Patent Application
20170088128
The present application claims priority under 35 U.S.C. §119 to Japanese Patent Application No. 2015-191143, filed Sep. 29, 2015, entitled “Driving Support Device That Performs Driving Support in Accordance with Characteristics and Skills of Driver.” The contents of this application are incorporated herein by reference in their entirety.
The present disclosure relates to a driving support device that supports driving of a vehicle, and specifically to a driving support device that performs driving support in accordance with driving characteristics and driving skills of a driver.
There is a device that assesses the overall driving skills of a driver and performs driving support on the basis of a result of the assessment (see Japanese Patent No. 5294193). This device detects a driving status by using sensor data, such as a yaw rate, an acceleration, a steering angle, and an accelerator position, generates driving pattern information through statistical computation based on time-series data about the driving status, locating a driving pattern included in the driving pattern information in an assessment space for assessing similarity among driving patterns, assesses the level of driving skills in accordance with a distribution state of the driving pattern in the assessment space, and performs driving support on the basis of the assessment result of the driving skills.
Also, the following system is available as a technique for assessing the driving characteristics and the level of skills of a driver (see Japanese Patent No. 4865711). This system assesses the proficiency and driving characteristics of a driver by generating an event sequence (for example, a sequence representing a change in state, for example, a maximum value of lateral acceleration is generated before braking starts) from a data stream (for example, lateral acceleration, longitudinal acceleration, deceleration, and turning angle) representing a vehicle operation performed by the driver, and comparing the generated sequence with a sequence that is generated in advance and represents an unskilled driver, greatly-skilled driver, safety running operation, dangerous running operation, and so forth.
However, in the above-described device or system according to the related art, the types of data to be collected to determine the driving characteristics of a driver are wide-ranging and the amount of data to be processed is enormous. This results in a heavy computation load for data processing, longer processing time, and higher computation performance of a processing device. Accordingly, the cost of a device and system for supporting driving may increase.
Under the above-described circumstances, there is a demand for a driving support device that determines the driving characteristics and driving skills of a driver in a short time by easily collecting necessary data and that performs driving support in accordance with the determined driving characteristics and driving skills.
According to an aspect of the present disclosure, there is provided a driving support device including a processing device that performs driving support by controlling in-vehicle equipment having an influence on running of a subject vehicle equipped with the driving support device. The processing device is configured to repeatedly obtain and store, at a predetermined time interval or a predetermined distance interval, a pair of values of longitudinal acceleration and lateral acceleration that are generated as a result of a driving operation performed by a driver, the longitudinal acceleration being an acceleration in a traveling direction of the subject vehicle, the lateral acceleration being an acceleration in a direction orthogonal to the traveling direction, and set at least one parameter of a support operation for performing the driving support, on the basis of a plurality of pairs each being the pair of the values of the longitudinal acceleration and the lateral acceleration repeatedly obtained and stored.
The processing device may be configured to plot points representing the plurality of pairs on a two-dimensional coordinate plane that includes two axes respectively representing the longitudinal acceleration and the lateral acceleration, generate a first shape, which is a closed shape, by connecting the plotted points adjacent to one another by line segments, and set one parameter of the support operation for performing the driving support, on the basis of the first shape.
The processing device may be configured to start a driving support operation if a current speed of the subject vehicle deviates from a predetermined speed range, and set the predetermined speed range as the one parameter of the support operation, the predetermined speed range increasing as an area of the first shape increases.
The processing device may be configured to plot points representing the plurality of pairs on a two-dimensional coordinate plane that includes two axes respectively representing the longitudinal acceleration and the lateral acceleration, generate a first shape, which is a closed shape, by connecting the plotted points adjacent to one another by line segments, generate a second shape, which is a closed shape, formed of a circumscribed curve of the first shape, calculate an area difference by subtracting an area of the first shape from an area of the second shape, and set one parameter of the support operation for performing the driving support, on the basis of the area difference.
The processing device may be configured to generate the second shape by generating circumscribed curves of the first shape, each corresponding to one quadrant of the two-dimensional coordinate plane, such that the circumscribed curves in adjacent quadrants are connected to one another, and connecting the circumscribed curves in the individual quadrants to one another.
The processing device may be configured to start a driving support operation if a current speed of the subject vehicle deviates from a predetermined speed range, and set the predetermined speed range as the one parameter of the support operation, the predetermined speed range increasing as the area difference decreases.
The processing device may be configured to set a maximum value of an acceleration and/or a deceleration allowed in the driving support, which is another parameter of the support operation, the maximum value increasing as absolute values of a maximum value and a minimum value of the values of the longitudinal acceleration and the lateral acceleration that are repeatedly obtained and stored increase.
The processing device may be configured to set a maximum value of an acceleration and/or a deceleration allowed in the driving support, which is another parameter of the support operation, the maximum value increasing as the area of the second shape increases.
The processing device may be configured to perform the driving support during decelerated running that includes running around a curve and/or on a road near the curve, on the basis of a target deceleration value, which is one parameter of the support operation, and calculate an average value of longitudinal deceleration during deceleration from the values of the longitudinal acceleration repeatedly obtained and stored, and set the calculated average value as the target deceleration value.
The values of the longitudinal acceleration and the lateral acceleration that are repeatedly obtained may be stored in association with categories of a road environment in which the subject vehicle runs, and the driving support in the road environment of a corresponding one of the categories may be performed on the basis of the values of the longitudinal acceleration and the lateral acceleration that are stored in association with the category.
According to another aspect of the present disclosure, there is provided a method for performing, with a processing device, driving support by controlling in-vehicle equipment having an influence on running of a subject vehicle equipped with the processing device. The method includes repeatedly obtaining and storing, at a predetermined time interval or a predetermined distance interval, a pair of values of longitudinal acceleration and lateral acceleration that are generated as a result of a driving operation performed by a driver, the longitudinal acceleration being an acceleration in a traveling direction of the subject vehicle, the lateral acceleration being an acceleration in a direction orthogonal to the traveling direction; and setting at least one parameter of a support operation for performing the driving support, on the basis of a plurality of pairs each being the pair of the values of the longitudinal acceleration and the lateral acceleration repeatedly obtained and stored.
The method may further include plotting points representing the plurality of pairs on a two-dimensional coordinate plane that includes two axes respectively representing the longitudinal acceleration and the lateral acceleration, and generating a first shape, which is a closed shape, by connecting the plotted points adjacent to one another by line segments; and starting a driving support operation if a current speed of the subject vehicle deviates from a predetermined speed range. The predetermined speed range may be set as one parameter of the support operation, the predetermined speed range increasing as an area of the first shape increases.
The method may further include plotting points representing the plurality of pairs on a two-dimensional coordinate plane that includes two axes respectively representing the longitudinal acceleration and the lateral acceleration, and generating a first shape, which is a closed shape, by connecting the plotted points adjacent to one another by line segments; generating a second shape, which is a closed shape, formed of a circumscribed curve of the first shape; calculating an area difference by subtracting an area of the first shape from an area of the second shape; and starting a driving support operation if a current speed of the subject vehicle deviates from a predetermined speed range. The predetermined speed range may be set as one parameter of the support operation, the predetermined speed range increasing as the area difference decreases.
An absolute value of a maximum value and/or a minimum value of the longitudinal acceleration and/or the lateral acceleration allowed in the driving support, which is one parameter of the support operation, may be set, the absolute value increasing as absolute values of a maximum value and a minimum value of the values of the longitudinal acceleration and the lateral acceleration that are repeatedly obtained and stored increase.
An absolute value of a maximum value and/or a minimum value of the longitudinal acceleration and/or the lateral acceleration allowed in the driving support, which is one parameter of the support operation, may be set, the absolute value increasing as the area of the second shape increases.
The advantages of the disclosure will become apparent in the following description taken in conjunction with the following drawings.
Hereinafter, an embodiment of the present disclosure will be described with reference to the attached drawings.
The driving support device 100 (hereinafter simply referred to as a “support device 100”) is a computer including a processor (processing device) such as a central processing unit (CPU), a read only memory (ROM) containing a program written thereon, and a random access memory (RAM) for temporarily storing data, and is used by being equipped in a vehicle. Hereinafter, a vehicle equipped with the support device 100 is referred to as a subject vehicle. The driving support device 100 may be embodied by an electronic control unit (ECU).
The support device 100 receives a sensor signal from a longitudinal acceleration sensor 102 that senses a longitudinal acceleration, which is an acceleration in a traveling direction of the subject vehicle; receives a sensor signal from a lateral acceleration sensor 104 that senses a lateral acceleration, which is an acceleration in a direction orthogonal to the traveling direction; and controls an acceleration device 106, a deceleration device 108, and a steering device 110 that respectively operate an accelerator, a brake, and a handle, which correspond to in-vehicle equipment having an influence on running of the subject vehicle. More specifically, the accelerator may be an actuator or the like of a throttle valve of an internal combustion engine in a case where the subject vehicle is driven by the internal combustion engine, and may be a power adjustor or the like that adjusts the power supplied to a motor in a case where the subject vehicle is an electric car driven by the motor.
The support device 100 includes an input interface (input INF) 120 for receiving various input signals from the above-described sensors and devices and an output interface (output INF) 122 for outputting control signals to the acceleration device 106, the deceleration device 108, and the steering device 110.
The support device 100 further includes a data obtaining unit 124, a data analyzing unit 126, a support parameter setting unit 128, and a driving support unit 130.
The above-described individual units included in the support device 100 are implemented when the support device 100, which is a computer, executes a program (for example, by using the processor (processing device) included in the support device 100), and the computer program may be stored in a computer-readable storage medium. Alternatively, all or some of the above-described units may be configured by hardware units each including one or more electronic circuit components.
The support device 100 further includes a storage device 140 for saving and storing map information and so forth.
The data obtaining unit 124 repeatedly obtains, at a predetermined time interval or a predetermined distance interval, a pair of values of longitudinal acceleration and lateral acceleration that are generated as a result of a driving operation performed by a driver, and stores the pair in the storage device 140. The longitudinal acceleration is an acceleration in a travelling direction of the subject vehicle, and the lateral acceleration is an acceleration in a direction orthogonal to the travelling direction. The pair serves as data representing the driving characteristics and driving skills of the driver. More specifically, the data obtaining unit 124 obtains, from the longitudinal acceleration sensor 102 and the lateral acceleration sensor 104, values of longitudinal acceleration and lateral acceleration simultaneously within a range of a predetermined time difference and repeatedly at a predetermined time interval or a predetermined distance interval, makes a pair of the values of longitudinal acceleration and lateral acceleration obtained simultaneously within the range of the predetermined time difference, and stores the pair in the storage device 140. Accordingly, a plurality of pairs of values of longitudinal acceleration and lateral acceleration are obtained through the repetition of obtainment at the predetermined time interval or the predetermined distance interval and are stored in the storage device 140.
The data analyzing unit 126 analyzes the data representing the values of longitudinal acceleration and lateral acceleration that have been repeatedly obtained and stored in the storage device 140, and outputs a result of the analysis. Specifically, the data analyzing unit 126 plots points representing the pairs of the values of longitudinal acceleration and lateral acceleration that have been repeatedly obtained and stored, on a two-dimensional coordinate plane that includes two axes respectively representing longitudinal acceleration and lateral acceleration, connects the plotted points adjacent to one another by line segments, and thereby generates a first shape, which is a closed shape. Also, the data analyzing unit 126 generates a second shape, which is a circumscribed curve of the first shape.
The data analyzing unit 126 calculates the areas of the first and second shapes and an area difference which is obtained by subtracting the area of the first shape from the area of the second shape, and outputs the calculated areas and area difference, which serve as analysis data representing the driving characteristics and driving skills of the driver, by storing them in the storage device 140.
The support parameter setting unit 128 sets a parameter of a support operation for performing driving support by the driving support unit 130 (described below) on the basis of the analysis data. The function of the support parameter setting unit 128 will be further described below in association with the description of
The driving support unit 130 performs driving support by controlling running of the subject vehicle by using the acceleration device 106, the deceleration device 108, and the steering device 110 on the basis of the parameter of the support operation set by the support parameter setting unit 128 on the basis of the analysis data. Accordingly, the driving support unit 130 performs driving support on the subject vehicle in accordance with the driving characteristics and/or driving skills of the driver represented by the analysis data.
Specifically, the driving support unit 130 starts a predetermined driving support operation if a current speed of the subject vehicle deviates from a predetermined speed range set by the support parameter setting unit 128. Also, the driving support unit 130 controls, on the basis of a maximum value of an acceleration and/or a deceleration allowed in the driving support and set by the support parameter setting unit 128, running of the subject vehicle by using an acceleration and/or a deceleration within the range up to the maximum value. Alternatively, the driving support unit 130 performs driving support during decelerated running around a curve and/or on a road near the curve on the basis of a target deceleration value set by the support parameter setting unit 128.
By using the plot illustrated in
In this embodiment, the data analyzing unit 126 generates circumscribed curves of the first shape 202, each corresponding to one quadrant of the two-dimensional coordinate plane, and connects these circumscribed curves to generate the second shape 204. That is, the circumscribed curves generated for individual quadrants are formed such that the circumscribed curves in adjacent quadrants are connected to one another. More specifically, in this embodiment, the circumscribed curve generated for each quadrant is a quarter ellipse having a central angle of 90 degrees.
The first shape 202 illustrated in
Thus, in this embodiment, the second shape 204 formed of a circumscribed ellipse corresponding to the individual quadrants of the first shape 202 is generated for the first shape 202 illustrated in
As a result, for example, the support parameter setting unit 128 sets the above-described predetermined speed range, which is a determination criterion of whether or not to start a predetermined driving support operation, the predetermined speed range increasing as the area difference between the first shape 202 and the second shape 204 decreases (that is, as the driving skills of the driver increases), so that intervention by the driving support operation is less likely to be started.
The size of the second shape 204 illustrated in
As a result, for example, the support parameter setting unit 128 sets a maximum value of an acceleration and/or a deceleration for performing driving support (that is, a maximum value of an acceleration and/or a deceleration allowed in the driving support), the maximum value increasing as the area of the second shape 204 increases, so that driving support more suitable for preference for sporty driving may be performed.
That is, the support device 100 having the above-described configuration measures pairs of values of longitudinal acceleration and lateral acceleration that are generated in the subject vehicle as a result of a driving operation performed by a driver by using acceleration sensors (denoted by 102 and 104 in
In this embodiment, the reason for generating a quarter ellipse for each quadrant of the two-dimensional coordinate plane to generate the second shape 204 is as follows. In general, the behavior in a driving operation often differs between an operation of turning to the right and an operation of turning to the left (for example, in a case where the driver's seat is on the right side, an operation of turning to the right is easier, and the lateral acceleration in the left direction (the negative lateral acceleration in the two-dimensional coordinate system illustrated in
In this embodiment, the driving skills of the driver are determined to be greater as the area difference obtained by subtracting the area of the first shape 202 from the area of the second shape 204 decreases, as described above. However, since the area difference decreases as the area of the first shape 202 increases, the driving skills of the driver may be determined to be greater as the area of the first shape 202 increases. In this case, it is not necessary to generate the second shape 204 and thus the process performed by the support device 100 is further reduced. As a result of such a determination, for example, the support parameter setting unit 128 sets the predetermined speed range, which is a determination criterion of whether or not to start the predetermined driving support operation, the predetermined speed range increasing as the area of the first shape 202 increases, so that intervention by the driving support operation is less likely to be started.
In this embodiment, a larger area of the second shape 204 represents a stronger preference for “sporty driving” of the driver, and a larger maximum value of an acceleration and/or a deceleration for performing driving support is set, but the embodiment is not limited thereto. Alternatively, larger absolute values of maximum and minimum values of the obtained longitudinal acceleration (a maximum value of longitudinal acceleration and a maximum value of longitudinal deceleration) and maximum and minimum values of the obtained lateral acceleration (a maximum value of lateral acceleration in the right direction and a maximum value of lateral acceleration in the left direction), for example, a larger average value of the absolute values of the maximum and minimum values, or a larger average value of differences between individual maximum values and minimum values, may represent a stronger preference for “sporty driving” of the driver, and a larger maximum value of an acceleration and/or a deceleration for performing driving support may be set.
Next, the procedure of a process performed by the support device 100 will be described with reference to the flowchart illustrated in
Upon start of the process, the support device 100 determines whether or not the operation mode that is currently set in the support device 100 is a learning mode (S100). If the operation mode is not the learning mode (NO in S100), the support device 100 further determines whether or not the operation mode that is currently set in the support device 100 is a driving support mode (S102). If the operation mode is not the driving support mode (NO in S102), the process returns to step S100 and the process is repeated.
The operation mode can be set to the support device 100 by a user operation of a selection switch (not illustrated) connected to the support device 100, for example. Alternatively, for example, the operation may be input by the user via a display device equipped with a touch screen (not illustrated) connected to the support device 100, so that the input operation mode can be set to the support device 100. The operation mode that is set may be the learning mode, the driving support mode, or a standby mode (a mode to wait for the learning mode or the driving support mode to be set).
If it is determined in step S100 that the currently set operation mode is the learning mode (YES in S100), the support device 100 obtains, by using the data obtaining unit 124, a pair of values of longitudinal acceleration and lateral acceleration generated as a result of a driving operation performed by the driver from the longitudinal acceleration sensor 102 and the lateral acceleration sensor 104, and stores the pair in the storage device 140 (S104).
Subsequently, the support device 100 determines whether or not a learning end condition is satisfied (S106). If the learning end condition is not satisfied (NO in S106), the process returns to step S104 and the process is repeated. Here, the learning end condition may be, for example, an ignition switch or the like of an internal combustion engine serving as a driving device included in the subject vehicle has been turned off to terminate a driving cycle, an instruction to end learning is input by the user by operating a specific switch (not illustrated) provided in the support device 100, or the number of pairs of values of longitudinal acceleration and lateral acceleration stored in the storage device 140 has reached a predetermined number.
If it is determined in step S106 that the learning end condition is not satisfied and if step S104 is repeated, the execution time of step S104 is managed so that step S104 is executed at a predetermined time interval or a predetermined distance interval.
On the other hand, if it is determined in step S106 that the learning end condition is satisfied (YES in step S106), the data analyzing unit 126 analyzes the data of longitudinal acceleration and lateral acceleration that are repeatedly obtained and stored in the storage device 140 and outputs an analysis result by storing it in the storage device 140 (S108). As described above, the analysis result may be the area of a first closed shape, which is generated by plotting, on a two-dimensional coordinate plane, a plurality of pairs of values of longitudinal acceleration and lateral acceleration stored in the storage device 140, and an area difference between the area of the first shape and the area of a second closed shape, which is formed of a circumscribed curve of the first shape.
Subsequently, the support parameter setting unit 128 sets, on the basis of the analysis result output by the data analyzing unit 126 in step S108, at least one parameter of a support operation for performing driving support by the driving support unit 130 (S110), and the process returns to step S100 and the process is repeated. The specific examples of the parameter that is set here have been described above with reference to
On the other hand, if it is determined in step S102 that the operation mode is the driving support mode (YES in S102), the support device 100 performs, by using the driving support unit 130, predetermined driving support on running of the subject vehicle by referring to the setting of the parameter of the support operation stored in the storage device 140 by the support parameter setting unit 128 in step S110 and controlling the acceleration device 106, the deceleration device 108, and/or the steering device 110 on the basis of the setting (S112). After the driving support has finished, the process returns to step S100 and the process is repeated.
In this embodiment, the learning mode, the driving support mode, or the standby mode is set as the operation mode. Alternatively, the learning mode and the driving support mode may be fractionalized to provide learning modes and driving support modes in individual categories of road environment, for example, an urban area and a mountainous area. In this case, the plurality of pairs of values of longitudinal acceleration and lateral acceleration obtained by the data obtaining unit 124 and the parameter of the support operation output by the data analyzing unit 126 may be stored in the storage device 140 in association with the categories of road environment when the pairs are measured. Also, when driving support is performed, a parameter of a support operation stored in association with the category of the environment of the road on which the subject vehicle is currently running may be used. The category of the road environment when the pairs are measured and the category of the road environment when driving support is performed may be determined by the support device 100 with reference to map information or the like stored in advance in the storage device 140 or may be input by the user via a touch panel or the like connected to the support device 100, for example.
Furthermore, a parameter of a support operation based on data analysis not using the above-described two-dimensional coordinate plot may also be set. For example, the driving support unit 130 may perform driving support during decelerated running, including running around a curve and/or on a road near the curve, on the basis of a target deceleration value, which is one parameter of a support operation. The data analyzing unit 126 may calculate an average deceleration from the data of longitudinal accelerations repeatedly obtained by the data obtaining unit 124. The support parameter setting unit 128 may set the value of the average deceleration as the target deceleration value.
As described above, in the support device 100 according to the embodiment, pairs of values of longitudinal acceleration and lateral acceleration generated in the subject vehicle as a result of a driving operation performed by a driver are measured by using the acceleration sensors 102 and 104 that are generally mounted in a vehicle, and the driving characteristics and driving skills of the driver are determined through simple calculation, such as calculation of the areas of shapes obtained by connecting the pairs plotted on a two-dimensional coordinate plane. Therefore, the support device 100 is able to determine the driving characteristics and driving skills of the driver in a short time by easily collecting necessary data and to perform driving support in accordance with the determined driving characteristics and driving skills. Although a specific form of embodiment has been described above and illustrated in the accompanying drawings in order to be more clearly understood, the above description is made by way of example and not as limiting the scope of the invention defined by the accompanying claims. The scope of the invention is to be determined by the accompanying claims. Various modifications apparent to one of ordinary skill in the art could be made without departing from the scope of the invention. The accompanying claims cover such modifications.
| Number | Date | Country | Kind |
|---|---|---|---|
| 2015-191143 | Sep 2015 | JP | national |
