Vehicle driving assistance device

Abstract

To provide a vehicle driving support device that does not disturb the sleep of passengers by controlling lane departure suppression. A vehicle driving assistance device (10) executes lane departure prevention control that issues an audible alarm when there is a possibility that the host vehicle (100) will deviate from the driving lane. The vehicle driving assistance device is configured to limit the issuance of the audible alarm in the lane departure prevention control when a passenger in the host vehicle is in a sleep request state.

Description

[Technical Field]

[0001] The present invention relates to a vehicle driving assistance device. [Background technology]

[0002] There is known a vehicle driving assistance device configured to execute lane departure suppression control that issues an alarm sound when there is a possibility that the host vehicle will deviate from the driving lane (see, for example, Patent Document 1). By issuing the alarm sound, the vehicle driving assistance device makes the driver aware that there is a possibility that the host vehicle will deviate from the driving lane, and suppresses the host vehicle from deviating from the driving lane. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Laid-Open No. 2016-207001 Summary of the Invention

[0004] However, if the alarm is sounded while the passenger is sleeping, it will disturb the passenger's sleep. On the other hand, there are situations where it is not necessary to sound an alarm even if there is a possibility that the vehicle will deviate from its lane.

[0005] An object of the present invention is to provide a vehicle driving assistance system that does not disturb the sleep of passengers by performing lane departure suppression control.

[0006] A vehicle driving assistance device according to the present invention includes a control device that executes lane departure prevention control to issue an alarm sound when there is a possibility that the host vehicle will depart from the driving lane, and the control device is configured to limit the emission of the alarm sound in the lane departure prevention control when a passenger of the host vehicle is in a sleep request state in which the passenger requests sleep.

[0007] According to the vehicle driving assistance system of the present invention, when a passenger is in a sleep-requesting state, the issuance of an alarm sound in the lane departure prevention control is limited, and therefore the lane departure prevention control is executed within a range that does not disturb the passenger's sleep.

[0008] In addition, in the vehicle driving assistance device of the present invention, the control device can be configured to determine that the passenger is in the sleep-request state when a mode that restricts the generation of the alarm sound is selected, or when the current time is within a predetermined time period, or when the passenger has their eyes closed for a predetermined period of time.

[0009] According to the vehicle driving assistance device of the present invention, whether a passenger is in a sleep-request state is determined based on whether a mode that limits the generation of an alarm sound is selected, whether the current time is within a predetermined time period, or whether the passenger has closed their eyes for a predetermined period of time, thereby accurately determining whether the passenger is in a sleep-request state.

[0010] Furthermore, in the vehicle driving assistance device of the present invention, the control device may be configured not to restrict the generation of the warning sound in the lane departure prevention control when the driver of the vehicle is at or below a predetermined level, or when there is another vehicle approaching or has approached the vehicle, even if the passenger is in the sleep-request state.

[0011] According to the vehicle driving assistance device of the present invention, when there is a high need to alert the driver that the vehicle is about to deviate from its lane, an alarm is sounded even if the passenger is in a sleep-request state, thereby appropriately preventing the vehicle from deviating from its lane.

[0012] The components of the present invention are not limited to the embodiments of the present invention described below with reference to the drawings. Other objects, features, and attendant advantages of the present invention will be easily understood from the description of the embodiments of the present invention. [Brief explanation of the drawings]

[0013] [Figure 1] FIG. 1 is a diagram showing a vehicle driving assistance device according to an embodiment of the present invention. [Figure 2] FIG. 2 is a flowchart showing a routine executed by the vehicle driving assistance device according to the embodiment of the present invention. [Figure 3] FIG. 3 is a diagram showing a situation in which the host vehicle may deviate from its lane. [Figure 4] FIG. 4 is a flowchart showing a routine executed by the vehicle driving assistance device according to the embodiment of the present invention. DETAILED DESCRIPTION OF THE INVENTION

[0014] Hereinafter, a vehicle driving assistance device according to an embodiment of the present invention will be described with reference to the drawings. FIG. 1 shows a vehicle driving assistance device 10 according to an embodiment of the present invention. The vehicle driving assistance device 10 is mounted on a host vehicle 100. Hereinafter, the vehicle driving assistance device 10 will be described using as an example a case where the operator of the host vehicle 100 is the driver of the host vehicle 100 (i.e., a person who is in the host vehicle 100 and drives the host vehicle 100). However, the operator of the host vehicle 100 may also be a remote operator of the host vehicle 100 (i.e., a person who drives the host vehicle 100 remotely without being in the host vehicle 100).

[0015] Furthermore, controls such as lane departure suppression control, which will be described later, are executed not only when the host vehicle 100 is being driven manually, but also when the host vehicle 100 is being driven automatically.

[0016] As shown in FIG. 1, the vehicle driving assistance device 10 includes an ECU (electronic control unit) 90 as a control device. The ECU 90 includes a microcomputer as a main component. The microcomputer includes a CPU, a computer-readable storage medium, an interface, and the like. The storage medium is a ROM, a RAM, a non-volatile memory, and the like. The CPU realizes various functions by executing instructions, programs, or routines stored in the storage medium. In particular, in this example, the vehicle driving assistance device 10 stores programs in the storage medium that realize various controls executed by the vehicle driving assistance device 10.

[0017] In this example, the vehicle driving assistance device 10 has only one ECU 90, but it may also be configured to have multiple ECUs, with each ECU sharing the functions of the vehicle driving assistance device 10 described below.

[0018] Furthermore, the vehicle driving assistance device 10 may be configured so that the program stored in the storage medium can be updated via wireless communication with an external device (for example, via the Internet).

[0019] The vehicle 100 is equipped with a steering device 20, a steering motor 21, a handle 22, and a notification device 30.

[0020] The steering device 20 is a device that applies a steering force to the host vehicle 100. More specifically, the steering device 20 is a device that controls the steering force applied to the host vehicle 100 by operating a steering motor 21. The steering device 20 is electrically connected to the ECU 90. The vehicle driving assistance device 10 controls the operation of the steering device 20 to control the steering force applied to the host vehicle 100.

[0021] The steering wheel 22 is a device operated by the driver. The vehicle driving assistance device 10 controls the steering force applied to the vehicle 100 based on the torque input to the steering wheel 22 by the driver.

[0022] The notification device 30 is a device that mainly notifies the driver that there is an increased possibility that the vehicle 100 will deviate from the driving lane LN. In this example, the notification device 30 includes an audio device 31, a display device 32, and a vibration device 33.

[0023] The acoustic device 31 is an alarm device that emits a warning sound by sound or voice. The acoustic device 31 includes, for example, a speaker. The acoustic device 31 is electrically connected to the ECU 90. The vehicle driving assistance device 10 controls the emission of the warning sound from the acoustic device 31 into the interior of the host vehicle 100.

[0024] The display device 32 is a device that displays images. The display device 32 includes, for example, a display provided in a position visible to the driver. The display device 32 is electrically connected to the ECU 90. The vehicle driving assistance device 10 controls the images displayed on the display device 32.

[0025] The vibration device 33 is a device that vibrates the steering wheel 22. The vibration device 33 includes, for example, a vibrator mounted on the steering wheel 22. The vibration device 33 is electrically connected to the ECU 90. The vehicle driving assistance device 10 can vibrate the steering wheel 22 by controlling the operation of the vibration device 33.

[0026] Furthermore, the vehicle 100 is equipped with a lateral speed detector 40, a surrounding information detector 50, an in-vehicle information detector 60, and a mode selection switch .

[0027] The lateral speed detection device 40 is a device that detects the lateral movement speed of the host vehicle 100. The lateral speed detection device 40 is electrically connected to the ECU 90. The vehicle driving assistance device 10 acquires the lateral movement speed of the host vehicle 100 as the lateral speed Vy using the lateral speed detection device 40.

[0028] The surrounding information detection device 50 is a device that detects information relating to the surrounding conditions of the vehicle 100. In this example, the surrounding information detection device 50 includes a plurality of image sensors 51 and a plurality of electromagnetic wave sensors 52.

[0029] The image sensor 51 is a device that acquires an image of the surroundings of the host vehicle 100. The image sensor 51 is, for example, a camera. The image sensor 51 is electrically connected to the ECU 90. The vehicle driving assistance device 10 acquires information (image information) related to an image of the surroundings of the host vehicle 100 as surrounding information IS using the image sensor 51.

[0030] The electromagnetic wave sensor 52 is a device that acquires information about targets present in the vicinity of the host vehicle 100. The electromagnetic wave sensor 52 is, for example, a millimeter wave radar. The electromagnetic wave sensor 52 is electrically connected to the ECU 90. The vehicle driving assistance device 10 acquires information about targets present in the vicinity of the host vehicle 100 (target information) as surrounding information IS using the electromagnetic wave sensor 52.

[0031] The in-vehicle information detection device 60 is a device that acquires information about the status inside the vehicle 100, in particular, information about the driver and passengers of the vehicle 100. In this example, the in-vehicle information detection device 60 is equipped with a driver monitor camera 61.

[0032] The driver monitor camera 61 is a device that captures images of the interior of the vehicle 100 and acquires images of the driver and passengers of the vehicle 100. The driver monitor camera 61 is electrically connected to the ECU 90. The vehicle driving assistance device 10 acquires information (image information) about the driver and passengers of the vehicle 100 using the driver monitor camera 61 as in-vehicle information IV.

[0033] The mode selection switch 70 is a device operated by the driver. The driver can select the sleep mode by operating the mode selection switch 70. The sleep mode is a mode that limits the generation of an alarm sound by lane departure prevention control, which will be described later. The mode selection switch 70 is electrically connected to the ECU 90. When the mode selection switch 70 is operated, the vehicle driving assistance device 10 determines that the sleep mode has been selected.

[0034] Next, a description will be given of the operation of the vehicle driving support device 10. The vehicle driving support device 10 is configured to execute the routine shown in Fig. 2 at predetermined time intervals.

[0035] Therefore, at a predetermined timing, the vehicle driving assistance device 10 starts the processing from step S200 of the routine shown in FIG. 2, and proceeds to step S210 to determine whether the lane departure condition C1 is met.

[0036] The lane departure condition C1, as indicated by the symbol A in FIG. 3, is a condition that indicates that there is a possibility that the host vehicle 100 will deviate from the driving lane LN. In this example, the lane departure condition C1 is met when the lateral distance Dy is equal to or less than a predetermined distance Dth. The lateral distance Dy is the distance between the boundary of the driving lane LN and the host vehicle 100. More specifically, the lateral distance Dy is the distance between the left boundary BL of the driving lane LN and the left side 100L of the host vehicle 100, or the distance between the right boundary BR of the driving lane LN and the right side 100R of the host vehicle 100. The predetermined distance Dth is set according to the lateral speed Vy. More specifically, the predetermined distance Dth is set to a longer distance when the lateral speed Vy is fast than when the lateral speed Vy is slow. In particular, the predetermined distance Dth is set to a longer distance as the lateral speed Vy is faster. The lateral distance Dy is acquired based on surrounding information IS.

[0037] If the vehicle driving assistance device 10 determines "No" in step S210, the process proceeds directly to step S295 and temporarily ends the process of this routine. On the other hand, if the vehicle driving assistance device 10 determines "Yes" in step S210, the process proceeds to step S220 and determines whether the warning restriction condition C2 is satisfied.

[0038] The warning restriction condition C2 is a condition for restricting the generation of a warning sound in lane departure prevention control. The warning restriction condition C2 is a condition in which a passenger of the vehicle 100 is in a sleep request state, in which the passenger is requesting sleep. More specifically, the warning restriction condition C2 is any one of the following conditions C21 to C23.

[0039] Condition C21: A passenger, including a child, in the vehicle 100 has his / her eyes closed for a predetermined period of time. Condition C22: The current time tnow is within the predetermined time period Rtime. Condition C23: Sleep mode is selected.

[0040] Whether or not the condition C21 is satisfied is determined based on the in-vehicle information IV. The predetermined time period Rtime is, for example, the time period from 8 PM to 6 AM the following day.

[0041] If the determination in step S220 is "No," the vehicle driving assistance device 10 proceeds to step S230, where it executes lane departure suppression control. Next, the vehicle driving assistance device 10 proceeds to step S295, where it temporarily ends the processing of this routine.

[0042] Lane departure suppression control is control that suppresses departure of the host vehicle 100. More specifically, it is control that issues at least an alarm sound when there is a possibility that the host vehicle 100 will depart from the driving lane LN. The departure of the host vehicle 100 is the departure of the host vehicle 100 out of the driving lane LN.

[0043] The lane departure prevention control executed in step S230 is control that performs warning processing and departure prevention steering processing. The warning processing is processing that issues a warning sound from the audio device 31. The departure prevention steering processing is processing that applies a departure prevention steering force to the host vehicle 100. The departure prevention steering force is a steering force for preventing departure of the host vehicle 100. The departure prevention steering force may be a predetermined steering force that is set arbitrarily, a steering force that can maintain the current lateral distance Dy, or a steering force that can direct the host vehicle 100 toward the center of the traveling lane LN.

[0044] The departure prevention steering force is realized by controlling the steering device 20 (steering motor 21) so that a predetermined steering torque is applied to the host vehicle 100. Alternatively, the departure prevention steering force may be realized by setting an appropriate steering angle for the host vehicle 100 as a target steering angle, and controlling the steering device 20 (steering motor 21) so that the steering angle of the host vehicle 100 becomes the target steering angle.

[0045] Furthermore, the lane departure prevention control executed in step S230 may be a control that performs vibration processing and / or display processing in addition to the warning processing and departure prevention steering processing. The vibration processing is a processing that vibrates the steering wheel 22 by the vibration device 33. The display processing is a processing that displays an image on the display device 32 to notify the driver that there is a possibility that the host vehicle 100 will depart from the driving lane LN.

[0046] On the other hand, if the determination in step S220 is "Yes," the vehicle driving assistance system 10 proceeds to step S240 to execute lane departure suppression control. Next, the vehicle driving assistance system 10 proceeds to step S295 to temporarily end the processing of this routine.

[0047] The lane departure prevention control executed in step S240 is also control to prevent departure of the host vehicle 100. However, the lane departure prevention control executed in step S240 is control to perform only departure prevention steering processing without performing warning processing. That is, according to the vehicle driving assistance device 10, when a passenger in the host vehicle 100 is in a sleep request state in which the passenger is requesting sleep, generation of a warning sound in the lane departure prevention control is limited.

[0048] The lane departure prevention control executed in step S240 may be a control that performs vibration processing and / or display processing in addition to departure prevention steering processing.

[0049] Furthermore, the departure prevention steering force applied to the host vehicle 100 by the departure prevention steering process may be equal to that in step S230 and that in step S240, or may be greater than that in step S240. Furthermore, the intensity with which the steering wheel 22 is vibrated by the vibration process may be equal to that in step S230 and that in step S240, or may be greater than that in step S240.

[0050] The above is the operation of the vehicle driving assistance system 10. According to the vehicle driving assistance system 10, when a passenger is in a sleep-request state, the generation of an alarm sound in the lane departure prevention control is limited. Therefore, the lane departure prevention control is executed within a range that does not disturb the passenger's sleep.

[0051] The present invention is not limited to the above-described embodiment, and various modifications can be made within the scope of the present invention.

[0052] For example, the vehicle driving assistance device 10 may be configured to execute the routine shown in Fig. 4 at predetermined time intervals instead of the routine shown in Fig. 2. In this case, at a predetermined timing, the vehicle driving assistance device 10 starts processing from step S400 of the routine shown in Fig. 4, and proceeds to step S410 to determine whether the lane departure condition C1 is satisfied.

[0053] If the vehicle driving assistance device 10 determines "No" in step S410, the process proceeds directly to step S495 and temporarily ends the process of this routine. On the other hand, if the vehicle driving assistance device 10 determines "Yes" in step S410, the process proceeds to step S420 and determines whether the warning restriction condition C2 is satisfied.

[0054] If the determination in step S420 is "No," the vehicle driving assistance system 10 proceeds to step S430, where it executes lane departure suppression control. Next, the vehicle driving assistance system 10 proceeds to step S295, where it temporarily ends the processing of this routine.

[0055] The lane departure prevention control executed in step S430 is the same as the lane departure prevention control executed in step S230.

[0056] On the other hand, if the determination in step S420 is "Yes," the vehicle driving assistance device 10 proceeds to step S435 and determines whether the warning suppression cancellation condition C3 is met.

[0057] The alarm suppression cancellation condition C3 is a condition under which it is determined that alarm processing needs to be performed. In this example, the alarm suppression cancellation condition C3 is the following condition C31 or condition C32.

[0058] Condition C31: The level of alertness of the driver of the vehicle 100 is equal to or lower than a predetermined level. Condition C32: There is another vehicle, such as an oncoming vehicle or an overtaking vehicle, approaching the host vehicle 100, or another vehicle, such as an oncoming vehicle or an overtaking vehicle, approaching the host vehicle 100.

[0059] An oncoming vehicle is another vehicle (for example, another vehicle 200 shown in FIG. 3) traveling in a lane adjacent to the lane LN of the host vehicle 100 in the opposite direction to the traveling direction of the host vehicle 100. An overtaking vehicle approaching the host vehicle 100 is another vehicle that is about to overtake the host vehicle 100. An overtaking vehicle approaching the host vehicle 100 is another vehicle that is currently overtaking the host vehicle 100.

[0060] In this example, condition C31 is met when the driver has his / her eyes closed for a predetermined period of time. In this case, condition C31 is determined based on in-vehicle information IV. Condition C31 is also met when the vehicle 100 is significantly swaying. In this case, condition C31 is determined based on, for example, the lateral acceleration of the vehicle 100. For example, if the number of times that the lateral acceleration of the vehicle 100 alternates between positive and negative values ​​around zero within a predetermined period of time is equal to or greater than a predetermined number, it is determined that the vehicle 100 is significantly swaying. Condition C32 is also determined based on surrounding information IS.

[0061] If the determination in step S435 is "Yes," the vehicle driving assistance system 10 proceeds to step S430, where it executes lane departure suppression control. Next, the vehicle driving assistance system 10 proceeds to step S495, where it temporarily ends the processing of this routine.

[0062] In this way, according to the vehicle driving assistance device 10, when the driver of the vehicle 100 is at or below a predetermined level of alertness, or when another vehicle is approaching the vehicle 100, the issuance of an alarm sound in the lane departure prevention control is not restricted even if the passenger is in a state of needing sleep.

[0063] On the other hand, if the determination in step S435 is "No," the vehicle driving assistance system 10 proceeds to step S440, where it executes lane departure suppression control. Next, the vehicle driving assistance system 10 proceeds to step S495, where it temporarily ends the processing of this routine.

[0064] The lane departure prevention control executed in step S440 is the same as the lane departure prevention control executed in step S240.

[0065] This also limits the issuance of an alarm sound in the lane departure prevention control when the passenger is in a sleep-requesting state. Therefore, the lane departure prevention control is executed to a degree that does not disturb the sleep of the passenger. However, when there is a high need to alert the driver that the vehicle 100 is about to depart from the traveling lane LN, an alarm sound is issued even if the passenger is in a sleep-requesting state. Therefore, the vehicle 100 is appropriately prevented from deviating from the traveling lane LN. [Explanation of symbols]

[0066] 10... vehicle driving assistance device, 30... notification device, 31... acoustic device, 50... surrounding information detection device, 60... in-vehicle information detection device, 70... mode selection switch, 90... ECU, 100... host vehicle

Claims

1. A vehicle driving assistance device including a control device that executes lane departure prevention control to issue an alarm sound when there is a possibility that the host vehicle will deviate from its driving lane, The control device is configured to limit generation of the warning sound in the lane departure prevention control when a passenger of the host vehicle is in a sleep request state in which the passenger requests sleep. Vehicle driving assistance device.

2. The vehicle driving assistance device according to claim 1, The control device is configured to determine that the passenger is in the sleep-request state when a mode for restricting generation of the alarm sound is selected, when the current time is within a predetermined time period, or when the passenger has closed their eyes for a predetermined period of time. Vehicle driving assistance device.

3. 3. The vehicle driving assistance device according to claim 1, The control device is configured not to restrict the generation of the warning sound in the lane departure prevention control when the wakefulness level of the driver of the vehicle is equal to or lower than a predetermined level, or when there is another vehicle approaching or has approached the vehicle, even if the passenger is in the sleep request state. Vehicle driving assistance device.

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