Driving evaluation system

Abstract

To provide a driving evaluation system that can appropriately evaluate a driver.SOLUTION: A driving evaluation system 1 comprises: a rear camera 2B that is mounted on an own vehicle V and captures an image of the rear of the own vehicle V; and a main body device 3 that acquires a rear image captured by the rear camera 2B. The main body device 3 has: a lane change detection unit 21 that detects a lane change of the own vehicle V; a behavior detection unit 22 that detects a behavior of a rear vehicle Y traveling in a lane where the own vehicle V is changing lanes based on a rear image corresponding to an image at the time of lane change of the own vehicle V when the lane change detection unit 21 detects the lane change of the own vehicle V; and a driving evaluation determining unit 23 that determines a driving evaluation of the own vehicle V according to the behavior of the rear vehicle Y detected by the behavior detection unit 22.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] The present invention relates to a driving evaluation system.

Background Art

[0002] There is a driving evaluation system that evaluates the driving of a driver operating a commercial vehicle for the purpose of reducing traffic accidents. The driving evaluation system acquires the subsequent vehicle behavior of a vehicle behind on the same lane as the evaluation vehicle, and evaluates that the evaluation vehicle has an adverse impact on the vehicle behind when the amount of change per unit time of the subsequent vehicle behavior is greater than or equal to a threshold value (for example, Patent Document 1).

[0003] In addition, as something related to the driving evaluation system, for example, there is a driving support device. When this driving support device detects another vehicle within a detection frame assigned to be able to distinguish a plurality of driving lanes when the own vehicle changes lanes and moves in front of another vehicle, it regards it as a highly dangerous cut-in driving, records this event, or outputs an alarm to support driving (for example, Patent Document 2).

[0004] By the way, the speed limit for large trucks on highways is 80 km / h. Therefore, even if a plurality of large trucks are running at the same speed limit one after the other on the same lane, a speed difference may occur due to individual differences, and the distance between the vehicle and the vehicle in front may become congested. The causes of this speed difference include, for example, errors in the vehicle meter display, unconscious speed changes on slopes, driving with a margin below the speed limit, and differences in the speed settings of cruise control. Here, when a large truck overtakes, it is necessary to move to the right lane with a different speed range. However, even if the overtaking lane is congested, there are not a few vehicles that forcefully cut in as long as the distance between vehicles opens up a little.

Prior Art Documents

Patent Documents

[0005]

Patent Document 1

[0006] Drivers of vehicles following in the passing lane may feel that they have been aggressively cut off when a large truck changes lanes ahead. For example, if the following vehicle is a regular car, the speed difference between the large truck and the regular car means that the distance between the two vehicles will decrease when the large truck changes lanes, potentially forcing the driver of the following vehicle to brake to maintain a safe distance. To prevent such cutting off, it is desirable to evaluate the driving skills of drivers of commercial vehicles.

[0007] The present invention aims to provide a driving evaluation system that enables proper evaluation of drivers. [Means for solving the problem]

[0008] To achieve the above objective, the driving evaluation system according to the present invention comprises: a rear camera mounted on the vehicle and capturing images of the area behind the vehicle to acquire a rear image; a lane change detection unit that detects the vehicle changing lanes; a behavior detection unit that, when the lane change detection unit detects the vehicle changing lanes, detects the behavior of a vehicle traveling in the destination lane, which is the lane to which the vehicle has changed lanes, based on the rear image corresponding to the time of the vehicle's lane change; and a driving evaluation determination unit that determines the driving evaluation of the vehicle according to the behavior of the vehicle detected by the behavior detection unit. The behavior detection unit calculates a first separation distance from the rear camera to the rear vehicle and a second separation distance from the axis passing through the center along the longitudinal direction of the vehicle to the rear vehicle, based on the vehicle's speed and a plurality of rear images in a time series. Based on the calculated first and second separation distances, it calculates the offset distance between the vehicle and the rear vehicle. Based on the vehicle's speed and the change in the offset distance, it detects the behavior of the rear vehicle. If the rear vehicle is in a position that overlaps with the axis, it calculates the curvature of the lane based on the detection result by the lane change detection unit. Based on the calculated curvature of the lane and the offset distance between the vehicle and the rear vehicle, it corrects the position of the rear vehicle from the axis. It is characterized by the following: [Effects of the Invention]

[0009] The driving evaluation system according to the present invention has the effect of enabling proper evaluation of drivers. [Brief explanation of the drawing]

[0010] [Figure 1] Figure 1 is a block diagram showing the schematic configuration of the operation evaluation system according to the embodiment. [Figure 2] Figure 2 shows an example of the situation of a vehicle behind in response to the vehicle changing lanes in this embodiment. [Figure 3] Figure 3 shows an example of the behavior of a following vehicle in response to the vehicle changing lanes in this embodiment. [Figure 4] Figure 4 is a diagram illustrating a method for measuring the speed (speed change) of a vehicle behind in the embodiment. [Figure 5] Figure 5 is a flowchart showing the evaluation process of the operation evaluation system according to the embodiment. [Figure 6] Figure 6 illustrates the detection of the behavior of a vehicle behind on a straight road using a rear view image according to the embodiment. [Figure 7] Figure 7 illustrates the detection of the behavior of a vehicle behind on a right-hand curved road using a rear view image according to the embodiment. [Figure 8] Figure 8 illustrates the detection of the behavior of a vehicle behind on a left-hand curved road using a rear view image according to the embodiment. [Figure 9] Figure 9 is a block diagram showing the schematic configuration of a modified example of the embodiment of the operation evaluation system. [Modes for carrying out the invention]

[0011] Embodiments of the present invention will be described in detail below with reference to the drawings. However, the present invention is not limited to the embodiments described below. That is, the components in the embodiments described below include those that are easily conceivable by those skilled in the art, or that are substantially the same, and various omissions, substitutions, and modifications can be made without departing from the spirit of the invention.

[0012] [Embodiment] The driving evaluation system 1 according to the present embodiment shown in FIG. 1 is, for example, a system that is mounted on a vehicle V such as an automobile and manages the operation of the vehicle V. The driving evaluation system 1 is introduced, for example, as equipment of an operator such as a freight truck transportation business or a passenger car transportation business. The driving evaluation system 1 operates according to an operation management program for vehicles. The driving evaluation system 1 of the present embodiment has a function of recording the running state of the vehicle V (hereinafter also referred to as the host vehicle V), detecting the behavior of the following vehicle Y of the host vehicle V, and performing a driving evaluation of the driver of the host vehicle V according to the presence or absence of the behavior.

[0013] Here, the host vehicle V to which the driving evaluation system 1 is applied is a moving body that travels on a road surface or the like. For example, it is a truck that transports goods. Hereinafter, the host vehicle V will be described as a transport truck.

[0014] As shown in FIG. 1, the driving evaluation system 1 includes a front camera 2A, a rear camera 2B, and a main body device 3.

[0015] The front camera 2A and the rear camera 2B each capture a moving image and generate moving image data. The front camera 2A and the rear camera 2B are installed at predetermined installation locations on the host vehicle V and photograph the outside of the host vehicle V. The front camera 2A and the rear camera 2B are arranged so that at least the lane (lane) in which the host vehicle V is traveling, the lane boundary line that divides the lanes, and the other lanes adjacent via the lane boundary line can be imaged. The front camera 2A and the rear camera 2B generate color moving image data so that at least the color of the lines provided on the road surface can be discriminated.

[0016] The front camera 2A is installed, for example, in the front of the host vehicle V and photographs the scenery in front of the vehicle as a photographing object. The photographing objects of the front camera 2A include the preceding vehicle of the host vehicle V, oncoming vehicles and crossing vehicles, pedestrians and crossers, signs and markings, etc.

[0017] The rear camera 2B is installed, for example, at the rear front of the host vehicle V, and captures the scenery behind the vehicle as the shooting target. This shooting target includes vehicles behind the host vehicle V, pedestrians, and the like.

[0018] In this embodiment, the front camera 2A and the rear camera 2B are assumed to have the same structure and the same function. The front camera 2A and the rear camera 2B are each electrically connected to the main body device 3 by a wiring material such as an electric wire or a cable wired to the host vehicle V, and output the moving image captured by each camera to the main body device 3 as moving image data.

[0019] The main body device 3 includes a control unit 10 and a memory 11. The main body device 3 is, for example, a digital tachograph, a drive recorder, a taxi meter, or the like that records the running status of the host vehicle V. The main body device 3 records various information related to the driving and running of the host vehicle V while the host vehicle V is running. Note that in addition to the control unit 10 and the memory 11, the main body device 3 has a speed interface, an engine interface, a GPS receiver, an analog interface, an external input interface, a wide area communication unit, a card interface, switches, and a display unit as the configuration of the digital tachograph, but illustrations and descriptions thereof are omitted.

[0020] As shown in FIGS. 2 to 4, the main body device 3 detects a lane change of the host vehicle V based on the moving image data acquired from the front camera 2A. Here, FIGS. 2 to 4 show a state in which the host vehicle V changes lanes from the traveling lane 101 (or the first traveling lane 101A) to the overtaking lane 1×2 (or the second traveling lane 101B), which is the lane to be changed, because the distance between the host vehicle V and the vehicle Xa ahead becomes short. At this time, the vehicle V cuts in between the vehicle Xb ahead and the vehicle Y behind that are traveling back and forth on the overtaking lane 1×2 (or the second traveling lane 101B). The main body device 3 detects the behavior of the vehicle Y traveling on the rear side of the host vehicle V based on the moving image data acquired from the rear camera 2B in response to the detected lane change of the host vehicle V. Further, the main body device 3 determines a driving evaluation of the driver driving the host vehicle V according to the detected behavior of the vehicle Y behind.

[0021] The control unit 10 controls the main unit 3. The control unit 10 is composed of, for example, an electronic circuit mainly consisting of a well-known microcomputer. Functionally, the control unit 10 is composed of a lane change detection unit 21, a behavior detection unit 22, and a driving evaluation and judgment unit 23.

[0022] Memory 11 consists of non-volatile memory, volatile memory, recording medium, etc. The non-volatile memory stores processing programs and various data executed by the control unit 10. The volatile memory stores, for example, calculation results by the control unit 10. The recording medium records information acquired by the driving evaluation system 1. The recording medium is configured to be detachable from the main unit 3 via various interfaces, for example. The recording medium can be a memory card of various types, for example. The recording medium stores motion image data captured by the front camera 2A and the rear camera 2B, and driving data indicating the driver's driving operations (brake operation, turn signal operation, driving route, etc.).

[0023] The lane change detection unit 21 detects lane changes of the vehicle V. The lane change detection unit 21 extracts a forward image from the video data acquired by the forward camera 2A and detects lane changes of the vehicle V based on the forward image. The lane change detection unit 21 performs known image processing on the forward image and extracts colored lines (lane boundary lines 110) on the road. The lane change detection unit 21 can calculate the lane width W of the driving lane 101 (or first driving lane 101A) from the distances DL and DR from both ends of the vehicle V to the lane boundary lines 110 and the vehicle width WV (fixed value) of the vehicle V.

[0024] As shown in Figure 2, when the vehicle V is traveling on a two-lane road, the lane change detection unit 21 detects the driving lane 101 on which the vehicle V is traveling, and the passing lane 102 adjacent to the driving lane 101 across the lane boundary line 110, based on the extracted multiple lane boundary lines 110. Also, as shown in Figures 3 and 4, when the vehicle V is traveling on a three-lane road, the lane change detection unit 21 detects the first driving lane 101A on which the vehicle V is traveling, the second driving lane 101B adjacent to the first driving lane 101A across the first lane boundary line 110A, and the passing lane 102 adjacent to the second driving lane 101B across the second lane boundary line 110B, based on the extracted multiple lane boundary lines 110.

[0025] The lane change detection unit 21 detects a lane change by the vehicle V in response to the driver's operation of the turn signal and the vehicle V changing lanes from the driving lane 101 (or first driving lane 101A) to the overtaking lane 102 (or second driving lane 101B) based on a series of forward images of the vehicle V in sequence. For example, the lane change detection unit 21 detects a lane change by the vehicle V by detecting a movement to the left of the lane boundary line 110, etc., in a series of forward images of the vehicle in sequence during the turn signal ON signal, based on the turn signal ON signal that is generated in response to the turn signal ON signal. The lane change detection unit 21 also detects a lane change by the vehicle V when the value of distance DR becomes small and exceeds 0, becoming a negative value.

[0026] When the lane change detection unit 21 detects a lane change of the vehicle V, the behavior detection unit 22 detects the behavior of the following vehicle Y traveling in the destination lane, which is the lane to which the vehicle V has changed, based on the rear image corresponding to the time of the lane change of the vehicle V. Here, the following vehicle Y is a vehicle traveling behind the vehicle V that is not traveling on the same driving lane 101 as the vehicle V, but is traveling in the passing lane 102 or the second driving lane 101B adjacent to the driving lane 101. The behavior detection unit 22 extracts a rear image from the video data acquired by the rear camera 2B and detects the behavior of the following vehicle Y based on the rear image. The behavior of the following vehicle Y includes deceleration of the following vehicle Y and changing lanes from the destination lane to another lane in which the following vehicle Y is traveling. Here, the destination lane is the lane that the vehicle V will change to when changing lanes, for example, the overtaking lane 102 (Figure 2) or the second driving lane 101B (Figures 3 and 4).

[0027] When the behavior detection unit 22 detects a lane change of its own vehicle V, it calculates the speed change (deceleration) of the following vehicle Y, and if the deceleration is greater than or equal to a threshold, it estimates that the following vehicle Y has applied the brakes suddenly and decelerated. Here, the threshold may be obtained, for example, by inputting the deceleration of the following vehicle caused by the lane change of the own vehicle V into a machine learning model. Based on the driving speed of the own vehicle V and a series of consecutive rear images (30A to 30C shown in Figures 6 to 8), the behavior detection unit 22 uses a distance conversion table calculated using the resolution and lens parameters of the rear camera 2B to calculate a first separation distance r from the rear camera 2B to the following vehicle Y, and a second separation distance s from the axis O passing through the center along the longitudinal direction of the own vehicle V to the following vehicle Y. The behavior detection unit 22 calculates the offset distance t between the own vehicle V and the following vehicle Y using the calculated first separation distance r and second separation distance s. The behavior detection unit 22 monitors the driving speed Vp of the vehicle V and changes in the offset distance t between vehicles, and estimates the driving speed and deceleration of the following vehicle Y. The behavior detection unit 22 estimates the deceleration of the following vehicle Y from the time the vehicle V changes lanes until a few seconds after the lane change is completed.

[0028] The behavior detection unit 22 detects a lane change of the following vehicle Y when it detects a lane change of its own vehicle V. The behavior detection unit 22 detects the lane change of the following vehicle Y using the change in distance DR, the change in the second separation distance s, and the lane width W while the own vehicle V is changing lanes. The behavior detection unit 22 calculates, for example, the amount of lateral movement of the following vehicle Y per unit time, and if this amount of movement is greater than or equal to another threshold different from the above threshold, it estimates that the following vehicle Y made a sudden steering turn. Here, the other threshold may be obtained, for example, by inputting the amount of lateral movement of the following vehicle Y per unit time caused by the lane change of the own vehicle V into a machine learning model.

[0029] The driving evaluation unit 23 determines the driving evaluation of the driver of the vehicle V in accordance with the behavior of the following vehicle Y detected by the behavior detection unit 22. The driving evaluation unit 23 relatively lowers the driving evaluation of the driver of the vehicle V in accordance with the detected behavior of the following vehicle Y. For example, the driving evaluation unit 23 may be configured to divide the driver's evaluation into five levels and relatively lower it by minus 0.5 or minus 0.2 from a standard evaluation value of 5. The driving evaluation unit 23 may also set different values ​​for the relative reduction (deduction value) depending on the degree of the behavior of the following vehicle Y detected by the behavior detection unit 22. For example, if the driving evaluation unit 23 estimates that the deceleration of the following vehicle Y was high in response to the lane change of the vehicle V, causing the following vehicle Y to brake suddenly, it may set a relatively higher deduction value than the normal deduction value. The driving evaluation unit 23 records the evaluation result in the memory 11. Furthermore, the driving evaluation and judgment unit 23 records in the memory 11, based on the evaluation results, rear images, front images, and at least a portion of the corresponding moving images, corresponding to events in which the lane change of the vehicle V affected the vehicle behind.

[0030] Next, the driving evaluation process in the driving evaluation system 1 will be explained with reference to the flowchart shown in Figure 5. The driving evaluation system 1 is started, for example, when the ACC power supply of the vehicle V is turned ON, and repeats the process described below until the said power supply is turned OFF.

[0031] In step S1, the control unit 10 determines whether or not the lane change of the vehicle V has been detected by the lane change detection unit 21. If the result of this determination is that no lane change has been detected, the process of step S1 is repeated. On the other hand, if no lane change has been detected, the process proceeds to step S2.

[0032] In step S2, the control unit 10 detects the behavior of the rear vehicle Y using the behavior detection unit 22.

[0033] In step S3, the control unit 10 determines whether a specific behavior of the rear vehicle Y has been detected by the behavior detection unit 22. Specifically, the control unit 10 determines whether deceleration or lane change of the rear vehicle Y has been detected by the behavior detection unit 22. If no specific behavior is detected as a result of this determination, the process returns to step S1. On the other hand, if a specific behavior is detected, the process proceeds to step S4.

[0034] In step S4, the control unit 10 uses the driving evaluation and determination unit 23 to perform a driving evaluation of the driver operating its own vehicle V.

[0035] In step S5, the control unit 10 determines whether or not to terminate this process. If the process is not terminated, it returns to step S1. Alternatively, if the process is terminated, the control unit 10 determines, for example, whether or not the ACC power supply of the vehicle V has been turned OFF, and if the power supply has been turned OFF, it terminates this process.

[0036] The driving evaluation system 1 according to this embodiment, as described above, comprises a rear camera 2B mounted on the vehicle V that captures images of the area behind the vehicle V, and a main unit 3 that acquires the rear image captured by the rear camera 2B. The main unit 3 includes a lane change detection unit 21 that detects lane changes of the vehicle V, a behavior detection unit 22 that, when a lane change of the vehicle V is detected by the lane change detection unit 21, detects the behavior of a rear vehicle Y traveling in the destination lane, which is the lane to which the vehicle V has changed, based on the corresponding rear image at the time of the lane change, and a driving evaluation determination unit 23 that determines the driving evaluation of the driver operating the vehicle V according to the behavior of the rear vehicle Y detected by the behavior detection unit 22.

[0037] With the above configuration, the driving evaluation system 1 can measure the impact that a lane change performed by the driver of vehicle V has on a vehicle Y traveling behind vehicle V, thereby enabling a proper evaluation of the driver. Furthermore, the driving evaluation system 1 does not inform the driver of the impact that a lane change performed by vehicle V has on a vehicle Y traveling behind vehicle V in real time, but rather records the evaluation results. Therefore, the driving evaluation system 1 allows, for example, a dispatch manager who manages the operation of drivers to provide guidance on safe driving and traffic manners to drivers based on the recorded evaluation results. In addition, the driving evaluation system 1 allows for the education of drivers to refrain from driving that may cause aggressive driving by others.

[0038] Furthermore, the driving evaluation system 1's behavior detection unit 22 detects the behavior of the following vehicle Y, specifically a lane change from the destination lane to another lane or deceleration of the following vehicle Y. This allows, for example, the operations manager to provide safety guidance based on the recorded evaluation results, focusing on specific items.

[0039] Furthermore, the driving evaluation system 1, through its driving evaluation determination unit 23, relatively lowers the driving evaluation of the driver of its own vehicle V in accordance with the detected behavior of the following vehicle Y. As a result, the impact that the driver has on the following vehicle Y due to lane changes made by the driver of its own vehicle V will lower the driving evaluation of its own vehicle V.

[0040] Furthermore, the driving evaluation system 1's lane change detection unit 21 acquires a forward image captured by the forward camera 2A and detects a lane change by the vehicle V based on the forward image. This allows the driving evaluation system 1 to easily detect lane changes made by the driver of the vehicle V.

[0041] In the above embodiment, the driving evaluation system 1 has a driving evaluation determination unit 23 in the main unit device 3 on the vehicle V side, but is not limited to this. Figure 9 is a block diagram showing the schematic configuration of a driving evaluation system according to a modified example of this embodiment. The driving evaluation system 1A according to a modified example of this embodiment differs from the above driving evaluation system 1 in that, as shown in Figure 9, the driving evaluation device 4 provided outside the vehicle V has a driving evaluation determination unit 23.

[0042] The driving evaluation device 4 is a PC (Personal Computer) installed, for example, in a business office that manages a vehicle V or the driver of the vehicle V, and capable of exchanging data with the main unit 3. The driving evaluation device 4 can exchange data with the main unit 3 via a recording medium such as an SD card. The driving evaluation device 4 and the main unit 3 may also exchange data via direct communication, such as via a USB cable, or via wireless communication such as Wi-Fi. Alternatively, as shown in Figure 9, the driving evaluation device 4 may be a server 5 installed on a network NT such as the so-called Internet, and capable of exchanging data with the main unit 3 via wireless communication, network NW, etc. In this case, the server 5 may have a driving evaluation judgment unit 23.

[0043] The driving evaluation device 4 has the driving evaluation determination unit 23 described above. The driving evaluation device 4 receives data from the main unit 3, including the detection results from the lane change detection unit 21 and the detection results from the behavior detection unit 22. The driving evaluation determination unit 23, upon receiving this data, performs a driving evaluation of the driver operating the vehicle V.

[0044] Furthermore, the driving evaluation system 1A according to the above modified example has a main unit 3 on the vehicle V side that includes a lane change detection unit 21, a behavior detection unit 22, and a driving evaluation determination unit 23, but is not limited to this. In this case, the driving evaluation device 4 has a lane change detection unit 21, a behavior detection unit 22, and a driving evaluation determination unit 23. The driving evaluation device 4 may receive motion image data and recorded data such as the driving speed of the vehicle V from the main unit 3, and the driving evaluation determination unit 23 that receives the recorded data may perform a driving evaluation of the driver operating the vehicle V.

[0045] In the above embodiment, the behavior detection unit 22 detects a rear vehicle Y on a straight road with two or more lanes as shown in Figures 2 to 4, using the rear image 30A shown in Figure 6. In this case, the rear vehicle Y is located in the rear image 30A at a second separation distance s from the axis O to the left (towards the overtaking lane 102) without overlapping with the axis O relative to the vehicle V. Therefore, the behavior detection unit 22 can accurately determine whether or not the rear vehicle Y is traveling in the overtaking lane 102 based on the rear image 30A.

[0046] On the other hand, if the rear vehicle Y is traveling on a road with two or more lanes that is not straight, for example, the rear camera 2B can obtain rear images 30B and 30C as shown in Figures 7 and 8. In this case, in rear image 30B, the rear vehicle Y is not located at a second separation distance s to the left (towards the overtaking lane 102) from axis O relative to vehicle V, and another rear vehicle Ya traveling in the same second driving lane 101B as vehicle V is located there. On the other hand, in rear image 30C, the rear vehicle Y is overlapping with axis O relative to vehicle V and is not located at a second separation distance s to the left (towards the overtaking lane 102) from axis O. Therefore, the behavior detection unit 22 may have difficulty accurately determining whether or not the rear vehicle Y is traveling in the overtaking lane 102 based on the rear images 30B and 30C.

[0047] Therefore, the behavior detection unit 22 calculates the curvature of the lane based on the detection result from the lane change detection unit 21. Then, the behavior detection unit 22 corrects the position of the rear vehicle Y toward the left from the axis O based on the calculated curvature of the lane and the offset distance t between vehicle V and the rear vehicle Y. As a result, the behavior detection unit 22 can accurately determine whether or not the rear vehicle Y is traveling in the overtaking lane 102 based on the rear images 30B and 30C. Note that when the behavior detection unit 22 calculates the curvature of the lane, it assumes that the driving lane 101, the overtaking lane 102, etc., all have approximately the same curvature. In addition, the behavior detection unit 22 calculates the curvature of the lane based on the detection result from the lane change detection unit 21, but is not limited to this, for example, a gyro sensor mounted on vehicle V may calculate the curvature based on vehicle speed information, or an acceleration sensor capable of measuring lateral G may calculate the curvature based on vehicle speed information. Alternatively, the GPS installed in vehicle V may calculate the curvature of the lane using at least three past location data points in a time series.

[0048] Furthermore, in the above embodiment, the lane change detection unit 21 extracts a forward image from the video data acquired by the front camera 2A and detects a lane change by the vehicle V based on the forward image, but is not limited to this. In this case, the lane change detection unit 21 may extract a rear image from the video data acquired by the rear camera 2B and detect a lane change by the vehicle V based on the rear image.

[0049] Furthermore, in the above embodiment, the destination lane to which vehicle V changes lanes is the overtaking lane 102 and the second driving lane 101B, but it is not limited to this. For example, the lane in which vehicle V is traveling may be the second driving lane 101B (or the overtaking lane 102), and the destination lane may be the first driving lane 101A (or the driving lane 101). In this case, the rear vehicle Y that is detected by the behavior detection unit 22 will be a vehicle traveling in the first driving lane 101A (or the driving lane 101).

[0050] Furthermore, in the above embodiment, the behavior detection unit 22 detects a lane change by the rear vehicle Y, but the destination lane may be either the lane to the right of the direction of travel or the lane to the left of the direction of travel relative to the lane in which the rear vehicle Y is traveling.

[0051] Furthermore, in the above embodiment, the driving evaluation system 1,1A is configured such that, for example, the operations manager provides safe driving guidance to the driver based on the evaluation results recorded in the main unit 3, etc., but it is not limited to this. For example, the driving evaluation system 1 may accumulate and analyze data obtained from multiple vehicles V to extract routes where events that affect following vehicles due to lane changes by vehicle V are likely to occur. In this case, the operations manager can issue a warning to the driver of a vehicle traveling on a route where such an event is likely to occur.

[0052] Furthermore, the operations manager may, for example, analyze the evaluation results recorded in the main unit 3, etc., using analysis and evaluation software, and assign points to the driver based on the magnitude and frequency of the impact on the following vehicle Y.

[0053] Furthermore, while the driving evaluation system 1 does not, in reality, inform the driver of vehicle V of the impact of a lane change made by the driver of vehicle V on a following vehicle Y, it is not limited to this. In this case, the driving evaluation system 1 may be configured such that the main unit 3 warns the driver of vehicle V in real time using an alarm sound or voice message. [Explanation of symbols]

[0054] 1. Operation Evaluation System 2A Front Camera 2B Rear Camera 3. Main unit 4. Operational evaluation device 10 Control Unit 21 Lane change detection unit 22 Behavior detection unit 23. Operation Evaluation and Judgment Unit 30A,30B,30C Rear image 101 Lane 101A First running lane 101B Second lane 102 Passing Lane 110 Lane boundary line 110A First Lane Boundary 110B Second Lane Boundary V Vehicle Y Rear vehicle

Claims

1. A rear camera mounted on the vehicle captures images of the area behind the vehicle to acquire a rear image, The lane change detection unit detects the lane change of the vehicle, When the lane change detection unit detects a lane change of the vehicle itself, the behavior detection unit detects the behavior of the vehicle traveling in the destination lane, which is the lane to which the vehicle itself has changed, based on the rear image corresponding to the time of the lane change of the vehicle itself. The system includes a driving evaluation determination unit that determines the driving evaluation of the vehicle in question based on the behavior of the vehicle behind it as detected by the behavior detection unit, The behavior detection unit, Based on the vehicle's speed and a series of sequential rearward images, a first distance from the rear camera to the rear vehicle and a second distance from the axis passing through the center of the vehicle in the longitudinal direction to the rear vehicle are calculated. Based on the calculated first and second distances, an offset distance between the vehicle and the rear vehicle is calculated. Based on the vehicle's speed and the change in the offset distance, the behavior of the rear vehicle is detected. If the rear vehicle is located in a position overlapping with the axle, the curvature of the lane is calculated based on the detection result by the lane change detection unit, and the distance of the rear vehicle from the axle is corrected based on the calculated curvature of the lane and the offset distance between the own vehicle and the rear vehicle. A driving evaluation system characterized by the following:

2. The behavior detection unit, The following behavior of the following vehicle is detected: at least one of the following: a lane change from the lane the following vehicle is traveling in to another lane, or deceleration of the following vehicle. The aforementioned operation evaluation and determination unit is: Depending on the behavior of the detected vehicle behind, the driving evaluation of the own vehicle is relatively reduced. The operation evaluation system according to claim 1.

3. The vehicle is further equipped with a forward-facing camera that captures images of the area in front of the vehicle, The lane change detection unit is, The system acquires a forward-facing image captured by the forward-facing camera and detects a lane change of the vehicle based on the forward-facing image. The operation evaluation system according to claim 1 or 2.

Images