Route guidance method and route guidance device

Abstract

To provide a route guidance method and a route guidance device that can provide route guidance while assisting a driver in maintaining a wide effective field of view during travelling of a vehicle.SOLUTION: A route guidance device 1A and a route guidance method are communicatively connected to a gaze measurement device 102 that measures a gaze direction of a driver of a vehicle, and include an effective field of view calculation unit 32A and a guidance generation unit 53. The effective field of view calculation unit 32A calculates information indicating the effective field of view of the driver and information indicating the peripheral area of the effective field of view, which is a range within a predetermined distance inward from the outer edge of the effective field of view, from the gaze direction of the driver. The guidance generation unit 53 generates information for guiding the travelling route of the vehicle based on objects located within the peripheral area of the effective field of view.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to a route guidance method and a route guidance device. [Background technology]

[0002] When outputting information to guide the driver of a vehicle along the vehicle's travel route, there is a technology that identifies an object that is the focus of the driver's line of sight from image information captured in front of the vehicle, and provides the driver with information about the identified object (for example, Patent Document 1). This allows the driver to recognize information about the object they are gazing at while driving. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Laid-Open No. 2014-174091 Summary of the Invention [Problem to be solved by the invention]

[0004] In order to drive safely, a vehicle driver should maintain a wide effective visual field and be able to recognize information other than the object they are gazing at. However, when using the above-mentioned technology, providing information about the object the driver is gazing at draws the driver's attention further to this object, which causes a problem of narrowing the driver's effective visual field.

[0005] The present invention has been made in consideration of the above-mentioned problems, and an object of the present invention is to provide a route guidance method and a route guidance device that provide route guidance while assisting the driver in maintaining a wide effective field of vision while the vehicle is traveling. [Means for solving the problem]

[0006] A route guidance method according to one aspect of the present invention includes a route guidance device communicably connected to a gaze measurement device that measures the gaze direction of a vehicle driver, and calculating, from the driver's gaze direction, information indicating the driver's effective visual field and information indicating the periphery of the effective visual field, which is a range within a predetermined distance inward from the outer edge of the effective visual field. The route guidance method also includes generating information for guiding the vehicle's driving route based on an object within the periphery of the effective visual field. [Effects of the Invention]

[0007] According to one aspect of the present invention, route guidance can be provided while assisting the driver in maintaining a wide effective field of vision while the vehicle is traveling. [Brief explanation of the drawings]

[0008] [Figure 1] FIG. 1 is a block diagram showing the configuration of a driving assistance system that uses a route guidance device according to the first embodiment. [Figure 2] FIG. 2 is a flowchart showing a route guidance generation process executed by the route guidance device according to the first embodiment. [Figure 3] FIG. 3 is an explanatory diagram of the effective field of view calculated by the effective field of view calculation unit of the route guidance device according to the first embodiment. [Figure 4] FIG. 4 shows an example of an object detected from image information by the object detection unit of the route guidance device according to the first embodiment. [Figure 5A] FIG. 5A is an explanatory diagram relating to the effective visual field calculated by the effective visual field calculation unit, the peripheral part of the effective visual field, and the object recognized by the visual field matching unit of the route guidance device according to the first embodiment. [Figure 5B] FIG. 5B is an explanatory diagram of the driver's gaze point that moves as a result of dynamic route guidance information being output from the route guidance device according to the first embodiment. [Figure 6] FIG. 6 is a block diagram showing the configuration of a driving assistance system using a route guidance device according to the second embodiment. [Figure 7A]FIG. 7A is an explanatory diagram of the effective visual field calculated by the effective visual field calculation unit, the peripheral part of the effective visual field, the effective visual field calculated in the past, and the object recognized by the visual field matching unit of the route guidance device according to the second embodiment. [Figure 7B] FIG. 7B is an explanatory diagram of the driver's gaze point that moves as a result of dynamic route guidance information being output from the route guidance device according to the second embodiment. [Figure 8] FIG. 8 is a block diagram showing the configuration of a driving assistance system using a route guidance device according to the third embodiment. [Figure 9A] FIG. 9A is an explanatory diagram of an area obtained by excluding the peripheral portion of the effective visual field from the effective visual field calculated by the effective visual field calculation unit of the route guidance device according to the third embodiment, and an object recognized by the visual field matching unit. [Figure 9B] FIG. 9B is an explanatory diagram of the driver's gaze point that moves as a result of dynamic route guidance information being output from the route guidance device according to the third embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0009] The embodiments will be described with reference to the drawings. Note that common parts in the drawings are given the same reference numerals, and duplicated explanations will be omitted.

[0010] First Embodiment <Configuration of driving assistance system using route guidance device according to first embodiment> 1 is a block diagram showing the configuration of a driving assistance system ST1 according to a first embodiment. The driving assistance system ST1 is mounted on a vehicle CA1 (not shown) and includes a route guidance device 1A, an imaging device 101, a line-of-sight measurement device 102, a position sensor 103, and an in-vehicle device 104.

[0011] The imaging device 101 is installed in the vehicle CA1 and captures an image of the area ahead of the vehicle CA1 that is primarily viewed by the driver X of the vehicle CA1 while driving. The gaze measurement device 102 is configured by an imaging device that is installed, for example, inside the vehicle CA1 and captures an image of the eyes of the driver X, and measures the gaze direction of the driver X.

[0012] The position sensor 103 acquires current position information of the vehicle CA1 by, for example, receiving GNSS signals from multiple satellites for a Global Navigation Satellite System (GNSS) and calculating position information. An example of the GNSS is the Global Positioning System (GPS).

[0013] The vehicle-mounted device 104 is communicably connected to the route guidance device 1A via a CAN (Controller Area Network) and acquires driving state information including the driving speed of the vehicle CA1.

[0014] The route guidance device 1A includes an exterior environment recognition unit 10, a driver management unit 20A, a visual field evaluation unit 30A, an object selection unit 40, and a guidance information management device 50.

[0015] The exterior environment recognition unit 10 has an object detection unit 11 and an attribute acquisition unit 12. The object detection unit 11 detects a subject object from an image captured by the imaging device 101. The attribute acquisition unit 12 acquires attribute information for each object detected by the object detection unit 11, such as the distance from the vehicle CA1, color, positional relationship with a guidance waypoint identified by a guidance information management device 50 (described later), orientation, and moving direction if the object is a moving body.

[0016] The driver management unit 20A has a gaze information acquisition unit 21 and a driver information database 22. The gaze information acquisition unit 21 acquires information on the gaze direction of the driver X measured by the gaze measurement device 102. The driver information database 22 stores driver information related to the driving behavior of the driver X, such as the driving proficiency of the driver X and the driving history of the driver X.

[0017] The visual field evaluation unit 30A has an effective visual field model storage unit 31, an effective visual field calculation unit 32A, and a visual field matching unit 33. The effective visual field model storage unit 31 stores information on the effective visual field model, which is an AI model for predicting the effective visual field from the human line of sight.

[0018] The effective visual field is the range of the human visual field where attention is directed and objects can be distinguished. The human visual field is about 100 degrees to the left and right, but the shape and color of objects can be clearly recognized within a range of about 1 to 2 degrees from the focused point of gaze. This range is called central vision, and the range of about 4 to 20 degrees around this central vision in which objects can be recognized almost clearly is called the effective visual field.

[0019] The effective visual field calculation unit 32A uses the information acquired by the line-of-sight information acquisition unit 21 and the information stored in the driver information database 22 to calculate information indicating the effective visual field and the peripheral part of the effective visual field of the current driver X, based on the effective visual field model stored in the effective visual field model storage unit 31. The peripheral part of the effective visual field is an area calculated from the effective visual field according to a preset definition, and is, for example, an area 20% of the diameter inward from the outer edge of the elliptical effective visual field.

[0020] For example, when calculating the effective visual field, the effective visual field calculation unit 32A calculates information indicating the effective visual field by taking into consideration the driver's proficiency stored in the driver information database 22, the familiarity with the route being driven based on the driving history of driver X, or the degree of driving load imposed on driver X.

[0021] The visual field matching unit 33 matches the image captured by the imaging device 101 with the effective visual field calculated by the effective visual field calculation unit 32A, and recognizes the position of the object detected by the object detection unit 11 within the effective visual field.

[0022] The object selection unit 40 has a priority calculation unit 41. The priority calculation unit 41 assigns a priority to each object in the effective visual field recognized by the visual field matching unit 33 in order of ease of visibility to the driver X, based on the attribute information for each object acquired by the attribute acquisition unit 12. The priority of each object in terms of ease of visibility to the driver X is specified by, for example, the shape or color of the object. The priority calculation unit 41 specifies the object with the highest assigned priority as a guidance target object, and acquires position information of this guidance target object within the effective visual field.

[0023] The guidance information management device 50 includes a map database 51, a route management unit 52, a guidance generation unit 53, and an output unit .

[0024] The map database 51 stores map information of the area in which the vehicle CA1 travels. The travel route management unit 52 identifies the travel route of the vehicle CA1 based on the current position information of the vehicle CA1 acquired by the position sensor 103, travel status information acquired from the in-vehicle device 104, and information on the destination of the vehicle CA1 that is set in advance. The travel route management unit 52 identifies the direction in which the vehicle CA1 should travel from the identified travel route of the vehicle CA1.

[0025] The guidance generation unit 53 generates route guidance information to guide the driver X, using information on the direction in which the vehicle CA1 should travel along the travel route identified by the travel route management unit 52 and position information on the object to be guided acquired by the object selection unit 40. The output unit 54 outputs the route guidance information generated by the guidance generation unit 53.

[0026] The above-mentioned object detection unit 11, attribute acquisition unit 12, gaze information acquisition unit 21, effective field of view calculation unit 32A, field of view matching unit 33, priority calculation unit 41, driving route management unit 52, and guidance generation unit 53 are information processing units configured, for example, by a CPU (central processing unit) provided in a general-purpose microcomputer, which installs and executes a predetermined route guidance program.

[0027] <Operation of the driving assistance system according to the first embodiment> The operation of the driving assistance system ST1 according to this embodiment will be described. When the driver X gets into the vehicle CA1 and starts the route guidance device 1A, the imaging device 101 starts capturing images of the area ahead of the vehicle CA1, and the gaze measurement device 102 starts measuring the gaze direction of the driver X. In addition, the position sensor 103 starts acquiring position information of the vehicle CA1, and the in-vehicle device 104 starts acquiring driving status information of the vehicle CA1. These devices acquire their respective information at predetermined time intervals while the route guidance device 1A is operating, and transmit the information to the route guidance device 1A. The driver X sets destination information in the route guidance device 1A and starts driving the vehicle CA1.

[0028] 2 is a flowchart showing a route guidance generation process executed by the route guidance device 1A during operation of the driving assistance system ST1 according to this embodiment. While the vehicle CA1 is traveling, the travel route management unit 52 of the guidance information management device 50 identifies the next guidance waypoint based on map information in the map database 51.

[0029] The guidance via point is a point that is set in advance as a via point when guiding the driving route to the destination of the vehicle CA1, such as an intersection on the driving route. Here, the driving route management unit 52 specifies that the next guidance via point is the AB intersection in the driving route guidance for the vehicle CA1.

[0030] The driving route management unit 52 acquires current position information of the vehicle CA1 from the position sensor 103 (S1), and determines based on the acquired current position information whether the vehicle CA1 has approached within a predetermined distance the AB intersection, which is the next guided route point (S2). If it is determined that the vehicle CA1 has not approached within the predetermined distance the AB intersection ("NO" in S2), the process returns to step S1, and the processes of steps S1 and S2 are repeated until the AB intersection is within the predetermined distance from the vehicle CA1.

[0031] When the driving route management unit 52 determines that the vehicle CA1 has approached the AB intersection within a predetermined distance ("YES" in S2), the guidance generation unit 53 checks whether the route guidance method is set to the static guidance method or the dynamic guidance method (S3). The dynamic guidance method is a method of providing route guidance while assisting the driver X to maintain a wide effective field of view, while the static guidance method is a method of providing route guidance without providing such assistance.

[0032] When the route guidance method is set to the static guidance method ("YES" in S3), the driving route management unit 52 identifies the driving route of the vehicle CA1 based on the current position information of the vehicle CA1 acquired by the position sensor 103 and the driving state information acquired from the in-vehicle device 104. The driving route management unit 52 identifies the direction in which the vehicle CA1 should travel from the identified driving route of the vehicle CA1.

[0033] The guidance generation unit 53 reads voice information for route guidance using information on the direction in which the vehicle CA1 should travel, which is specified by the travel route management unit 52, and generates static route guidance information to guide the driver X (S4). The output unit 54 outputs the static route guidance information generated by the guidance generation unit 53, for example, voice information such as "Turn right at the next intersection AB" (S5).

[0034] In step S3, if the route guidance method is set to the dynamic guidance method ("NO" in S3), the exterior environment recognition unit 10 and the driver management unit 20A recognize that it has been determined that the vehicle CA1 has approached within a predetermined distance of the AB intersection.

[0035] When the driver management unit 20A recognizes that the vehicle CA1 has approached the AB intersection within a predetermined distance, the gaze information acquisition unit 21 acquires information on the gaze direction of the driver X from the gaze measurement device 102 and sends it to the visual field evaluation unit 30A.

[0036] The effective visual field calculation unit 32A of the visual field evaluation unit 30A uses the information acquired by the line of sight information acquisition unit 21 and the information stored in the driver information database 22 to calculate the effective visual field and the peripheral area of ​​the effective visual field of the current driver X using the effective visual field model stored in the effective visual field model storage unit 31 (S6).

[0037] 3 is an explanatory diagram of the effective visual field calculated by the effective visual field calculation unit 32A. The driver's effective visual field expands or contracts depending on the conditions during driving. When the driver is driving in a familiar environment, for example, when driving on a familiar road, the effective visual field is wider than when driving on a road that the driver has never driven on before. Furthermore, when the driver is tired and the driving load is high, the effective visual field is narrower than when the driving load is low. Furthermore, when the driver is an experienced driver with a lot of driving experience, the effective visual field is wider than when the driver is a novice.

[0038] The peripheral portion of the effective visual field calculated by the effective visual field calculation unit 32A is an area within the effective visual field that is close to the outer edge of the effective visual field and that is a predetermined percentage of the area of ​​the effective visual field, for example, an area from the outer edge of the elliptical effective visual field to an ellipse that is coaxial with the effective visual field but has a radius that is 20% shorter.

[0039] In addition, when the exterior environment recognition unit 10 recognizes that the vehicle CA1 has approached the AB intersection within a predetermined distance, the object detection unit 11 detects an object in front of the vehicle CA1 from the image captured by the imaging device 101 and sends it to the field of view evaluation unit 30A.

[0040] 4 shows examples of objects detected from an image by the object detection unit 11. The object detection unit 11 classifies and recognizes detected objects as static objects, which are objects that do not move, and dynamic objects, which are objects that move. Static objects include buildings or road structures for which information does not exist in the map data, such as signs, road signs, stop lines, roadside trees, etc., and landmarks for which information does exist in the map data, such as convenience stores, family restaurants, and gas stations. Dynamic objects include traffic participants for which information does not exist in the map data, such as cars, bicycles, motorcycles, and pedestrians.

[0041] The visual field matching unit 33 matches the image captured by the imaging device 101 with the effective visual field calculated by the effective visual field calculation unit 32A, and recognizes the position of the object detected by the object detection unit 11 within the effective visual field.

[0042] In addition, the attribute acquisition unit 12 of the exterior environment recognition unit 10 acquires attribute information for each object detected by the object detection unit 11, such as the distance from the vehicle CA1, color, positional relationship with the guidance waypoint identified by the guidance information management device 50, orientation, and direction of movement if the object is a moving body (S7).

[0043] The priority calculation unit 41 of the object selection unit 40 determines whether or not at least any of the objects in the field of view recognized by the field of view matching unit 33 is within the peripheral part of the field of view (S8). If the priority calculation unit 41 determines that an object is within the peripheral part of the field of view ("YES" in S8), it selects an object within the peripheral part of the field of view (S9).

[0044] The priority calculation unit 41 calculates a priority order for each object within the peripheral portion of the effective visual field in order of ease of visibility for the driver X, based on the attribute information for each object acquired by the attribute acquisition unit 12 (S10). The priority calculation unit 41 identifies the object with the highest calculated priority order as a guidance target object. The guidance generation unit 53 generates dynamic route guidance information using the attribute information, etc. of the guidance target object identified by the priority calculation unit 41 (S11).

[0045] 5A is an explanatory diagram of the effective visual field calculated for driver X by effective visual field calculation unit 32A, the peripheral part of the effective visual field, and the objects recognized by visual field matching unit 33. In FIG. 5A, V1 is the effective visual field, V2 is the peripheral part of the effective visual field, and the center of the effective visual field V1 and the peripheral part of the effective visual field V2 is the gaze point P of driver X. Here, visual field matching unit 33 recognizes blue vehicle CA2 and green vehicle C3 as dynamic objects within the effective visual field V1. Furthermore, priority order calculation unit 41 determines that vehicle CA2 of these objects is within the peripheral part of the effective visual field V2 and identifies this vehicle CA2 as the object to be guided.

[0046] The guidance generation unit 53 uses the color "blue" that is the attribute information of the selected vehicle CA2 to generate voice information "Please follow the blue car in front of you" as dynamic route guidance information for urging the driver X to move his or her line of sight in vehicle CA2. The output unit 54 outputs the dynamic route guidance information generated by the guidance generation unit 53 (S5).

[0047] When the output unit 54 outputs this audio information, the gaze point P of the driver X who heard the audio information "there is a blue car ahead" moves from the position marked with a black circle, which is the center of the effective visual field V1 and the peripheral part V2 of the effective visual field, to the vehicle CA2, as shown in Fig. 5B. This prevents the driver X's attention from being focused only on the intersection AB, and keeps the effective visual field wide at V1.

[0048] In step S8, if the priority calculation unit 41 determines that there is no object within the peripheral part of the field of view ("NO" in S8), it selects an object within the field of view other than the peripheral part of the field of view (S12).

[0049] The priority calculation unit 41 calculates a priority order for each object within the field of view in order of ease of visibility for the driver X, based on the attribute information for each object acquired by the attribute acquisition unit 12 (S10). The priority calculation unit 41 identifies the object with the highest calculated priority order as the guidance target object. The guidance generation unit 53 generates dynamic route guidance information using the attribute information, etc. of the guidance target object selected by the priority calculation unit 41 (S11). The output unit 54 outputs the dynamic route guidance information generated by the guidance generation unit 53 (S5). While the vehicle CA1 is traveling, the route guidance device 1A repeats the processes of steps S1 to S12. This concludes the description of the route guidance generation process executed by the route guidance device 1A.

[0050] Second Embodiment <Configuration of driving assistance system using route guidance device according to second embodiment> 6 is a block diagram showing the configuration of a driving assistance system ST2 according to the second embodiment. The driving assistance system ST2 has the same configuration as the driving assistance system ST1 described in the first embodiment, except that the visual field evaluation unit 30B of the route guidance device 1B further includes a driving history database 34. Therefore, detailed descriptions of parts having the same functions will be omitted.

[0051] The driving history database 34 stores the driving history of the driver X and the history of information on the effective visual field calculated when the driver X drove in the past. The effective visual field calculation unit 32B calculates the effective visual field and the peripheral part of the effective visual field of the driver X using the information stored in the driving history database 34.

[0052] <Operation of the driving assistance system according to the second embodiment> The processing executed by the driving assistance system ST2 according to this embodiment in steps S1 to S5 of FIG. 2 is the same as the processing explained in the first embodiment, and therefore detailed explanation will be omitted.

[0053] In step S3, when the route guidance method is set to the dynamic guidance method ("NO" in S3), information on the effective visual field of the driver X calculated by the effective visual field calculation unit 32B will be described.

[0054] 7A is an explanatory diagram showing the effective visual field V3 calculated for the driver X by the effective visual field calculation unit 32B, the peripheral part V4 of the effective visual field, the previously calculated effective visual field V5, and the vehicle CA2 recognized by the visual field matching unit 33. The previous effective visual field V5 is acquired by the effective visual field calculation unit 32B from the driving history database 34.

[0055] 7A, if a visual field V5 wider than the currently calculated visual field V3 has been calculated for driver X in the past, a difference region V6 between the visual fields V3 and V5 may potentially be perceived as the visual field of driver X. Therefore, the area obtained by adding this difference region V6 to the currently calculated peripheral part V4 of the visual field is set as the current peripheral part of the visual field of driver X.

[0056] The processing from step S7 onwards, which is executed after calculating the effective visual field and the peripheral part of the effective visual field, is the same as in the first embodiment, and therefore detailed description thereof will be omitted. By performing the processing in this manner, the peripheral part of the effective visual field of the driver X can be captured over a wider range, thereby improving the effect of widening the visual field of the driver X.

[0057] As a result, the guidance generation unit 53 generates the audio information "Please follow the blue car in front," and when the output unit 54 outputs this audio information, the gaze point P of the driver X who hears this audio information moves from the position marked with a black circle to the vehicle CA2, as shown in Fig. 7B. As a result, the driver X's attention is not focused solely on the guided route point, and the effective visual field is kept wide at V5, which is wider than V3.

[0058] Third Embodiment <Configuration of driving assistance system using route guidance device according to third embodiment> 8 is a block diagram showing the configuration of a driving assistance system ST3 according to the third embodiment. The driving assistance system ST3 further includes a biosensor 105, and the driver management unit 20C of the route guidance device 1C includes a sensor information acquisition unit 23. Other than this, the driving assistance system ST3 has the same configuration as the driving assistance system ST1 described in the first embodiment, and therefore detailed descriptions of parts having the same functions will be omitted.

[0059] The biosensor 105 measures, for example, the heart rate, facial expression, breathing state, etc. as bioinformation of the driver X, and measures the stress level of the driver X based on the measured information. The sensor information acquisition unit 23 acquires the bioinformation of the driver X measured by the biosensor 105.

[0060] In this embodiment, the effective visual field calculation unit 32C of the visual field evaluation unit 30C estimates the driving load on the driver X from the information acquired by the sensor information acquisition unit 23 and the congestion state of the road on which the vehicle CA1 is traveling, which is acquired from the image information captured by the image capture device 101. If the estimated driving load is equal to or less than a predetermined threshold T, that is, if the driving load on the driver X is estimated to be small, the effective visual field calculation unit 32C calculates the effective visual field and the peripheral part of the effective visual field as described in the first embodiment, and sends them to the visual field matching unit 33.

[0061] Furthermore, when the estimated driving load exceeds the threshold value T, that is, when it is estimated that the driving load on the driver X is large, the effective visual field calculation unit 32C calculates the effective visual field and the peripheral part of the effective visual field in the same manner as in the first embodiment, and calculates information indicating the area obtained by excluding the peripheral part of the effective visual field from the calculated effective visual field. The effective visual field calculation unit 32C sends information on the calculated area to the visual field matching unit 33.

[0062] When the driving load on the driver X is estimated to be small and information on the effective visual field and the peripheral part of the effective visual field is sent, the guidance generation unit 53 generates information for guiding the driver X's line of sight to an object within the peripheral part of the effective visual field, as in the case of the first embodiment. Furthermore, when the driving load on the driver X is estimated to be large and information on the area excluding the peripheral part of the effective visual field from the effective visual field is sent, the guidance generation unit 53 generates information for guiding the driver X's line of sight to an object within this area.

[0063] <Operation of the driving assistance system according to the third embodiment> In the driving assistance system ST3 according to this embodiment, when the driver X activates the route guidance device 1C, the biosensor 105 starts measuring the biometric information of the driver X and transmits it to the route guidance device 1C at predetermined time intervals. The processes executed by the driving assistance system ST3 in steps S1 to S5 of Fig. 2 are the same as those described in the first embodiment, and therefore detailed description thereof will be omitted.

[0064] In step S3, when the route guidance method is set to the dynamic guidance method ("NO" in S3), information on the effective visual field of the driver X calculated by the effective visual field calculation unit 32C will be described.

[0065] The effective visual field calculation unit 32C estimates the driving load on the driver X from the information acquired by the sensor information acquisition unit 23 from the biosensor 105 and the congestion state of the road on which the vehicle CA1 is traveling, etc., acquired from the image information captured by the imaging device 101. If the estimated driving load is equal to or less than a predetermined threshold T, that is, if the driving load on the driver X is estimated to be small, the effective visual field calculation unit 32C executes the processes of steps S6 to S12, similar to the case described in the first embodiment.

[0066] When these processes are executed, the effective visual field V1 and the peripheral part V2 of the effective visual field are calculated as in Fig. 5A, and the voice information "Please follow the blue car in front" is output. As a result, as shown in Fig. 5B, the gaze point P of the driver X moves from the center of the effective visual field V1 and the peripheral part V2 of the effective visual field to the vehicle CA2, and the effective visual field of the driver X is kept wide in the state of V1 without focusing attention only on the guide waypoint.

[0067] Furthermore, when the estimated driving load exceeds the threshold value T, that is, when it is estimated that the driving load on the driver X is large, the effective visual field calculation unit 32C calculates the effective visual field and the peripheral part of the effective visual field as in the first embodiment, and calculates information indicating the area excluding the peripheral part of the effective visual field from the calculated effective visual field, and sends it to the visual field matching unit 33.

[0068] 9A, the effective visual field calculation unit 32C calculates the effective visual field V1 and the peripheral portion V2 of the effective visual field in the same manner as in the first embodiment, calculates an area V1a by excluding the peripheral portion V2 of the effective visual field from the calculated effective visual field V1, and sends information about the calculated area V1a to the visual field matching unit 33. The visual field matching unit 33 matches the imaging information captured by the imaging device 101 with the area V1a acquired from the effective visual field calculation unit 32C, and recognizes the position of the object detected by the object detection unit 11 within the area V1a.

[0069] The priority calculation unit 41 assigns a priority to each object recognized by the visual field matching unit 33 in order of ease of visibility to the driver X, based on the attribute information for each object acquired by the attribute acquisition unit 12. The priority calculation unit 41 identifies the object with the highest assigned priority as a guidance target object, and acquires position information of this guidance target object within the effective visual field. In this example, the priority calculation unit 41 detects a vehicle CA3 as the guidance target object, and acquires the attribute information "green" and position information of this vehicle CA3.

[0070] The guidance generation unit 53 generates dynamic route guidance information using information on the direction in which vehicle CA1 should travel, as determined by the travel route management unit 52, attribute information on vehicle CA3 selected by the priority calculation unit 41, and the acquired location information of vehicle CA3. This dynamic route guidance information is, for example, audio information such as "Please follow the green vehicle in front." As a result, as shown in FIG. 9B, the driver X's gaze point P moves from the position indicated by the black circle at the center of the effective visual field V1 and the effective visual field periphery V2 to the vehicle CA3. The distance the driver X's gaze point P moves at this time is shorter than in FIG. 5B, which reduces the burden on the driver X.

[0071] In the first to third embodiments described above, the information generated by the guidance generator 53 may be displayed on a head-up display (not shown) or a display unit of a car navigation device (not shown) based on the field of view of the driver X. In this case, the guidance generator 53 may, for example, attach a marker to the position of the object to be guided on the display unit of the head-up display or the car navigation device to attract the attention of the driver X. This can guide the driver X to keep a wide effective field of view.

[0072] [Effects of the embodiment] As described above, in the route guidance method according to this embodiment, a route guidance device communicably connected to a gaze measurement device that measures the gaze direction of a vehicle driver calculates, from the driver's gaze direction, information indicating the driver's effective visual field and information indicating the periphery of the effective visual field, which is an area within a predetermined distance from the outer edge of the effective visual field. The route guidance device also generates information for guiding the vehicle's driving route based on objects within the periphery of the effective visual field.

[0073] This allows route guidance to be provided while assisting the driver in maintaining a wide effective field of vision by using information about objects located on the periphery of the driver's effective field of vision while the vehicle is traveling.

[0074] In the above-described embodiment, the route guidance device may be communicably connected to an image capturing device that is installed in the vehicle and captures an image of the area ahead of the vehicle, and may detect an object in front of the vehicle based on an image captured by the image capturing device, and may identify the object within the peripheral area of ​​the effective field of view by comparing the detected object with the calculated information indicating the peripheral area of ​​the effective field of view. This allows the object within the peripheral area of ​​the effective field of view to be identified with high accuracy.

[0075] In the above-described embodiment, the route guidance device may calculate information indicating the driver's effective visual field based on at least one of the driver's driving proficiency, the driver's familiarity with the route being traveled, and the degree of driving load on the driver. In this way, the information indicating the effective visual field can be calculated appropriately according to the driver's condition.

[0076] In the above-described embodiment, the route guidance device may calculate information indicating the peripheral area of ​​the effective visual field from the effective visual field according to a preset definition, or may calculate the information using the difference between the driver's past effective visual field and the driver's current effective visual field. In this way, the information indicating the peripheral area of ​​the effective visual field can be appropriately calculated as an area used to widen the driver's effective visual field.

[0077] In the above-described embodiment, the route guidance device is further communicably connected to a driving load measurement device that measures the driving load on the driver, and generates information for guiding the vehicle's driving route based on an object within the periphery of the effective visual field when the driving load measured by the driving load measurement device is equal to or less than a predetermined value. Furthermore, when the driving load measured by the driving load measurement device exceeds a predetermined value, the route guidance device generates information for guiding the vehicle's driving route based on an object within a region excluding the periphery of the effective visual field from the effective visual field.

[0078] This allows the driving load on the driver to be accurately estimated, and route guidance based on objects at the periphery of the effective field of view to be switched on or off accordingly, thereby providing route guidance while guiding the driver to expand their effective field of view while ensuring safety.

[0079] Although several embodiments have been described, the embodiments can be modified or varied based on the above disclosure. All components of the above embodiments and all features described in the claims may be individually extracted and combined, unless they contradict each other.

[0080] Although the embodiments of the present invention have been described above, the descriptions and drawings that form part of this disclosure should not be understood to limit the present invention. Various alternative embodiments, examples, and operating techniques will become apparent to those skilled in the art from this disclosure. [Explanation of symbols]

[0081] 1A, 1B, 1C Route guidance device 10 External environment recognition section 11 Object detection unit 12 Attribute acquisition part 20A, 20B, 20C Driver Management Department 21 Gaze information acquisition unit 22 Driver Information Database 23 Sensor information acquisition unit 30A, 30B, 30C Visual field evaluation section 31 Effective visual field model memory section 32A, 32B, 32C Effective field of view calculation section 33 Visual field matching unit 34 Driving history database 40 Object Selection Section 41 Priority calculation unit 50 Guidance information management device 51 Map Database 52 Driving Route Management Department 53 Guidance generation unit 54 Output section 101 Imaging device 102 Eye tracking device 103 Position Sensor 104 Onboard equipment 105 Biometric Sensor

Claims

1. a route guidance device communicably connected to a gaze measurement device that measures the gaze direction of a vehicle driver, calculating information indicating the effective visual field of the driver from the line of sight of the driver and information indicating the peripheral part of the effective visual field, which is a range within a predetermined distance inward from the outer edge of the effective visual field; A route guidance method that generates information for guiding a travel route of the vehicle based on an object within the peripheral portion of the effective field of view.

2. the route guidance device is further communicably connected to an imaging device that is installed in a vehicle and captures an image of a scene ahead of the vehicle; Detecting an object present in front of the vehicle based on an image captured by the imaging device; The route guidance method according to claim 1 , further comprising: comparing the calculated information indicating the peripheral portion of the effective visual field with a detected object to identify an object within the peripheral portion of the effective visual field.

3. 2. The route guidance method according to claim 1, wherein information indicating the driver's effective field of view is calculated based on at least one of the driver's driving proficiency, the driver's familiarity with the route being traveled, or the degree of driving load imposed on the driver.

4. 2. The route guidance method according to claim 1, wherein the information indicating the peripheral portion of the effective visual field is calculated from the effective visual field according to a preset definition, or is calculated using a difference between the driver's past effective visual field and the driver's current effective visual field.

5. the route guidance device is further communicably connected to a driving load measurement device that measures a driving load imposed on the driver, generating information for guiding a driving route of the vehicle based on an object present in the peripheral portion of the effective field of view when the driving load measured by the driving load measuring device is equal to or less than a predetermined value; 2. The route guidance method according to claim 1, wherein, when the driving load measured by the driving load measurement device exceeds a predetermined value, information for guiding the vehicle's driving route is generated based on an object present in an area excluding the peripheral portion of the effective visual field from the effective visual field.

6. a communication-capable connection to a gaze measurement device that measures the gaze direction of a vehicle driver; an effective visual field calculation unit that calculates information indicating the effective visual field of the driver from the driver's line of sight and information indicating the peripheral portion of the effective visual field, which is a range within a predetermined distance inward from the outer edge of the effective visual field; a guidance generating unit that generates information for guiding the vehicle's travel route based on an object within the peripheral portion of the effective field of view.

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