Vehicle driving assistance system

Abstract

The present invention provides a vehicle driving assistance device that can prevent the driver of the vehicle from becoming distracted due to the provision of information regarding speed limits. [Solution] When the applicable speed limit, which is the speed limit applied to the vehicle 100, changes, the vehicle driving support device 10 normally notifies the operator of the vehicle of the new applicable speed limit. When the vehicle driving support device recognizes that the applicable speed limit will change, and the driving conditions of the vehicle meet predetermined conditions, it provides advance notification to the operator before the applicable speed limit changes to inform them that the applicable speed limit will change.

Description

Technical Field

[0001] The present invention relates to a vehicle driving support device.

Background Art

[0002] There is known a vehicle driving support device that notifies a driver by an alarm that the traveling speed of the host vehicle exceeds the speed limit (see, for example, Patent Document 1).

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

[0004] When information regarding the speed limit, such as that the traveling speed of the host vehicle exceeds the speed limit, is provided to the driver when such an event occurs, the driver's attention may become distracted.

[0005] An object of the present invention is to provide a vehicle driving support device capable of suppressing the distraction of the attention of an operator of the host vehicle due to the provision of information regarding the speed limit.

[0006] The vehicle driving support device according to the present invention includes a control device that performs a normal notification for notifying an operator of the host vehicle of an applied speed limit that is the speed limit applied to the host vehicle when the applied speed limit changes. When the control device recognizes that the applied speed limit has changed, and when the situation related to the traveling of the host vehicle satisfies a predetermined situation condition, the control device is configured to perform a prior notification for notifying the operator that the applied speed limit is about to change before the applied speed limit changes.

[0007] In situations where certain conditions are met, if the operator of a vehicle is informed of the change in the applicable speed limit after the speed limit has already changed, the operator's attention may become distracted. That is, in situations where certain conditions are met, if the operator of a vehicle is provided with information about the speed limit, such as that the applicable speed limit has changed after the speed limit has already changed, the operator's attention may become distracted. According to the present invention, when certain conditions are met, the operator of a vehicle is informed of the change in the applicable speed limit before the speed limit changes. Therefore, distraction of the operator's attention is suppressed.

[0008] Furthermore, in the vehicle driving assistance device according to the present invention, when the operator is notified of the applicable speed limit for the same speed, the prior notification is given in a form different from the normal notification, for example.

[0009] According to the present invention, it is possible to ensure that the operator of the vehicle understands that this notification is a prior notification and not a regular notification.

[0010] Furthermore, in the vehicle driving support device according to the present invention, the prior notification is given, for example, at an earlier timing than when the vehicle's driving speed is greater than the applicable speed limit informed to the operator by the prior notification.

[0011] According to the present invention, prior notification is given at a more appropriate timing.

[0012] Furthermore, in the vehicle driving support device according to the present invention, the predetermined condition is, for example, the condition that the weather around the vehicle is bad.

[0013] According to this invention, if the weather around the vehicle is inclement, prior notification is given. This allows the vehicle operator to be informed of a change in the applicable speed limit at a more appropriate time.

[0014] The components of the present invention are not limited to the embodiments described below with reference to the drawings. Other objects, features, and incidental advantages of the present invention will be readily apparent from the description of the embodiments. [Brief explanation of the drawing]

[0015] [Figure 1] Figure 1 is a diagram showing a vehicle driving assistance device according to an embodiment of the present invention. [Figure 2] Figure 2 is a flowchart showing the routine executed by a vehicle driving assistance device according to an embodiment of the present invention. [Figure 3] Figure 3 shows images of road signs and supplementary signs. [Modes for carrying out the invention]

[0016] The following description of a vehicle driving support device according to an embodiment of the present invention will be given with reference to the drawings. Figure 1 shows a vehicle driving support device 10 according to an embodiment of the present invention. The vehicle driving support device 10 is mounted on the vehicle 100. The following description of the vehicle driving support device 10 will be given as an example where the operator of the vehicle 100 is the driver of the vehicle 100 (i.e., a person who is in the vehicle 100 and drives the vehicle 100). However, the operator of the vehicle 100 may also be a remote operator of the vehicle 100 (i.e., a person who does not ride in the vehicle 100 and drives the vehicle 100 remotely). In the following description, the driver of the vehicle 100 will be simply referred to as "driver".

[0017] As shown in FIG. 1, the vehicle driving support device 10 includes an ECU (Electronic Control Unit) 90 as a control device. The ECU 90 includes a microcomputer as a main part. 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, or the like. The CPU is configured to realize various functions by executing instructions, programs, or routines stored in the storage medium. In particular, in this example, the vehicle driving support device 10 stores a program for realizing various controls executed by the vehicle driving support device 10 in the storage medium.

[0018] In this example, the vehicle driving support device 10 includes only one ECU 90, but it may be configured to include a plurality of ECUs and share the functions of the vehicle driving support device 10 described below among the respective ECUs.

[0019] Also, the vehicle driving support device 10 may be configured to be able to update (update) the program stored in the storage medium by wireless communication (for example, Internet communication) with an external device.

[0020] Further, the vehicle driving support device 10 is applicable not only to a vehicle driven by manual driving by an operator but also to a vehicle driven by automatic driving in addition to manual driving.

[0021] The host vehicle 100 is equipped with a notification device 20, a vehicle speed detection device 30, a GPS signal receiver 41, a map database 42, and a surrounding information detection device 50.

[0022] The notification device 20 is a device for giving various notifications to the driver. The notification device 20 includes a display device 21 and an acoustic device 22.

[0023] The display device 21 is a device that displays various images. The display device 21 includes, for example, a display. The display device 21 is electrically connected to the ECU 90. The vehicle driving support device 10 displays various images by means of the display device 21.

[0024] The audio device 22 is a device that outputs various sounds and / or voices. The audio device 22 includes, for example, a speaker. The audio device 22 is electrically connected to the ECU 90. The vehicle driving support device 10 outputs various sounds and / or voices by means of the audio device 22.

[0025] The vehicle speed detection device 30 is a device for detecting the vehicle speed V of the host vehicle. The vehicle speed V is the traveling speed of the host vehicle 100. The vehicle speed detection device 30 includes, for example, wheel speed sensors provided on each wheel of the host vehicle 100. The vehicle speed detection device 30 is electrically connected to the ECU 90. The vehicle driving support device 10 acquires the vehicle speed V by means of the vehicle speed detection device 30.

[0026] The GPS signal receiver 41 is a device that receives GPS signals. The GPS signal receiver 41 is electrically connected to the ECU 90. The vehicle driving support device 10 receives GPS signals via the GPS signal receiver 41. The vehicle driving support device 10 acquires the current position of the host vehicle 100 based on the GPS signals.

[0027] The map database 42 is a device that stores map information IM. The map database 42 is electrically connected to the ECU 90. The vehicle driving support device 10 acquires the map information IM from the map database 42.

[0028] The surrounding information detection device 50 is a device for detecting information around the host vehicle 100. In this example, the surrounding information detection device 50 includes a plurality of image sensors 51. The image sensor 51 is, for example, a camera sensor. The vehicle driving support device 10 acquires information around the host vehicle 100 as image information IC by means of the image sensor 51.

[0029] Next, the operation of the vehicle driving assistance system 10 will be explained. The vehicle driving assistance system 10 provides a speed limit notification to the driver, informing them of the applicable speed limit Vapp. The applicable speed limit Vapp is the speed limit Vlim that applies to the vehicle 100. In this example, normal notification, advance notification, and preceding notification are provided as speed limit notifications.

[0030] The vehicle driving support system 10 executes the routine shown in Figure 2 at predetermined time intervals, and when various conditions are met, it issues a speed limit notification. Therefore, when the predetermined timing arrives, the vehicle driving support system 10 starts processing from step S200 of the routine shown in Figure 2. Then, the vehicle driving support system 10 proceeds to step S205 and acquires road information IR. Next, the vehicle driving support system 10 proceeds to step S210.

[0031] Road information IR is information related to the planned route RD. The planned route RD is the road that vehicle 100 is scheduled to travel on. Road information IR is included in map information IM. Therefore, road information IR is obtained from map information IM.

[0032] When the vehicle driving support device 10 proceeds to step S210, it determines whether or not the first situation condition C1 has been met.

[0033] The first situational condition C1 is a predetermined situational condition that is met when the current vehicle speed V is greater than the new applicable speed limit Vapp_new. The new applicable speed limit Vapp_new is the speed limit Vlim that will be newly applied to vehicle 100 in place of the current applicable speed limit Vapp if vehicle 100 continues to travel along the planned road RD. The current applicable speed limit Vapp is the speed limit Vlim that is currently applied to vehicle 100. Note that the current applicable speed limit Vapp and the new applicable speed limit Vapp_new are obtained from road information IR.

[0034] Furthermore, the first condition C1 also holds true when the radius of curvature RC of the planned road RD is smaller than the predetermined radius of curvature RCth. ​​The predetermined radius of curvature RCth is set to the minimum value RCmin of the radius of curvature RC at which the vehicle 100 can safely travel along the planned road RD at the current vehicle speed V. Alternatively, the predetermined radius of curvature RCth is set to a value greater than the minimum value RCmin and close to the minimum value RCmin. The radius of curvature RC of the planned road RD is obtained from the road information IR.

[0035] Furthermore, the type of road on the planned route RD may be considered when determining whether the first situational condition C1 is met. The road type may be, for example, whether the planned route RD is a public road or an expressway. It may also be, for example, whether it is a one-lane road or a two-lane road. It may also be, for example, whether it is a road with good visibility or a road with poor visibility. In this case, if, in light of the road type of the planned route RD, the planned route RD is a road that is easy for the vehicle 100 to travel on safely, the first situational condition C1 will be less likely to be met.

[0036] If the vehicle driving support system 10 determines "Yes" in step S210, it proceeds to step S215 to acquire weather information IW. Next, the vehicle driving support system 10 proceeds to step S220.

[0037] Weather information IW is weather information for the area in which vehicle 100 is traveling. In particular, weather information IW includes weather information for the area including the planned road RD. Weather information IW is obtained from image information IC.

[0038] When the vehicle driving support device 10 proceeds to step S220, it determines whether or not the second situation condition C2 is met.

[0039] The second situational condition C2 is a predetermined situational condition that is met when at least one of the following conditions is met: it is raining, it is snowing, and it is foggy. In other words, the second situational condition C2 is the condition that the weather around the vehicle 100 is bad. Whether or not at least one of the rain, snow, and foggy conditions is met is determined based on the weather information IW.

[0040] Furthermore, the second condition C2 may be set to be met when at least one of the following conditions is met: a rainfall condition in which the amount of rainfall per unit time is equal to or greater than a predetermined amount of rainfall, and a snowfall condition in which the amount of snowfall per unit time is equal to or greater than a predetermined amount of snowfall. Whether or not at least one of the rainfall condition and the snowfall condition is met is determined based on the weather information IW.

[0041] Furthermore, the second condition C2 may be set to be met when at least one of the following conditions is met: the snow depth condition, which is equal to or greater than a predetermined snow depth, and the fog condition, which is equal to or greater than a predetermined fog density. Whether or not at least one of the snow depth condition and the fog condition is met is determined based on the weather information IW.

[0042] Furthermore, the road type of the planned road RD may be considered when determining whether the second situational condition C2 is met. In this case, if the planned road RD is a road that is easy for the vehicle 100 to travel on safely, considering the road type of the planned road RD, the second situational condition C2 will be less likely to be met.

[0043] If the vehicle driving support system 10 determines "Yes" in step S220, it proceeds to step S225 and issues a warning notification. Next, the vehicle driving support system 10 proceeds to step S295 and terminates the processing of this routine.

[0044] The advance notice is a notification to inform the driver that a new speed limit Vnew will be applied to their vehicle 100. In other words, the advance notice is a notification to inform the driver that the applicable speed limit Vapp will change.

[0045] In this example, the advance notice is given by informing the driver via the notification device 20 that a new speed limit Vnew will subsequently be applied to the vehicle 100. More specifically, the advance notice is given by displaying a road sign image IMG1 and an auxiliary sign image IMG2 on the display device 21, as shown in Figure 3. The road sign image IMG1 is an image that mimics a road sign indicating the new applicable speed limit Vapp_new. The auxiliary sign image IMG2 is an image that mimics an auxiliary sign displaying the words "Advance Notice". The auxiliary sign image IMG2 is displayed below the road sign image IMG1, touching it. In addition to or instead of this, the advance notice is also given by outputting an audio sound representing the new applicable speed limit Vapp_new from the sound device 22.

[0046] Thus, when the vehicle driving support device 10 recognizes that the applicable speed limit Vapp is changing, and the driving conditions of its own vehicle 100 satisfy the first condition C1 and the second condition C2, it is configured to provide advance notification to the driver before the applicable speed limit Vapp changes.

[0047] Furthermore, according to the vehicle driving assistance system 10, when informing the driver of the applicable speed limit Vapp for the same speed, the advance notice is given in a different form than a normal notice.

[0048] On the other hand, if the vehicle driving support system 10 determines "No" in step S220, it proceeds to step S230 to set the notification timing. Next, the vehicle driving support system 10 proceeds to step S235.

[0049] The notification timing setting is the process of setting the notification distance threshold Dth. According to the notification timing setting, the notification distance threshold Dth is set to a larger value when the speed difference ΔV, which is the difference between the new applicable speed limit Vapp_new and the current vehicle speed V, is large, compared to when the speed difference ΔV is small. In particular, in this example, according to the notification timing setting, the notification distance threshold Dth is set to a larger value the larger the speed difference ΔV is.

[0050] The notification distance threshold Dth is obtained, for example, from a map or lookup table of notification distance thresholds Dth with speed difference ΔV as an argument.

[0051] Furthermore, the notification distance threshold Dth may be set not only according to the speed difference ΔV, but also taking into account the accelerator-off deceleration Goff. For example, the notification distance threshold Dth may be set to a larger value the smaller the accelerator-off deceleration Goff is. The accelerator-off deceleration Goff is the deceleration of the vehicle 100 that is achieved when the accelerator pedal of the vehicle 100 is released.

[0052] When the vehicle driving support device 10 proceeds to step S235, it determines whether or not the prior notification condition C3 has been met.

[0053] Prior notification condition C3 is met when the remaining distance D becomes short enough to reach the notification distance threshold Dth. The remaining distance D is the distance from the current position of vehicle 100 to the point where the new speed limit Vnew begins to be applied to vehicle 100.

[0054] If the vehicle driving support system 10 determines "Yes" in step S235, it proceeds to step S240 and issues a preliminary notification. Next, the vehicle driving support system 10 proceeds to step S295 and terminates the processing of this routine.

[0055] The advance notice is a prior notification to inform the driver that a new speed limit Vnew will be applied to their vehicle 100. In other words, the advance notice is a prior notification to inform the driver that the applicable speed limit Vapp will change.

[0056] In this example, the advance notification is given by informing the driver via the notification device 20 that a new speed limit Vnew will subsequently be applied to the vehicle 100. More specifically, the advance notification is given by displaying a road sign image IMG1 on the display device 21. The road sign image IMG1 is an image that mimics a road sign indicating the new applicable speed limit Vapp_new. In addition to or instead of this, the advance notification is also given by outputting an audio sound representing the new applicable speed limit Vapp_new from the sound device 22.

[0057] Thus, when the vehicle driving support device 10 recognizes that the applicable speed limit Vapp is changing, and the driving conditions of its own vehicle 100 satisfy the first condition C1, it is configured to provide advance notification to the driver before the applicable speed limit Vapp changes to inform them that the applicable speed limit Vapp will change.

[0058] Furthermore, advance notices are issued earlier when the vehicle speed V is greater than the applicable speed limit Vapp that the driver is informed of by the advance notice, compared to when the vehicle speed V is smaller.

[0059] On the other hand, if the vehicle driving assistance device 10 determines "No" in step S235, it proceeds directly to step S295 and terminates the processing of this routine.

[0060] Furthermore, if the vehicle driving support device 10 determines "No" in step S210, it proceeds to step S245 to determine whether the normal notification condition C4 has been met.

[0061] The normal notification condition C4 is met when the vehicle 100 reaches the point where the new speed limit Vnew begins to apply to the vehicle 100. Whether or not the vehicle 100 has reached the point where the new speed limit Vnew begins to apply to the vehicle 100 is determined based on the vehicle 100's current position and map information IM.

[0062] If the vehicle driving support system 10 determines "Yes" in step S245, it proceeds to step S250 and issues a normal notification. Next, the vehicle driving support system 10 proceeds to step S295 and terminates the processing of this routine.

[0063] A regular notification is a notification to inform the driver that a new speed limit Vnew has been applied to their vehicle 100. In other words, a regular notification is a notification to inform the driver that the applied speed limit Vapp has changed.

[0064] In this example, the normal notification is made by informing the driver via the notification device 20 that a new speed limit Vnew has been applied to the vehicle 100. More specifically, the normal notification is made by displaying a road sign image IMG1 on the display device 21. The road sign image IMG1 is an image that mimics a road sign indicating the new applicable speed limit Vapp_new. In addition to or instead of this, the normal notification is made by outputting an audio sound representing the new applicable speed limit Vapp_new from the sound device 22.

[0065] Thus, the vehicle driving assistance system 10 is configured to provide a regular notification to the driver when the applicable speed limit Vapp changes, informing them of the changed applicable speed limit Vapp.

[0066] On the other hand, if the vehicle driving assistance device 10 determines "No" in step S245, it proceeds directly to step S295 and terminates the processing of this routine.

[0067] The above describes the operation of the vehicle driving assistance device 10.

[0068] In situations where the first situational condition C1 is met, or where both the first situational condition C1 and the second situational condition C2 are met, if the driver is informed that the applicable speed limit Vapp has changed after it has already changed, the driver's attention may become distracted. That is, in situations where the first situational condition C1 is met, or where both the first situational condition C1 and the second situational condition C2 are met, if the driver is provided with information regarding the speed limit Vlim, indicating that the applicable speed limit Vapp has changed after it has already changed, the driver's attention may become distracted. According to the vehicle driving support system 10, when the first situational condition C1 is met, or when both the first situational condition C1 and the second situational condition C2 are met, the driver is informed that the applicable speed limit Vapp will change before it actually changes. Therefore, the driver's attention is less likely to become distracted.

[0069] Furthermore, the present invention is not limited to the embodiments described above, and various modifications can be adopted within the scope of the present invention.

[0070] For example, the vehicle driving assistance device 10 may be configured not only to inform the driver of the applicable speed limit Vapp, but also to notify the driver of places where a stop is required or where road construction is taking place. In this case, the places where a stop is required or where road construction is taking place are obtained from the image information IC. [Explanation of Symbols]

[0071] 10...Vehicle driving assistance system, 20...Notification system, 21...Display device, 22...Audio system, 30...Vehicle speed detection system, 90...ECU, 100...Own vehicle

Claims

1. In a vehicle driving assistance system equipped with a control device that normally notifies the operator of the vehicle of the changed applicable speed limit when the applicable speed limit applicable to the vehicle changes, When the control device recognizes that the applicable speed limit is changing, and the driving conditions of the vehicle meet predetermined conditions, it is configured to provide advance notification to the operator before the applicable speed limit changes to inform them of the change. Vehicle driving assistance system.

2. In the vehicle driving support device according to claim 1, When informing the operator of the applicable speed limit for the same speed, the prior notification is made in a different form from the normal notification. Vehicle driving assistance system.

3. In the vehicle driving support device according to claim 1, The aforementioned prior notification shall be given earlier than when the vehicle's speed is lower than the applicable speed limit that the operator is informed of by the prior notification. Vehicle driving assistance system.

4. In the vehicle driving support device according to claim 1, The aforementioned predetermined condition is that the weather around the vehicle is in bad weather. Vehicle driving assistance system.

Images