the host vehicle 1 due to fatigue, drowsiness, etc. of the driver of the host vehicle 1) when the driver of the host vehicle 1 performs an operation to avoid a collision between the host vehicle 1 and a target TG present in the vicinity of the host vehicle 1 while traveling. The sway determination unit C6 determines whether or not the host vehicle 1 is swaying while traveling. In detail, the sway determination unit C6 determines that the host vehicle 1 is swaying while traveling when the amount of steering angle to the left detected by the steering angle sensor as the vehicle state sensor 11 is greater than the "sway determination threshold (left) (see FIG. 5(D))" (when the value of the "steering angle operation amount (change amount) (see FIG. 5(D))" is located above the sway determination threshold (left) in FIG. 5(D)). In addition, the sway determination unit C6 determines that the host vehicle 1 is swaying while traveling when the amount of steering angle to the right detected by the steering angle sensor as the vehicle state sensor 11 is greater than the "sway determination threshold (right) (see FIG. 5(D))" (when the value of the "steering angle operation amount (change amount)" is located below the sway determination threshold (right) in FIG. 5(D)). Furthermore, the sway judgment unit C6 judges that there is no swaying while the vehicle 1 is traveling when the amount of steering angle to the left detected by the steering angle sensor as the vehicle condition sensor 11 is below the "sway judgment threshold (left)" or when the amount of steering angle to the right detected by the steering angle sensor as the vehicle condition sensor 11 is below the "sway judgment threshold (right)".

[0017] In another example, the sway determination unit C6 may determine that the host vehicle 1 is swaying while traveling when the leftward steering torque detected by the torque sensor serving as the vehicle state sensor 11 is greater than the "sway determination threshold (left)". In this example, the sway determination unit C6 determines that the host vehicle 1 is swaying while traveling when the rightward steering torque detected by the torque sensor serving as the vehicle state sensor 11 is greater than the "sway determination threshold (right)". Furthermore, the sway determination unit C6 determines that the host vehicle 1 is not swaying while traveling when the leftward steering torque detected by the torque sensor serving as the vehicle state sensor 11 is equal to or less than the "sway determination threshold (left)" or when the rightward steering torque detected by the torque sensor serving as the vehicle state sensor 11 is equal to or less than the "sway determination threshold (right)".

[0018] In yet another example, the sway determination unit C6 may determine that the host vehicle 1 is swaying while traveling when the counterclockwise yaw rate detected by the yaw rate sensor as the vehicle state sensor 11 is greater than the "sway determination threshold (counterclockwise)". In this example, the sway determination unit C6 determines that the host vehicle 1 is swaying while traveling when the clockwise yaw rate detected by the yaw rate sensor as the vehicle state sensor 11 is greater than the "sway determination threshold (clockwise)". Furthermore, the sway determination unit C6 determines that the host vehicle 1 is not swaying while traveling when the counterclockwise yaw rate detected by the yaw rate sensor as the vehicle state sensor 11 is equal to or less than the "sway determination threshold (counterclockwise)" or when the clockwise yaw rate detected by the yaw rate sensor as the vehicle state sensor 11 is equal to or less than the "sway determination threshold (clockwise)".

[0019] In yet another example, the sway determination unit C6 may determine that the host vehicle 1 is swaying while traveling when the amount of change in the position of the host vehicle 1 in the width direction of the road L on the road L of the host vehicle 1 detected by the position information acquisition device 13 is greater than a sway determination threshold. In this example, the sway determination unit C6 determines that the host vehicle 1 is not swaying while traveling when the amount of change in the position of the host vehicle 1 in the width direction of the road L on the road L of the host vehicle 1 is equal to or smaller than the sway determination threshold.

[0020] In yet another example, in consideration of the fact that it is difficult to accurately determine whether or not the vehicle 1 is swaying while traveling when the curvature of the road L on which the vehicle 1 is traveling is large, the sway determination unit C6 may determine that the vehicle 1 is not swaying while traveling when the curvature of the road L on which the vehicle 1 is traveling detected (calculated) by the map information acquisition device 14 is greater than a predetermined value.

[0021] In still another example, the determination methods of the above examples may be appropriately combined.

[0022] 1 and 2, the rest suggestion device 19 is configured by a computer having a communication interface, a memory, and a processor. When the sway determination unit C6 determines that the vehicle 1 is swaying while traveling, the rest suggestion device 19 determines that the vehicle 1 may be swaying due to fatigue, drowsiness, or the like of the driver of the vehicle 1, and causes the HMI 16 to output at least one of a visual notification, an auditory notification, and a tactile notification suggesting that the driver of the vehicle 1 take a break. The rest suggestion device 19 has a function of detecting fatigue caused by the driver of the vehicle 1 being distracted or drowsy, and encouraging the driver of the vehicle 1 to take a rest. In the example shown in FIG. 1 and FIG. 2, a method of detecting a specific vehicle behavior (swaying while the vehicle 1 is traveling) induced by the fatigue of the driver of the vehicle 1 is used as a method of detecting fatigue of the driver of the vehicle 1. Even if the driver of the vehicle 1 is not in a fatigued state, a similar vehicle behavior occurs when it is necessary to avoid a collision between the vehicle 1 and a target TG present in the vicinity of the vehicle 1 (for example, when avoiding a fallen object as a target TG, when moving the vehicle 1 away from a guardrail as a target TG or a vehicle in an adjacent lane AL (see FIG. 4) as a target TG). In order to prevent the rest suggestion device 19 from encouraging the driver of the vehicle 1 to take a rest when such a vehicle behavior occurs (that is, when it is necessary to avoid a collision between the vehicle 1 and a target TG present in the vicinity of the vehicle 1), in the example shown in FIG. 1 and FIG. 2, the threshold change unit C5 changes the threshold for sway determination. As a result, in the example shown in Figures 1 and 2, when it is necessary to avoid a collision between the vehicle 1 and a target TG present in the vicinity of the vehicle 1, the sway determination unit C6 determines that the vehicle 1 is not swaying while traveling, and the rest suggestion device 19 does not urge the driver of the vehicle 1 to take a rest. That is, in the example shown in Fig. 1 and Fig. 2, it is possible to appropriately determine whether or not the host vehicle 1 is swaying while traveling. In detail, in the example shown in Fig. 1 and Fig. 2, it is possible to suppress a risk that the behavior of the host vehicle 1 caused by an operation by the driver of the host vehicle 1 to avoid a target TG existing around the host vehicle 1 while traveling is erroneously determined as the host vehicle 1 swaying.

[0023] FIG. 3 is a flowchart for explaining an example of processing executed by the processor 18C of the stagger determination device 18 of the first embodiment. 3, in step S11, the target presence determination unit C2 determines whether or not a target TG exists around the traveling host vehicle 1. If YES, the process proceeds to step S12, and if NO, the process proceeds to step S15. In step S12, the target recognition determination unit C3 determines whether or not the face or line of sight of the driver of the vehicle 1 is directed toward a target TG that exists around the traveling vehicle 1. If YES, the process proceeds to step S13, and if NO, the process proceeds to step S15. In step S13, the target avoidance determination unit C4 determines whether or not the driver of the host vehicle 1 needs to perform an operation to avoid a collision between the host vehicle 1 and a target TG present around the host vehicle 1 during driving. If YES, the process proceeds to step S14, and if NO, the process proceeds to step S15. In step S14, the threshold value changing unit C5 changes the sway determination threshold value. In detail, the threshold value changing unit C5 changes the sway determination threshold value so that the sway determination unit C6 does not erroneously determine that the host vehicle 1 is swaying while traveling when the driver of the host vehicle 1 performs an operation to avoid a collision between the host vehicle 1 and a target TG present around the host vehicle 1 while traveling. In step S15, the threshold value changing unit C5 does not change the sway determination threshold value. That is, when the target recognition determination unit C3 determines in step S12 that the face or line of sight of the driver of the vehicle 1 is not directed toward the target TG present around the vehicle 1 while traveling (that is, when the face or line of sight of the driver of the vehicle 1 is directed toward a direction different from the target TG), the threshold value changing unit C5 does not change the sway determination threshold value.

[0024] 4 and 5 are diagrams for explaining a specific example in which the threshold value changing unit C5 changes the threshold value for sway determination. In detail, FIG. 4 shows an example in which the surrounding vehicle (target TG) traveling on the adjacent lane AL adjacent to the traveling road L of the vehicle 1 passes the surrounding vehicle, and the surrounding vehicle enters the planned traveling area LA of the vehicle 1. FIG. 5(A) shows the change over time of the recognition result of the surrounding vehicle by the surrounding situation sensor 12 when the vehicle 1 passes the surrounding vehicle (target TG) (when the surrounding vehicle enters the planned traveling area LA of the vehicle 1). FIG. 5(B) shows the change over time of the intrusion amount (overlap amount OA) of the surrounding vehicle (target TG) into the planned traveling area LA of the vehicle 1 at that time. FIG. 5(C) shows the change over time of the recognition state of the surrounding vehicle by the driver of the vehicle 1 at that time (the change over time of the judgment result of the target recognition judgment unit C3). Fig. 5(D) shows the change over time in the steering angle operation amount by the driver of the vehicle 1 and the change over time in the sway determination threshold (left) and the sway determination threshold (right). Fig. 5(E) shows the change over time in the operating state of the rest suggestion device 19.

[0025] 4 and 5, at time t1, the surrounding condition sensor 12 recognizes (detects) a surrounding vehicle (target TG) traveling in the adjacent lane AL, and the target presence determination unit C2 determines that the target TG exists around the traveling host vehicle 1 (step S11 in FIG. 3 becomes YES). The planned traveling area LA of the host vehicle 1 shown in FIG. 4 is set, for example, at time t1 by, for example, the sway determination unit C6. Next, at time t2, the target recognition determination unit C3 determines, based on gaze information (driver monitor camera image) indicating the direction of the face or gaze of the driver of the vehicle 1, that the face or gaze of the driver of the vehicle 1 is directed toward a surrounding vehicle (target TG) present around the vehicle 1 while it is moving (step S12 in Figure 3 becomes YES). Next, at time t3, a nearby vehicle (target TG) crosses the dividing line LR and enters the driving path L of the host vehicle 1, and the target avoidance judgment unit C4 determines that an operation by the driver of the host vehicle 1 (operation of the steering angle of the host vehicle 1) is necessary to avoid a collision between the host vehicle 1 and the target TG (step S13 in Figure 3 becomes YES). Next, at time t4, a nearby vehicle (target TG) enters the planned travel area LA of the host vehicle 1, and the overlap amount OA starts to increase from zero. Also, the amount of leftward steering angle operation by the driver of the host vehicle 1 starts to increase. The threshold change unit C5 changes the sway determination threshold (left) and the sway determination threshold (right) according to the positional relationship between the host vehicle 1 and the nearby vehicle (target TG). In detail, the threshold change unit C5 changes the sway determination threshold (left) and the sway determination threshold (right) according to the overlap amount OA. In further detail, the threshold change unit C5 changes the sway determination threshold (left) and the sway determination threshold (right) so that the larger the overlap amount OA, the easier it becomes for the sway determination unit C6 to determine that the host vehicle 1 is not swaying while traveling. In another example, the threshold value changing unit C5 may change the sway determination threshold value (left) and the sway determination threshold value (right) depending on the positional relationship between the host vehicle 1 and the target TG (for example, the positional relationship when the distance between the host vehicle 1 and a preceding vehicle as the target TG is short and there is a risk of a collision between the host vehicle 1 and the preceding vehicle) so that the host vehicle 1 is not determined to be swaying while traveling even if the driver of the host vehicle 1 operates the steering angle to avoid a collision between the host vehicle 1 and the preceding vehicle.

[0026] In a comparative example in which the threshold value changing unit C5 does not change the sway judgment threshold value (left) and the sway judgment threshold value (right), at time t5, as shown in Figure 5 (D), the amount of leftward steering angle operation by the driver of the vehicle 1 becomes larger than the sway judgment threshold value (left), it is determined that the vehicle 1 is swaying while traveling, and as shown in Figure 5 (E), the rest suggestion device 19 is activated and a notification suggesting a break is sent to the driver of the vehicle 1 until time t6.

[0027] On the other hand, in the example shown in Figures 4 and 5 (one example of the host vehicle 1 to which the sway determination device 18 of the first embodiment is applied), as shown in Figure 5 (D), the amount of leftward steering angle operation by the driver of the host vehicle 1 does not exceed the sway determination threshold (left). Therefore, the sway determination unit C6 determines that there is no swaying while the host vehicle 1 is traveling. As a result, as shown in Figure 5 (E), the rest suggestion device 19 does not enter an operating state, and no notification is given to the driver of the host vehicle 1 suggesting a rest break. In the example shown in Figures 4 and 5, the host vehicle 1 overtakes a nearby vehicle (target TG) by tracing a trajectory TJ shown in Figure 4. At time t7, the surrounding situation sensor 12 stops recognizing (detecting) the nearby vehicle (target TG), and the target recognition determination unit C3 determines that the face or line of sight of the driver of the host vehicle 1 is not directed toward the nearby vehicle (target TG). Next, at time t8, the amount of steering angle operation by the driver of the host vehicle 1 becomes zero. In other words, the steering angle operation by the driver of the host vehicle 1 to avoid a collision between the nearby vehicle (target TG) and the host vehicle 1 ends. In the example shown in Figures 4 and 5, after a predetermined time has elapsed since the driver of the vehicle 1 has completed steering angle operation to avoid a collision between the vehicle 1 and a nearby vehicle (target TG), the sway judgment threshold value (left) and the sway judgment threshold value (right) are returned to their original values ​​(the values ​​before time t4). In another example, at the end (time t8) of the steering angle operation by the driver of the vehicle 1 to avoid a collision between the surrounding vehicle (target TG) and the vehicle 1, the sway determination threshold (left) and the sway determination threshold (right) may be returned to their original values ​​(the values ​​before time t4).

[0028] <Second embodiment> The host vehicle 1 to which the sway determination device 18 of the second embodiment is applied is configured similarly to the host vehicle 1 to which the sway determination device 18 of the first embodiment shown in Fig. 1 is applied, except for the points described below. The sway determination device 18 of the second embodiment is configured similarly to the sway determination device 18 of the first embodiment shown in Fig. 2, except for the point that the processor 18C does not have the function as the threshold value changing unit C5.

[0029] FIG. 6 is a flowchart for explaining an example of processing executed by the processor 18C of the stagger determination device 18 of the second embodiment. 6, in step S21, the target presence determination unit C2 determines whether or not a target TG exists around the traveling host vehicle 1. If YES, the process proceeds to step S22, and if NO, the process proceeds to step S25. In step S22, the target recognition determination unit C3 determines whether or not the face or line of sight of the driver of the vehicle 1 is directed toward a target TG that exists around the traveling vehicle 1. If YES, the process proceeds to step S23, and if NO, the process proceeds to step S25. In step S23, the target avoidance determination unit C4 determines whether or not the driver of the host vehicle 1 needs to perform an operation to avoid a collision between the host vehicle 1 and a target TG present around the host vehicle 1 during driving. If YES, the process proceeds to step S24, and if NO, the process proceeds to step S25. In step S24, the sway determination unit C6 stops determining whether or not there is swaying while the host vehicle 1 is traveling. In detail, the sway determination unit C6 stops determining whether or not there is swaying while the host vehicle 1 is traveling so as not to erroneously determine that there is swaying while the host vehicle 1 is traveling when the driver of the host vehicle 1 performs an operation to avoid a collision between the host vehicle 1 and a target TG that exists around the host vehicle 1 while traveling. In step S25, the sway determination unit C6 does not stop determining whether or not the host vehicle 1 is swaying while traveling (the sway determination unit C6 determines whether or not the host vehicle 1 is swaying while traveling). That is, in step S22, when the target recognition determination unit C3 determines that the face or line of sight of the driver of the host vehicle 1 is not directed toward the target TG that exists around the host vehicle 1 while traveling (that is, when the face or line of sight of the driver of the host vehicle 1 is directed toward a direction different from the target TG), the sway determination unit C6 does not stop determining whether or not the host vehicle 1 is swaying while traveling. In the example shown in Figure 9, when step S23 is judged as YES and step S24 is executed, and the driver of the vehicle 1 operates the steering angle to avoid a collision between the vehicle 1 and a nearby vehicle (target TG), the sway judgment unit C6 resumes judging whether or not the vehicle 1 is swaying while traveling after a predetermined time has elapsed since the operation is completed. In another example, when step S23 is judged as YES and step S24 is executed, and the driver of the vehicle 1 operates the steering angle to avoid a collision between the vehicle 1 and a nearby vehicle (target TG), the sway judgment unit C6 may resume judging whether or not the vehicle 1 is swaying while traveling at the end of the operation.

[0030] As described above, the embodiments of the sway determination device, the sway determination method, and the program of the present disclosure have been described with reference to the drawings. However, the sway determination device, the sway determination method, and the program of the present disclosure are not limited to the above-mentioned embodiments, and can be appropriately modified within the scope of the present disclosure. The configurations of the examples of the above-mentioned embodiments may be appropriately combined. In each of the above-mentioned embodiments, the processing performed in the sway determination device 18 has been described as software processing performed by executing a program, but the processing performed in the sway determination device 18 may be processing performed by hardware. Alternatively, the processing performed in the sway determination device 18 may be processing that combines both software and hardware. In addition, the program stored in the memory 18B of the sway determination device 18 (the program that realizes the function of the processor 18C of the sway determination device 18) may be recorded in a computer-readable storage medium such as a semiconductor memory, a magnetic recording medium, an optical recording medium, etc., and provided, distributed, etc. [Explanation of symbols]

[0031] 1... host vehicle, 11... vehicle condition sensor, 12... surroundings condition sensor, 13... position information acquisition device, 14... map information acquisition device, 15... driver monitoring device, 16... HMI, 18... swaying determination device, C1... acquisition unit, C2... target presence determination unit, C3... target recognition determination unit, C4... target avoidance determination unit, C5... threshold change unit, C6... swaying determination unit, 19... rest suggestion device

Claims

1. A sway determination unit is provided for determining whether or not the host vehicle is swaying while traveling, A swaying judgment device in which, when a target object is present in the vicinity of the vehicle while it is traveling and the face or line of sight of the driver of the vehicle is directed toward the target, a threshold changing unit changes a swaying judgment threshold value used to determine whether the vehicle is swaying while it is traveling, or the swaying judgment unit stops determining whether the vehicle is swaying while it is traveling, depending on the positional relationship between the vehicle and the target.

2. The sway judgment device of claim 1, wherein the threshold changing unit changes the sway judgment threshold in accordance with an overlap amount, which is the amount of intrusion of the target into the intended driving area of ​​the vehicle, when the target is present in the vicinity of the vehicle while it is traveling and the face or line of sight of the driver of the vehicle is directed toward the target.

3. The sway judgment device of claim 2, wherein the threshold change unit changes the sway judgment threshold so that, when the target is present in the vicinity of the vehicle while it is moving and the face or line of sight of the driver of the vehicle is directed toward the target, the greater the amount of overlap, the easier it becomes for the sway judgment unit to determine that the vehicle is not swaying while it is moving.

4. A step in which a sway determination device determines whether or not the host vehicle is swaying while traveling; A swaying judgment method comprising a step in which, when a target object is present around the vehicle while it is moving and the face or gaze of the driver of the vehicle is directed toward the target, the swaying judgment device changes a swaying judgment threshold value used to judge whether or not the vehicle is swaying while it is moving, or stops judging whether or not the vehicle is swaying while it is moving, depending on the positional relationship between the vehicle and the target.

5. The processor: A step of determining whether or not the host vehicle is swaying while traveling; A program for executing a step of changing a sway determination threshold value used to determine whether or not the vehicle is swaying while traveling, or stopping the determination of whether or not the vehicle is swaying while traveling, depending on the positional relationship between the vehicle and the target, when a target object is present around the vehicle while traveling and the face or line of sight of the driver of the vehicle is directed toward the target.

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