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JP-7857149-B2 - Driving assistance systems

JP7857149B2JP 7857149 B2JP7857149 B2JP 7857149B2JP-7857149-B2

Inventors

  • 長澤 勇

Assignees

  • 株式会社SUBARU

Dates

Publication Date
20260512
Application Date
20220429

Claims (4)

  1. An environmental recognition unit that recognizes the environment around the vehicle, A driving state detection unit for detecting the driving state of the vehicle, A driving support control unit that performs driving support control to assist the driver when entering a curved road and when driving on a curved road, based on the output of the environmental recognition unit and the driving state detection unit, A driving skill estimation unit that estimates the driver's driving skills and A driver assistance device equipped with, A gaze direction detection unit for detecting the driver's gaze direction, The system includes a yaw angle detection unit that detects the yaw angle of the vehicle with respect to the lane in which the vehicle is traveling, The driving support control unit changes the content of the driving support control according to the driving skills of the driver estimated by the driving skill estimation unit. The driving skill estimation unit estimates the driving skills at least once for each driving cycle of the vehicle. The driving assistance device is characterized in that the driving skill estimation unit estimates the driving skill using the history of the driver's gaze direction detected by the gaze direction detection unit and the yaw angle of the vehicle with respect to the lane direction at least one of the times when entering a curved road and when driving on the curved road.
  2. An environmental recognition unit that recognizes the environment around the vehicle, A driving state detection unit for detecting the driving state of the vehicle, A driving support control unit that performs driving support control to assist the driver when entering a curved road and when driving on a curved road, based on the output of the environmental recognition unit and the driving state detection unit, A driving skill estimation unit that estimates the driver's driving skills and A driver assistance device equipped with, The vehicle includes a vehicle performance detection unit for detecting the performance of the vehicle, The driving support control unit changes the content of the driving support control according to the driving skills of the driver estimated by the driving skill estimation unit. The driver assistance control unit changes the content of the driver assistance control in accordance with the change in the vehicle's performance detected by the vehicle performance detection unit. The driving skill estimation unit estimates the driving skills at least once for each driving cycle of the vehicle. The vehicle performance detection unit is characterized by detecting the performance of the vehicle at least once during each driving cycle of the vehicle.
  3. The driving assistance device according to claim 1 or claim 2, characterized in that the driving skill estimation unit sequentially estimates the driving skills at predetermined intervals during one driving cycle of the vehicle.
  4. The driving assistance device according to claim 2 , characterized in that the vehicle performance detection unit detects information relating to at least one of the characteristics of the tires, the characteristics of the suspension system, the total weight of the vehicle, and the weight distribution of the vehicle.

Description

This invention relates to a driver assistance system that provides driver assistance control for vehicles such as automobiles. As a technology related to driving assistance for vehicles such as automobiles, for example, Patent Document 1 describes a curve driving assistance device that determines the driver's skill level based on the amount of brake operation and steering operation by the driver during curve driving, the average value of the displacement from the target trajectory, the variance of the vehicle speed, etc., and controls driving assistance according to the skill level. It also describes skill evaluation that takes lane keeping into consideration and driving assistance according to the skill level. Patent Document 2 describes a driver assistance system that provides driving assistance during lane-keeping driving, which assists with steering and braking, and sets (weights) the amount of assistance according to the driver's skill level estimated in advance. Patent Document 3 describes estimating the driver's ability to return to their lane, and if the ability is low, switching the support from steering torque assist control to vehicle stabilization control. It also describes estimating driving ability in accordance with the correspondence between the driver's driving operations in response to the assist torque. Patent Document 4 describes a driving awareness estimation device that monitors the driver's line of sight area and estimates the level of the driver's manual driving ability as a spatial cognitive ability based on the recorded lateral viewing time. Japanese Patent Publication No. 2003-99897Japanese Patent Publication No. 2015-219830Japanese Patent Publication No. 2007-210437Japanese Patent Publication No. 2021-93033 This figure schematically shows the system configuration of a vehicle having an embodiment of a driver assistance device to which the present invention is applied.This diagram schematically shows the arrangement of the driver monitoring camera and surface pressure sensor in the driving assistance device of the embodiment.This figure shows an example of the position history of a driver's central field of vision while a vehicle is traveling on a public road.This diagram schematically shows the skeletal structure of the crew as viewed from the front.This figure shows an example of a vehicle's driving line when passing through a curved road.This diagram schematically shows an example of the field of view a driver sees when a vehicle enters the curve shown in Figure 5.This is a flowchart showing the startup operation of a vehicle equipped with the driver assistance device of the embodiment.This flowchart shows the control of the driver assistance system in the embodiment when entering a curved road.This flowchart shows the driver assistance control when driving on a curved road in the driver assistance system of the embodiment when the driver is identified as a highly skilled driver.This flowchart shows the driver assistance control when driving on a curved road in the driver assistance system of the embodiment when the driver is identified as having low skill level. The following describes embodiments of a driver assistance device to which the present invention is applied. The driver assistance system of this embodiment is installed, for example, in a four-wheeled vehicle such as a passenger car. Figure 1 is a schematic diagram showing the system configuration of a vehicle equipped with a driver assistance device according to an embodiment. Vehicle 1 is equipped with an environment recognition unit 100, a driver assistance control unit 200, an electric power steering (EPS) control unit 310, a power unit control unit 320, a brake control unit 330, a vehicle state recognition unit 340, an occupant state discrimination unit 400, and the like. Each of these units can be configured as a microcontroller having, for example, an information processing unit such as a CPU, a storage unit such as RAM or ROM, an input/output interface, and a bus to connect them. Furthermore, each unit can communicate with each other, either via an in-vehicle LAN such as a CAN communication system, or directly. The environmental recognition unit 100 recognizes the environment around the vehicle based on the output of various sensors and the like. The environment surrounding the vehicle that is to be recognized includes, for example, information regarding the lane shape of the road on which vehicle 1 is traveling, and the relative position and relative speed of various obstacles with respect to the vehicle. The environmental recognition sensor 100 is connected to a visible light camera 110, a millimeter-wave radar device 120, a laser scanner device 130, a high-precision map database 140, a positioning device 150, and the like. The environmental recognition unit 100 functions as the environmental recognition unit and the yaw angle detection unit of the present invention. The visible light camera device 110 is an