Vehicle information processing device

Abstract

To provide a vehicle information processing device that analyzes the operation factor of a collision avoidance system of a vehicle and notifies a driver in the case of a malfunction.SOLUTION: A CPU 31, when a collision avoidance function of a vehicle operates, estimates a position of a vehicle 10 at the time the collision avoidance function operates based on processing data of the collision avoidance function and image data captured by a camera 14A provided in the vehicle 10; creates a three-dimensional map of surroundings of the vehicle 10 at the time the collision avoidance function operates; determines, from the three-dimensional map, whether the collision avoidance function malfunctions due to a specific operation factor; notifies a driver of an object to be acted upon and the specific operation factor when the collision avoidance function malfunctions due to the specific operation factor; and notifies the driver of the object to be acted upon when the collision avoidance function does not operate due to the specific operation factor. The specific operation factor includes a case where a traveling path of the vehicle 10 is straight and a large vehicle 110 is stopped in an adjacent lane of the vehicle 10.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present disclosure relates to a vehicle information device that notifies a vehicle of a malfunction of a collision prevention function of the vehicle due to a specific activation factor. [Background technology]

[0002] Advanced driving assistance systems for safe driving of vehicles are well known. For example, Patent Document 1 discloses a series of systems that record various information using a drive recorder when an accident occurs, transmit the information to an information processing device, and enable the information processing device to receive, store, search, output, etc.

[0003] A collision prevention function is also known as one of the functions of an advanced driver assistance system. The collision prevention function uses an external sensor to detect an object on the path of the vehicle, and when it determines that there is a high possibility of a collision between the vehicle and the object, it assists the driver in preventing the collision by issuing an alarm or applying brake control. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Japanese Patent Application Laid-Open No. 2016-118904 Summary of the Invention [Problem to be solved by the invention]

[0005] However, the collision prevention function may malfunction due to certain factors, such as when a vehicle is traveling in a straight line and a large vehicle is stopped in an adjacent lane, causing the system to mistakenly recognize the vehicle as being in the vehicle's own lane.

[0006] If the collision prevention function is activated in a situation that the driver did not intend, such as when the collision prevention function malfunctioned due to a specific activation factor, the driver will become distrustful of the collision prevention function. Therefore, for example, an ECU (Electronic Control Unit) installed in the vehicle could use camera footage to analyze in detail the activation factor of the collision prevention function and determine whether the malfunction was due to the above-mentioned specific activation factor, but an ECU installed in the vehicle cannot perform such advanced analysis.

[0007] Therefore, an object of the present invention is to provide a vehicle information processing device that can analyze the factors that cause the vehicle's collision prevention function to operate and notify the driver if the collision prevention function malfunctions due to a specific activation factor. [Means for solving the problem]

[0008] The vehicle information processing device of the present invention is a vehicle information processing device that includes a processor that processes information, and when the vehicle's collision prevention function is activated, the processor estimates the position of the vehicle at the time the collision prevention function was activated from the processing data of the collision prevention function and image data captured by a camera installed in the vehicle, creates a 3D map of the area around the vehicle at the time the collision prevention function was activated, and determines from the 3D map whether the collision prevention function has malfunctioned due to a specific activation factor, and if the collision prevention function has malfunctioned due to a specific activation factor, notifies the driver of the activation object and the specific activation factor, and if the collision prevention function has not malfunctioned due to a specific activation factor, notifies the driver of the activation object, and the specific activation factors include when the vehicle's path is straight and a large vehicle is stopped in an adjacent lane to the vehicle. [Effects of the Invention]

[0009] According to the vehicle information processing device of the present invention, it is possible to analyze the factors that cause the collision prevention function of the vehicle to operate, and to notify the driver if the collision prevention function malfunctions due to a specific operating factor. [Brief explanation of the drawings]

[0010] [Figure 1] 1 is a block diagram illustrating a vehicle information processing device and a vehicle according to an embodiment; [Figure 2] FIG. 10 is a schematic diagram showing specific activation factors of the collision prevention function. [Figure 3] 10 is a flowchart illustrating a process flow performed by a vehicle information processing device as an example of an embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0011] An example of an embodiment of the present invention will be described in detail below. In the following description, specific shapes, materials, directions, numerical values, etc. are examples for facilitating understanding of the present invention, and can be appropriately changed according to the application, purpose, specifications, etc.

[0012] [Malfunction notification system] The malfunction notification system 100 will be described with reference to FIGS.

[0013] As shown in Fig. 1, the malfunction notification system 100 is a system including a vehicle information processing device of the present invention, and when a collision prevention function of the vehicle 10, which will be described in detail later, malfunctions due to a specific operating cause, notifies the driver of the vehicle 10 of the specific operating cause. The malfunction notification system 100 includes a vehicle 10 and a server 30, which is a vehicle information processing device, both of which will be described in detail later. The vehicle 10 is equipped with an on-board terminal 20, which will be described in detail later. The on-board terminal 20 and the server 30 are connected to each other via a network 40.

[0014] In FIG. 1, one vehicle 10 and one in-vehicle terminal 20 are connected to one server 30, but the number of vehicles 10 or in-vehicle terminals 20 is not limited to this and may be two or more of each.

[0015] [vehicle] The vehicle 10 includes a plurality of ECUs (Electronic Control Units) 11, a plurality of on-board devices 13, and an on-board terminal 20.

[0016] Vehicle 10 is a hybrid vehicle having an engine and a motor. Note that the vehicle of the present invention is not limited to a hybrid vehicle, and may be an electric vehicle powered by a motor, an engine vehicle powered by an engine, or the like.

[0017] The ECU 11 includes an ADAS-ECU (Advanced Driver Assistance System-ECU) 11A. The vehicle 10 may include other ECUs. The ADAS-ECU 11A and the other ECUs are interconnected via a bus 12, and exchange information with each other.

[0018] The ADAS-ECU 11A performs overall control of an advanced driver assistance system including a collision prevention function, which will be described in detail later. The ADAS-ECU 11A is connected to a brake 13A and a speaker 13B, which constitute the in-vehicle equipment 13, and an external sensor 14. The external sensor 14 is a group of sensors used to detect the surrounding environment of the vehicle 10. The external sensor 14 includes, for example, a camera 14A that captures images of the surroundings of the vehicle 10, a millimeter-wave radar 14B that transmits search waves and receives reflected waves, and a lidar 14C that scans the area ahead of the vehicle 10.

[0019] The ADAS-ECU 11A executes a collision prevention function by detecting an activation object on the path of the vehicle using the external sensor 14 described above, and when it determines that there is a high possibility of a collision between the vehicle 10 and the activation object, it activates the brakes 13A or issues an alarm through the speaker 13B to assist the driver of the vehicle in preventing a collision.

[0020] The in-vehicle terminal 20 is a computer including a CPU 21, a memory 22, a wireless communication interface 23, and an in-vehicle communication interface 24. The CPU 21, the memory 22, the wireless communication interface 23, and the in-vehicle communication interface 24 are connected by an internal bus 25.

[0021] The CPU 21 is a processor that processes information. The memory 22 stores a control program 26 and control program data 27 for executing the control program 26. The CPU 31 executes the control program 26 stored in the memory 32 to realize various control operations.

[0022] The in-vehicle communication interface 24 is connected to the bus 12 of the vehicle 10, and collects image data captured by the camera 14A and processing data of the collision prevention function executed by the ADAS-ECU 11A from the ADAS-ECU 11A of the vehicle 10 via the bus 12 using the CAN protocol.

[0023] The wireless communication interface 23 is a wireless communication module that is connected to the network 40 and is used to communicate with the server 30 .

[0024] [server] When the collision prevention function of the vehicle 10 malfunctions due to a specific operating factor, the server 30 as an information processing device notifies the vehicle 10 of the specific operating factor. As will be described in detail later, the server 30 can analyze the operating factor of the collision prevention function of the vehicle 10 and notify the driver of the vehicle 10 when the collision prevention function malfunctions due to a specific operating factor.

[0025] The server 30 is a computer including a CPU 31, which is a processor that processes information, a memory 32 that stores data, and a wireless communication interface 33. The CPU 31, the memory 32, and the wireless communication interface 33 are connected by an internal bus 34. The wireless communication interface 33 is a wireless communication module that is connected to a network 40 and that communicates with the in-vehicle terminal 20.

[0026] The memory 32 stores a processing program 35 and processing program data 36. The memory 32 may also store other programs and databases.

[0027] The processing program 35 is executed by the CPU 31. The processing program data 36 temporarily stores data when the CPU 31 executes the processing program 35, and also stores setting values ​​and the like required for executing the processing program 35. The operation of the server 30 is realized by the CPU 31 executing the processing program 35.

[0028] The processing program 35 also acquires, via the network 40, processing data of the collision prevention function executed by the ADAS-ECU 11A and image data captured by the camera 14A from the in-vehicle terminal 20.

[0029] Furthermore, the processing program 35 estimates the position of the vehicle 10 when the collision prevention function is activated based on the processing data of the collision prevention function executed by the ADAS-ECU 11A.

[0030] Furthermore, the processing program 35 creates a 3D map of the surroundings of the vehicle 10 when the collision prevention function is activated, based on the position of the vehicle 10 when the collision prevention function is activated and image data captured by the camera 14A. The processing program 35 creates the 3D map using an existing image analysis technique. Visual SLAM, SfM (Structure from Motion), etc. may be used as the image analysis technique.

[0031] Here, the processing program 35 determines whether the collision prevention function has malfunctioned due to a specific activation factor.

[0032] As shown in Fig. 2, a malfunction due to a specific activation factor occurs when the vehicle 10 is traveling along a straight line and a large vehicle 110 is stopped in an adjacent lane to the vehicle 10, resulting in a false recognition that the large vehicle 110 is in the direction of travel of the vehicle 10. In other words, a malfunction due to a specific activation factor occurs when the collision prevention function is activated even when the large vehicle 110 is not overlapping the vehicle 10 in the adjacent lane and there is no possibility of a collision.

[0033] For the above reasons, the collision prevention function operates by targeting the rear of another vehicle detected by vehicle 10. The rear of the vehicle is determined by pattern matching using, for example, camera 14A. Pattern matching is a process of searching for a certain pattern image within the entire image. However, if the other vehicle is a large vehicle 110, the rectangle will be recognized as larger than it actually is, and it will be determined that the large vehicle 110 in the adjacent lane is protruding into the vehicle's own lane.

[0034] Therefore, the processing program 35 determines, based on the three-dimensional map, that the collision prevention function has been activated due to a specific activation factor if the total length A of the adjacent large vehicle 110 is equal to or greater than a threshold A1, the distance B between the vehicle 10 and the large vehicle 110 is equal to or greater than 0 and equal to or less than a threshold B1, and the lane curvature R is equal to or greater than 0 and equal to or less than a threshold R1. Each threshold value is stored in advance in the processing program data 36.

[0035] Furthermore, if the collision prevention function malfunctions due to a specific activation factor, the processing program 35 notifies the driver of the specific activation factor and the activation object. Specifically, the processing program 35 displays an image of the activation object, the large vehicle 110, surrounded by a grid on the display unit at the driver's seat of the vehicle 10. The processing program 35 also displays a message such as "An adjacent large vehicle has been mistakenly recognized" on the display unit at the driver's seat of the vehicle 10, or provides a voice message with the same content. At this time, a safe driving tip such as "Try not to drive too close to adjacent lanes" may be displayed, or a voice message with the same content may be provided to warn the driver.

[0036] On the other hand, if the collision prevention function has not malfunctioned due to a specific activation factor, the processing program 35 notifies the driver of the activation object. Specifically, the processing program 35 displays an image of the activation object surrounded by a grid on the display unit in the driver's seat of the vehicle 10. Note that cases where the collision prevention function has not malfunctioned due to a specific activation factor include cases where the collision prevention function has operated normally and cases where the activation factor is unknown even though the collision prevention function has malfunctioned.

[0037] [Malfunction notification control] The operations of the ADAS-ECU 11A and the server 30 will be described with reference to FIG.

[0038] In step S101, the ADAS-ECU 11A determines whether the collision prevention function has been activated. If the determination in step S101 is YES, the ADAS-ECU 11A proceeds to step S102. In step S101, the ADAS-ECU 11A collects image data captured by the camera 14A and processing data of the collision prevention function when the collision prevention function has been activated, and transmits these to the server 30.

[0039] In step S201, the CPU 31 of the server 30 collects image data captured by the camera 14A and processing data of the collision prevention function when the collision prevention function is activated.

[0040] In step S202, the CPU 31 estimates the position of the vehicle 10 when the collision prevention function was activated based on the transmitted processing data of the collision prevention function.

[0041] In step S203, the CPU 31 creates a three-dimensional map of the area around the vehicle 10 when the collision prevention function is activated based on the position of the vehicle 10 when the collision prevention function is activated and image data before and after the time when the collision prevention function is activated.

[0042] In step S204, the CPU 31 determines whether the collision prevention function has malfunctioned due to the specific activation factor described above. If the CPU 31 determines YES in step S204, the process proceeds to step S205. On the other hand, if the CPU 31 determines NO in step S204, the process proceeds to step S206.

[0043] In step S205, CPU 31 notifies the driver of the specific activation factor and the object. Specifically, the specific activation factor is displayed on the display unit in the driver's seat, and an image of the activation object surrounded by a grid is displayed. In step S206, CPU 31 notifies the driver of the activation object. Specifically, an image of the activation object surrounded by a grid is displayed on the display unit in the driver's seat.

[0044] It should be noted that the present invention is not limited to the above-described embodiment and its modifications, and various changes and modifications are possible within the scope of the claims of this application. [Explanation of symbols]

[0045] 10 vehicle, 11 ECU, 11A ADAS-ECU, 12 bus, 13 on-board equipment, 13A brake, 13B speaker, 14 external sensor, 14A camera, 14B millimeter-wave radar, 14C lidar, 20 on-board terminal, 21 CPU, 22 memory, 23 wireless communication interface, 24 in-vehicle communication interface, 25 internal bus, 26 control program, 27 data for control program, 30 server (vehicle information processing device), 31 CPU (processor), 32 memory, 33 wireless communication interface, 34 internal bus, 35 processing program, 36 data for processing program, 40 network, 100 malfunction notification system, 110 large vehicle

Claims

[Claim 1] A vehicle information processing device including a processor that performs information processing, When a collision prevention function of the vehicle is activated, the processor estimates the position of the vehicle at the time the collision prevention function was activated from processing data of the collision prevention function and image data captured by a camera installed in the vehicle, creates a three-dimensional map of the surroundings of the vehicle at the time the collision prevention function was activated, determines from the three-dimensional map whether the collision prevention function has malfunctioned due to a specific activation factor, and if the collision prevention function has malfunctioned due to the specific activation factor, notifies the driver of the activation object and the specific activation factor, and if the collision prevention function has not malfunctioned due to the specific activation factor, notifies the driver of the activation object, The specific activation factor includes a case where the vehicle is traveling on a straight line and a large vehicle is stopped in an adjacent lane of the vehicle. Vehicle information processing device.

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