JP-7855453-B2 - vehicle

JP7855453B2JP 7855453 B2JP7855453 B2JP 7855453B2JP-7855453-B2

Inventors

三国司
本間拓也
元山純一
中村亮太
早川和裕

Assignees

株式会社SUBARU

Dates

Publication Date: 20260508
Application Date: 20220804

Claims (3)

A memory unit that stores past steering input information, accelerator or brake operation information, and vehicle speed information linked to forward image information, An acquisition unit that acquires current steering information, accelerator or brake operation information, vehicle speed information, and forward image information, An extraction unit extracts past steering information, accelerator or brake operation information, and vehicle speed information from the information stored in the storage unit that match or are similar to the road information obtained from the current forward image information. A comparison unit compares the acquired current steering information, accelerator or brake operation information, and vehicle speed information with the extracted past steering information, accelerator or brake operation information, and vehicle speed information, and detects the difference value. A control unit that notifies when the detected difference value exceeds a predetermined value, A vehicle characterized by having the following features.
It is equipped with a driving control unit that controls the driving state, The vehicle according to claim 1, characterized in that the control unit instructs the driving control unit to perform driving control if the difference value exceeds a predetermined value even after notification.
The vehicle according to either claim 1 or 2, characterized in that the operation information of the accelerator or brake includes the operation timing.

Description

This invention relates to a vehicle. In recent years, driver assistance technologies have become known that, for example, at points where vehicle deceleration is required, such as intersections, learn from the driver's previous vehicle operations and initiate braking control at a position that matches the driver's preferences. As an example of this type of technology, a system comprising a map information storage means for storing map information of points requiring deceleration, a vehicle position detection unit for detecting the vehicle's position, a deceleration operation detection unit for detecting vehicle deceleration operations, and a deceleration operation position learning unit for learning the position where a deceleration operation was performed, which is a position before the point requiring deceleration. The deceleration operation position learning unit learns the deceleration operation by associating it with the distance from the point requiring deceleration to the position where the operation was performed (see, for example, Patent Document 1). Furthermore, a similar technology has been disclosed: a driver assistance device 1 that provides driving assistance based on driving data while the driver is operating the vehicle. This device comprises a storage unit that stores the vehicle speed at each position along the driving path using the vehicle speed acquired while the driver is operating the vehicle with acceleration and deceleration operations, and a driving control unit that performs driving control based on the vehicle speed at each position stored in the storage unit and the vehicle's current position. The driving control unit terminates driving control when the vehicle speed falls below a threshold during deceleration controlled by the driving control (see, for example, Patent Document 2). Japanese Patent Publication No. 2012-43279Japanese Patent Publication No. 2015-77863 This figure shows the configuration of a vehicle according to an embodiment of the present invention.This figure illustrates a portion of the database stored in the storage unit of a vehicle according to an embodiment of the present invention.This figure shows the shape of an intersection as an example of a road shape in a database stored in the storage unit of a vehicle according to an embodiment of the present invention.This figure illustrates the timing of notification execution in a vehicle according to an embodiment of the present invention.This figure illustrates the timing at which the driving control process intervenes in a vehicle according to an embodiment of the present invention.This figure shows the processing of a vehicle according to an embodiment of the present invention. <Implementation> Vehicle 1 according to this embodiment will be described with reference to Figures 1 to 6. <Vehicle 1 Configuration> As shown in Figure 1, the vehicle 1 according to this embodiment is configured to include an acquisition unit 110, a storage unit 120, an extraction unit 130, a comparison unit 140, a control unit 150, a notification unit 160, a driving control unit 170, a steering angle sensor 181, an acceleration sensor 182, a vehicle speed sensor 183, and an imaging device 184. The acquisition unit 110 acquires current steering information, accelerator or brake operation information, vehicle speed information, and forward image information. Specifically, steering information is obtained from the sensor output of the steering angle sensor 181, accelerator or brake operation information is obtained from the sensor output of the acceleration sensor 182, vehicle speed information is obtained from the sensor output of the vehicle speed sensor 183, and forward image information is obtained from the video output of the imaging device 184. Furthermore, it is preferable that the operation information for the accelerator or brake includes the timing of the operation. Here, the steering angle sensor 181 is a sensor that detects the steering angle of the steering wheel, and is, for example, attached to the steering shaft, and outputs signals corresponding to the direction of steering, the neutral position, and the steering angle. The acceleration sensor 182 is a type of inertial sensor that detects the magnitude of the vehicle's acceleration. There are various types, including resistance strain gauges, semiconductor gauges, piezoelectric elements, capacitance sensors, and differential transformer types, but any type is acceptable. In this embodiment, we will illustrate and explain how to obtain information about the operation of the accelerator or brake, which is one of the behaviors, from the sensor output of the acceleration sensor 182. The vehicle speed sensor 183 is a sensor that detects the vehicle's travel speed, and for example, it detects the rotational speed of the output shaft. The vehicle speed sensor 183 may also be a vehicle speed pulse sensor or the like. The imaging device 184 is equipped with a monocular camera o