JP2011008699A - Driving operation evaluation device - Google Patents

Abstract

A driving operation by a driver is appropriately evaluated according to a situation around the vehicle.
A driving operation evaluation ECU is detected by a moving body detecting unit that detects a distance from the other vehicle existing around the vehicle, a moving body including a pedestrian from the vehicle, and a relative speed. Based on the distance of the moving body from the vehicle and the relative speed, an excellent operation estimation unit 108 that estimates the driving operation of the virtual excellent driver, and a driving operation detection that detects the driving operation by the driver of the vehicle Unit 104 and an operation evaluation unit 110 that evaluates the suitability of the driving operation detected by the driving operation detection unit 104 based on the driving operation of the virtual excellent driver estimated by the excellent operation estimating unit 108.
[Selection] Figure 3

Description

  The present invention relates to a driving operation evaluation apparatus that is mounted on, for example, a vehicle and evaluates the suitability of a driving operation by a driver.

  Conventionally, for the purpose of improving the safety of the driving operation by the driver, various devices, methods and the like for evaluating whether the driving operation performed by the driver is appropriate from the viewpoint of safety have been proposed. (For example, refer to Patent Document 1).

  For example, a safe driving evaluation device described in Patent Document 1 includes a driver state detecting unit that detects a driver's state, a vehicle state detecting unit that detects a driving state of the host vehicle, and a traveling environment around the host vehicle. Driving evaluation means for evaluating the content of driving based on detection information of the traveling environment detection means to detect, and evaluation output means for outputting the evaluation result of the driving evaluation means to make the driver recognize.

  According to the safe driving evaluation device described in Patent Document 1, the driving content is evaluated based on detection information of the driver's state, the driving state of the host vehicle, and the traveling environment around the host vehicle, and the output is output. Thus, the driver can be made aware, and the driver can be encouraged to drive safely when driving with low safety.

JP 2000-268297 A

  However, although various embodiments are described in the safe driving evaluation apparatus described in Patent Document 1, the evaluation criteria for driving contents are uniform and appropriate according to the situation around the vehicle. There is a risk that it will not be evaluated.

  For example, FIG. 11 of Patent Document 1 discloses a technique for evaluating driving details based on whether or not the inter-vehicle distance is in a safe region. However, since the driver needs to determine the inter-vehicle distance flexibly according to the situation around the vehicle, such as the amount of traffic, an appropriate result cannot be obtained in the above evaluation. There is a case.

  The present invention has been made in view of the above circumstances, and an object of the present invention is to provide a driving operation evaluation apparatus capable of appropriately evaluating a driving operation by a driver according to a situation around the vehicle. It is to provide.

  In order to achieve the above object, the present invention has the following features. A first aspect of the present invention is a driving operation evaluation device that is mounted on a vehicle and evaluates the suitability of a driving operation by a driver, from other vehicles existing around the vehicle and from the vehicle of a moving body including a pedestrian The moving object detecting means for detecting the distance and the relative speed, and the driving operation of the virtual excellent driver based on the distance from the vehicle and the relative speed of the moving object detected by the moving object detecting means. Based on the driving operation of the virtual excellent driver estimated by the excellent operation estimating means, the driving operation detecting means for detecting the driving operation by the driver of the vehicle, Operation evaluation means for evaluating the suitability of the driving operation detected by the detection means.

  According to a second aspect of the present invention, in the first aspect of the present invention, there is provided a laying object including a traffic light, a sign, and a pedestrian crossing that is laid near the road on which the vehicle is traveling and is located around the vehicle via the navigation system. Type information, position information, and laying object information acquisition means for acquiring position information on the map of the vehicle, wherein the excellent operation estimation means is the type information of the laying object acquired by the laying object information acquisition means, Based on the position information and the position information on the map of the vehicle, the driving operation of the virtual excellent driver is estimated.

  According to a third invention, in the first invention, the moving body detecting means includes other vehicles existing in front and sides of the vehicle, distances of the moving bodies including pedestrians from the vehicle, and relative Detect speed.

  In a fourth aspect based on the third aspect, the moving body detecting means detects a distance from the vehicle and other vehicles existing behind the vehicle and a moving body including a pedestrian, and a relative speed. To do.

  According to a fifth invention, in the first invention, the moving body detection means includes a camera that generates image information, and other vehicles and pedestrians existing around the vehicle via a radar device. The distance and relative speed of the moving body from the vehicle are detected.

  In a sixth aspect based on the second aspect, the driving operation by the driver of the vehicle detected by the driving operation detecting means, and the type information and position of the laying object acquired by the laying object information acquiring means Including at least one of a right turn operation, a left turn operation, an overtaking operation, a lane change operation, a pause operation, and an intersection passing operation based on at least one of the information and the position information on the map of the vehicle An operation determining means for determining whether any of a plurality of preset evaluation target operations has been performed, wherein the operation evaluation means is one of the plurality of evaluation target operations by the operation determination means. When it is determined that the driving operation is performed, the propriety of the driving operation detected by the driving operation detecting means is evaluated.

  In a seventh aspect based on the first aspect, the operation evaluating means determines whether the driving operation by the driver of the vehicle is appropriate based on the distance between the moving body and the vehicle detected by the moving body detecting means. To evaluate.

  In an eighth aspect based on the seventh aspect, the operation evaluation means evaluates whether or not the driving operation by the driver of the vehicle is appropriate based on a relative speed with respect to the moving body detected by the moving body detection means. To do.

  A ninth invention is the virtual machine according to the seventh invention, wherein the operation evaluation means estimates the distance between the moving object detected by the moving object detection means and the vehicle by the excellent operation estimation means. The suitability of the driving operation by the driver of the vehicle is evaluated by comparing with the distance from the virtual vehicle by the driving operation of the excellent driver to the moving body detected by the moving body detecting means.

  According to a tenth aspect of the present invention, in the seventh aspect of the invention, the mobile unit determination unit estimates the type of the mobile unit detected by the mobile unit detection unit, and the operation evaluation unit is estimated by the mobile unit determination unit. The suitability of the driving operation by the driver of the vehicle is evaluated based on the type of the moving body.

  In an eleventh aspect based on the second aspect, the type information and position information of the laying object acquired by the laying object information acquiring means, the distance of the moving object detected by the moving object detecting means from the vehicle, Based on the relative speed and the driving operation by the driver of the vehicle detected by the driving operation detecting means, the type of the laying object, the position, the position of the moving body, and the position of the vehicle are included in advance. A first bird's-eye view generation means for generating a first bird's-eye view that is a bird's-eye view of a first predetermined range set in advance for each set first predetermined time, and the operation evaluation means, based on the first bird's-eye view, Evaluate the suitability of driving operations by the vehicle driver.

  In a twelfth aspect based on the eleventh aspect, the type information and position information of the laying object acquired by the laying object information acquiring means, the distance of the moving object detected by the moving object detecting means from the vehicle, Based on the relative speed and the driving operation of the virtual excellent driver estimated by the excellent operation estimating means, the type of the laying object, the position, the position of the moving body, and the virtual excellent driver Comprising a second bird's-eye view generation means for generating a second bird's-eye view that is a bird's-eye view of a second predetermined range that is preset every second predetermined time, including the position of the virtual vehicle that is operated by The operation evaluation means evaluates the suitability of the driving operation by the driver of the vehicle based on the first bird's eye view and the second bird's eye view.

  In a thirteenth aspect based on the twelfth aspect, the second predetermined time is set to be substantially the same value as the first predetermined time, and the second predetermined range is set to be substantially the same as the first predetermined range. Is set.

  In a fourteenth aspect based on the twelfth aspect, the operation evaluating means indicates a temporal change in the position of the vehicle in the first bird's-eye view, and a temporal change in the position of the virtual vehicle in the second bird's-eye view. In comparison with the above, the propriety of the driving operation by the driver of the vehicle is evaluated.

  In a fifteenth aspect based on the twelfth aspect, the fifteenth aspect includes evaluation result output means for outputting the evaluation result by the operation evaluation means to the driver of the vehicle so as to be visible.

  In a sixteenth aspect based on the fifteenth aspect, the evaluation result output means displays at least one of the first bird's-eye view and the second bird's-eye view so as to be visible to the driver of the vehicle.

  In a seventeenth aspect based on the fifteenth aspect, the evaluation result output means generates sound information explaining the evaluation result by the operation evaluation means, and outputs the generated sound.

  In an eighteenth aspect based on the first aspect, an evaluation result output means is provided for outputting the evaluation result by the operation evaluation means to the driver of the vehicle so as to be visible.

  In a nineteenth aspect based on the eighteenth aspect, the present invention further comprises output time point determination means for determining an output timing that is a timing for outputting the evaluation result by the operation evaluation means to a driver of the vehicle, wherein the evaluation result output means is The evaluation result by the operation evaluation unit is output at the output timing determined by the output time point determination unit.

  In a twentieth aspect according to the nineteenth aspect, the output time point determination means determines, as the output timing, a timing when the vehicle is in a safe state after the evaluation by the operation evaluation means is completed.

  According to a twenty-first aspect, in the twentieth aspect, the type and position of the laying object acquired by the laying object information acquiring means, the position on the map of the vehicle, and the moving object detected by the moving object detecting means. Situation determining means for determining whether or not the vehicle is in a safe state based on the distance from the vehicle, the relative speed, and the driving operation by the driver of the vehicle detected by the driving operation detecting means. The output time determination means determines the timing at which the situation determination means determines that the vehicle is in a safe situation as the output timing.

  According to the first aspect of the invention, the distance from the other vehicle existing around the vehicle, the moving body including the pedestrian from the vehicle, and the relative speed are detected. Based on the detected distance of the moving body from the vehicle and the relative speed, the driving operation of the virtual excellent driver is estimated. Further, a driving operation by the driver of the vehicle is detected. Furthermore, the suitability of the detected driving operation is evaluated based on the estimated driving operation of the virtual excellent driver. Therefore, the driving operation by the driver can be appropriately evaluated according to the situation around the vehicle.

  That is, as the situation around the vehicle, the distance from the other vehicle existing around the vehicle, the moving body including the pedestrian, and the relative speed are detected. In this situation around the vehicle, the driving operation of the virtual excellent driver is estimated, and the suitability of the detected driving operation is evaluated based on the estimated driving operation of the virtual excellent driver. By comparing the driving operation by the driver with the driving operation of a virtual excellent driver in a specific situation around the vehicle, the driving operation by the driver is appropriately evaluated according to the situation around the vehicle. It can be done.

  According to the second aspect of the invention, the type information and position of the laying object including the traffic lights, signs, and pedestrian crossings that are laid in the vicinity of the road on which the vehicle is traveling and that exist around the vehicle via the navigation system. Information and position information on the map of the vehicle are acquired. Then, based on the acquired laying object type information, position information, and position information on the map of the vehicle, the driving operation of the virtual excellent driver is estimated. Therefore, the driving operation of the virtual excellent driver can be estimated more accurately.

  That is, as the situation around the vehicle, further, the type information of the laying object including the traffic lights, signs, and pedestrian crossings that are laid near the road on which the vehicle is traveling, the position information, and Since the position information on the map of the vehicle is acquired, the situation around the vehicle can be more accurately recognized. Therefore, since the driving operation of the virtual excellent driver is estimated based on the situation around the vehicle recognized more accurately, the driving operation of the virtual excellent driver can be estimated more accurately. It is.

  According to the third aspect of the present invention, the distance from the vehicle to the other vehicle existing in front and side of the vehicle, the pedestrian, and the relative speed are detected. The driving operation of the driver can be accurately estimated.

  That is, it is important to detect the distance from the vehicle and the relative speed of the moving body that exists in the traveling direction of the vehicle as the situation around the vehicle. Therefore, since the distance from the vehicle and the relative speed of the moving body including the pedestrian and other vehicles existing in front and side of the vehicle are detected, the situation around the vehicle is properly detected. Therefore, the driving operation of a virtual excellent driver can be accurately estimated.

  According to the fourth aspect of the present invention, the distance from the vehicle to the other vehicle existing behind the vehicle, the moving body including the pedestrian, and the relative speed are detected. Therefore, the driving operation of the virtual excellent driver can be estimated more accurately.

  That is, in addition to the distance and relative speed of the moving body including the other vehicles and pedestrians existing in front and side of the vehicle, the other vehicles and pedestrians existing behind the vehicle. Since the distance and relative speed of the moving body including the vehicle are detected, the situation around the vehicle can be detected more appropriately, so that the driving operation of the virtual excellent driver can be more accurately performed. Can be estimated.

  According to the fifth aspect of the present invention, the distance from the vehicle of the moving body including the other vehicle existing around the vehicle, the pedestrian, and the vehicle via the camera that generates the image information and the radar device, and Relative speed is detected. Therefore, it is possible to accurately detect the distance and relative speed of other vehicles existing around the vehicle and the moving body including the pedestrian from the vehicle with a simple configuration.

  According to the sixth aspect of the invention, based on at least one of the detected driving operation by the driver of the vehicle and the acquired type information, position information, and position information on the map of the vehicle. Including at least one of a right turn operation, a left turn operation, an overtaking operation, a lane change operation, a pause operation, and an intersection passing operation of the vehicle, and any one of a plurality of preset evaluation target operations is performed. It is determined whether or not it has been received. When it is determined that any of the plurality of evaluation target operations has been performed, the suitability of the detected driving operation is evaluated. Therefore, among the driving operations performed by the driver, the driving operations included in the plurality of evaluation target operations can be appropriately evaluated according to the situation around the vehicle.

  That is, a right turn operation, a left turn operation, an overtaking operation, a lane change operation, a temporary stop operation, and an intersection passing operation of the vehicle are driving operations with a high risk of causing an accident. Therefore, when these driving operations are performed (= when it is determined that any of the plurality of evaluation target operations has been performed), the suitability of the detected driving operations is evaluated. By appropriately setting the target operation, it is possible to appropriately evaluate the driving operation with high risk in accordance with the situation around the vehicle.

  According to the seventh aspect, the propriety of the driving operation by the driver of the vehicle is evaluated based on the detected distance between the moving body and the vehicle. Therefore, the driving operation by the driver of the vehicle can be more appropriately evaluated according to the situation around the vehicle.

  That is, for example, when a pedestrian crosses a pedestrian crossing in the traveling direction of the vehicle when the vehicle turns to the right (see FIG. 4), the excellent driver does not feel the pedestrian feels dangerous. The distance threshold Lsh (for example, 5 m) is secured, and the driving operation is performed to secure this distance. In contrast, when the distance between the vehicle and the pedestrian is equal to or less than the distance threshold Lsh (see FIGS. 5 and 6), it is evaluated that the driving operation by the driver of the vehicle is not appropriate. In this way, the driving operation by the driver of the vehicle can be more appropriately evaluated according to the situation around the vehicle.

  According to the eighth aspect, the propriety of the driving operation by the driver of the vehicle is evaluated based on the detected relative speed with the moving body. Therefore, the driving operation by the driver of the vehicle can be more appropriately evaluated according to the situation around the vehicle.

  That is, for example, when a pedestrian crosses a pedestrian crossing in the traveling direction of the vehicle when the vehicle turns to the right (see FIG. 4), an excellent driver is located near the pedestrian crossing. The driving operation is performed so that the speed is below a threshold speed (for example, 10 km / hour) that does not cause danger. On the other hand, when the relative speed between the vehicle and the pedestrian is larger than the threshold speed, it is evaluated that the driving operation by the driver of the vehicle is not appropriate. In this way, the driving operation by the driver of the vehicle can be more appropriately evaluated according to the situation around the vehicle.

  According to the ninth aspect, by comparing the distance between the detected moving body and the vehicle with the estimated distance from the virtual vehicle to the moving body by the driving operation of the virtual excellent driver. The suitability of the driving operation by the driver of the vehicle is evaluated. Therefore, the driving operation by the driver of the vehicle can be more appropriately evaluated according to the situation around the vehicle.

  That is, for example, when a pedestrian crosses a pedestrian crossing in the traveling direction of the vehicle when the vehicle makes a right turn (see FIG. 5), the excellent driver does not feel the danger of the pedestrian. The distance threshold Lsh (for example, 5 m) is secured, and the driving operation is performed to secure this distance. On the other hand, when the distance between the vehicle and the pedestrian is not more than the distance threshold Lsh (see FIGS. 4 and 6), it is evaluated that the driving operation by the driver of the vehicle is not appropriate. In this way, the driving operation by the driver of the vehicle can be more appropriately evaluated according to the situation around the vehicle.

  According to the tenth aspect, the type of the detected moving object is estimated. Then, the propriety of the driving operation by the driver of the vehicle is evaluated based on the estimated type of the moving body. Therefore, the driving operation by the driver of the vehicle can be more appropriately evaluated according to the situation around the vehicle.

  That is, for example, when it is estimated that the type of the moving body is a child, the driving operation is reflected to reflect the behavioral characteristics of the child, such as a sudden change in the direction of travel or a sudden start of running. Can be evaluated. For example, when it is estimated that the type of the moving body is an elderly person, it is possible to evaluate the driving operation by reflecting the behavioral characteristics of the elderly person such as stopping in a dangerous situation. Therefore, the driving operation by the driver of the vehicle can be more appropriately evaluated according to the situation around the vehicle.

  According to the eleventh aspect of the invention, the type information and position information of the acquired laying object, the distance of the detected moving body from the vehicle, the relative speed, and the detected driving operation by the driver of the vehicle. 1 is a bird's-eye view of a first predetermined range that is set in advance for each first predetermined time that includes a type, a position of the laying object, a position of the moving body, and a position of the vehicle. A bird's eye view is generated. Based on the generated first bird's-eye view, the propriety of the driving operation by the driver of the vehicle is evaluated. Therefore, the driving operation by the driver of the vehicle can be more appropriately evaluated according to the situation around the vehicle.

  That is, in the first bird's-eye view, for example, as shown in FIG. 4, traffic lights, pedestrian crossings, stop lines, etc. in a first predetermined range set in advance (in the vicinity of the intersection where the vehicle VC1 turns to the right in FIG. 4) The type information and position information of the laying object are included. In addition, in the first bird's-eye view, for example, as shown in FIG. 4, the position P20 of the moving body (here, the pedestrian WP) every preset first predetermined time (for example, 0.5 sec). To P27, and positions P10 to P17 of the vehicle VC1 are included. That is, since the first bird's-eye view includes the situation around the vehicle and the change in the position of the vehicle VC1, the driver of the vehicle (= vehicle VC1) based on the generated first bird's-eye view. This makes it possible to more appropriately evaluate the driving operation according to the situation around the vehicle.

  According to the twelfth aspect of the present invention, the type information and position information of the acquired installation object, the distance of the detected moving body from the vehicle, the relative speed, and the estimated driving operation of the virtual excellent driver Based on the type of the laying object, the position, the position of the moving body, and the position of the virtual vehicle operated by the virtual excellent driver, and is set at every second predetermined time set in advance. A second bird's-eye view, which is a bird's-eye view of a second predetermined range set in advance, is generated. Based on the first bird's-eye view and the second bird's-eye view, the suitability of the driving operation by the driver of the vehicle is evaluated. Therefore, the driving operation by the driver of the vehicle can be more appropriately evaluated according to the situation around the vehicle.

  That is, in the second bird's-eye view, for example, as shown in FIG. 5, traffic lights, pedestrian crossings, stop lines, etc. in a preset second predetermined range (in the vicinity of the intersection where the vehicle VC1 turns to the right in FIG. 5) The type information and position information of the laying object are included. Further, in the second bird's-eye view, for example, as shown in FIG. 5, the position P20 of the moving body (here, the pedestrian WP) every preset first predetermined time (for example, 0.5 sec). To P27, and positions Q10 to Q17 of the virtual vehicle VC10 are included. That is, since the second bird's-eye view includes the situation around the vehicle and the change in the position of the virtual vehicle VC10, based on the generated second bird's-eye view and the first bird's-eye view, The driving operation by the driver of the vehicle (= vehicle VC1) can be more appropriately evaluated according to the situation around the vehicle.

  According to the thirteenth aspect, the second predetermined time is set to be substantially the same value as the first predetermined time, and the second predetermined range is set to be substantially the same range as the first predetermined range. . Therefore, the driving operation by the driver of the vehicle can be more appropriately evaluated according to the situation around the vehicle.

  In other words, the second predetermined time is set to be substantially the same value as the first predetermined time, and the second predetermined range is set to be substantially the same range as the first predetermined range. It is possible to directly compare the position of the vehicle VC1 and the position of the virtual vehicle VC10 on the second bird's eye view, so that the driving operation by the driver of the vehicle It can be evaluated more appropriately according to the situation.

  According to the fourteenth aspect of the present invention, the temporal change in the position of the vehicle in the first bird's-eye view is compared with the temporal change in the position of the virtual vehicle in the second bird's-eye view. The suitability of the driving operation is evaluated. Therefore, the driving operation by the driver of the vehicle can be more appropriately evaluated according to the situation around the vehicle.

  That is, the temporal change in the position of the vehicle VC1 in the first bird's-eye view (marks P10 to P17: see FIG. 4) and the temporal change in the position of the virtual vehicle VC10 in the second bird's-eye view (marks Q10 to 10) Q17: see FIG. 5), by comparing the movements of both visually, the driving operation by the driver of the vehicle can be properly evaluated.

  According to the fifteenth aspect, the evaluation result of the driving operation by the driver of the vehicle is output to the driver of the vehicle so as to be visible. Therefore, the evaluation result of the driving operation by the driver of the vehicle can be easily grasped.

  According to the sixteenth aspect, at least one of the first bird's-eye view and the second bird's-eye view is displayed so as to be visible to the driver of the vehicle. Therefore, the evaluation result of the driving operation by the driver of the vehicle can be grasped more easily.

  According to the seventeenth aspect, the sound information explaining the evaluation result of the driving operation by the driver of the vehicle is generated, and the generated sound is output. Therefore, the driver of the vehicle can grasp the evaluation result of the driving operation more easily.

  According to the eighteenth aspect, the evaluation result of the driving operation by the driver of the vehicle is output so as to be visible to the driver of the vehicle. Therefore, the evaluation result of the driving operation by the driver of the vehicle can be easily grasped.

  According to the nineteenth aspect of the invention, the output timing that is the timing for outputting the evaluation result of the driving operation by the driver of the vehicle to the driver of the vehicle is determined. Then, at the determined output timing, the evaluation result of the driving operation by the driver of the vehicle is output. Therefore, by determining an appropriate output timing, the evaluation result of the driving operation by the driver of the vehicle can be output at an appropriate timing.

  According to the twentieth aspect, after the evaluation of the driving operation by the driver of the vehicle is finished, the timing when the vehicle is in a safe state is determined as the output timing. Therefore, an appropriate output timing can be determined.

  According to the twenty-first aspect, the type and position of the laying object acquired by the laying object information acquiring unit, the position of the vehicle on the map, and the moving body detected by the moving body detecting unit from the vehicle. Based on the distance, the relative speed, and the driving operation performed by the driver of the vehicle detected by the driving operation detection means, it is determined whether or not the vehicle is in a safe situation. Then, the timing at which it is determined that the vehicle is in a safe situation is determined as the output timing. Therefore, it is possible to appropriately determine whether or not the vehicle is in a safe situation, so that a more appropriate output timing can be determined.

The block diagram which shows an example of a structure of the driving operation evaluation apparatus which concerns on this invention The top view which shows an example of the mounting position of the radar apparatus and camera shown in FIG. The block diagram which shows an example of a function structure of driving operation evaluation ECU shown in FIG. Screen view showing an example of the first bird's eye view display screen Screen diagram showing an example of the second bird's eye view display screen Graph showing an example of changes in distance to pedestrians Plan view showing an example of output timing of evaluation results Flow chart showing an example of operation of driving operation evaluation ECU (first half) Flow chart showing an example of the operation of the driving operation evaluation ECU (second half)

  Hereinafter, an embodiment of a driving operation evaluation apparatus according to the present invention will be described with reference to the drawings. The driving operation evaluation apparatus according to the present invention is, for example, an apparatus that is mounted on a vehicle and evaluates the suitability of the driving operation by the driver. First, the configuration of the driving operation evaluation apparatus according to the present invention will be described with reference to FIG. FIG. 1 is a block diagram showing an example of the configuration of a driving operation evaluation apparatus according to the present invention. As shown in FIG. 1, a driving operation evaluation ECU (Electronic Control Unit) 1 (= corresponding to a driving operation evaluation device) according to the present invention is connected to an input device 2 and an output device 3 as peripheral devices so as to be communicable. ing.

  The input device 2 includes a radar device 21, a camera 22, a navigation system 23, a vehicle speed sensor 24, a steering angle sensor 25, an acceleration operation sensor 26, a deceleration operation sensor 27, and a direction indication operation sensor 28. The output device 3 includes a display 31 and a speaker 32.

  The radar device 21 (radar devices 211 to 216: refer to FIG. 2), for example, a distance from other vehicles existing around the vehicle VC1, a moving body such as a pedestrian, and a relative speed via a millimeter wave or the like. Is a device for detecting Further, the radar device 21 outputs a signal indicating a distance and a relative speed with respect to the moving body existing around the vehicle VC1 to the driving operation evaluation ECU 1 (here, the moving body detecting unit 101: see FIG. 3). .

  The camera 22 includes, for example, a sensor such as a CCD (Charge Coupled Device), generates an image in front of the vehicle VC1, performs image processing, and the like, such as other vehicles and pedestrians existing in front of the vehicle VC1. It is a camera that detects the distance to the moving body and the relative speed. In addition, the camera 22 outputs a signal indicating the distance and relative speed with respect to the moving object existing in front of the vehicle VC1 to the driving operation evaluation ECU 1 (here, the moving object detecting unit 101: see FIG. 3).

  FIG. 2 is a plan view showing an example of mounting positions of the radar device 21 and the camera 22 shown in FIG. Here, in the vehicle VC1, a radar device 211 and a camera 22 for detecting a moving body present in front of the vehicle VC1 are mounted on the front end portion of the vehicle VC1. Further, in the vehicle VC1, radar devices 212 to 215 for detecting a moving body that exists on the side of the vehicle VC1 are mounted on the side surface of the vehicle VC1. Furthermore, a radar device 216 that detects a moving body that exists behind the vehicle VC1 is mounted on the rear end of the vehicle VC1.

  In addition, since the radar apparatuses 211 to 216 have substantially the same configuration, the radar apparatus 21 is generically referred to in the following description. In the present embodiment, the radar device 21 detects a moving body that exists around the vehicle VC1, and the camera 22 detects a moving body that exists in front of the vehicle VC1. And at least one of the cameras 22 should just be a form which detects the mobile body which exists around the vehicle VC1. Furthermore, another form (for example, ultrasonic sensor) etc. is mounted in vehicle VC1, and the form which detects the mobile body which exists around vehicle VC1 through this sensor may be sufficient.

Returning to FIG. 1 again, the input device 2 will be described. The navigation system 23
The system includes map information, detects a vehicle position that is a position on the map of the vehicle via a GPS (Global Positioning System), and displays the vehicle position on the map on the display 31. Further, the navigation system 23 provides the driving operation evaluation ECU 1 (here, the laying object information acquisition unit 103: see FIG. 3) with the vehicle position information and traffic lights, signs, Outputs type information and position information of laid objects including pedestrian crossings.

  The vehicle speed sensor 24 is a sensor that detects the traveling speed of the vehicle, and outputs the detected vehicle speed information to the driving operation evaluation ECU 1 (here, the driving operation detection unit 104: see FIG. 3).

  The steering angle sensor 25 includes a steering sensor and the like, and is a sensor that detects the steering angle. The detected steering angle information is transmitted to the driving operation evaluation ECU 1 (here, the driving operation detection unit 104: see FIG. 3). Output.

  The acceleration operation sensor 26 includes a throttle opening sensor and the like, and is a sensor for detecting the depression amount of the accelerator pedal. The acceleration depression amount information is detected by the driving operation evaluation ECU 1 (here, the driving operation detection unit 104: FIG. 3).

  The deceleration operation sensor 27 is a sensor that detects the depression amount of the brake pedal, and outputs the detected brake depression amount information to the driving operation evaluation ECU 1 (here, the driving operation detection unit 104: see FIG. 3). .

  The direction indication operation sensor 28 is a sensor that detects a direction indication operation performed via a direction indication lever, and uses the detected direction indication operation information as a driving operation evaluation ECU 1 (here, a driving operation detection unit 104: FIG. 3). Output).

  The display 31 is composed of an LCD (Liquid Crystal Display) or the like disposed on the front panel or the like in front of the driver seat of the vehicle VC1, and various image information (for example, vehicle position information from the navigation system 23, FIGS. 4 and 5). The first bird's-eye view image information, the second bird's-eye view image information, etc., which will be described later, are displayed so as to be visible to the driver.

  The speaker 32 is disposed around the driver's seat of the vehicle VC1 and outputs various audio information (guidance information, alarm information, etc.) to the driver.

  FIG. 3 is a block diagram illustrating an example of a functional configuration of the driving operation evaluation ECU 1 illustrated in FIG. 1. As shown in FIG. 3, the driving operation evaluation ECU 1 functionally includes a moving object detection unit 101, a moving object determination unit 102, a laying object information acquisition unit 103, a driving operation detection unit 104, an operation determination unit 105, and a first bird's-eye view. A generation unit 106, an excellent operation storage unit 107, an excellent operation estimation unit 108, a second bird's eye view generation unit 109, an operation evaluation unit 110, a situation determination unit 111, an output time point determination unit 112, and an evaluation result output unit 113 are provided. .

  The driving operation evaluation ECU 1 executes a control program stored in advance in a ROM (Read Only Memory) or the like disposed at a proper position of the driving operation evaluation ECU 1 on a microcomputer disposed at a proper position of the driving operation evaluation ECU 1. By operating the microcomputer, the driving operation evaluation ECU 1 functionally includes a moving object detection unit 101, a moving object determination unit 102, a laying object information acquisition unit 103, a driving operation detection unit 104, an operation determination unit 105, and a second operation determination unit 105. 1 bird's-eye view generation unit 106, excellent operation storage unit 107, excellent operation estimation unit 108, second bird's-eye view generation unit 109, operation evaluation unit 110, situation determination unit 111, output time point determination unit 112, evaluation result output unit 113, etc. To function as.

  The moving object detection unit 101 is a functional unit that detects the distance from the vehicle VC1 of a moving object including a pedestrian and other vehicles existing around the vehicle and the relative speed via the radar device 21 and the camera 22. It is. Here, the mobile body detection unit 101 corresponds to mobile body detection means. In addition, the moving object detection unit 101 detects the size of the moving object existing around the vehicle, the shape such as the contour, and the like via the radar device 21 and the camera 22.

  The moving body determination unit 102 is a functional unit that estimates the type of moving body detected by the moving body detection unit 101. Here, the moving body determination unit 102 corresponds to a moving body determination unit. In addition, the mobile body determination unit 102 specifically includes mobile bodies such as vehicles, pedestrians, and bicycles based on the relative speed, size, outline, and the like of the mobile body detected by the mobile body detection unit 101. Estimate the type of

  The laying object information acquisition unit 103 is laid near the road on which the vehicle VC1 is traveling via the navigation system 23, and the type information and position of the laying object including traffic lights, signs, and pedestrian crossings existing around the vehicle VC1. It is a function part which acquires information and the positional information on the map of this vehicle. Here, the laying object information acquiring unit 103 corresponds to a laying object information acquiring unit.

  The driving operation detection unit 104 detects a driving operation by the driver of the vehicle VC1 via the vehicle speed sensor 24, the steering angle sensor 25, the acceleration operation sensor 26, the deceleration operation sensor 27, and the direction instruction operation sensor 28. It is. Here, the driving operation detection unit 104 corresponds to driving operation detection means. Specifically, the driving operation detection unit 104 detects the vehicle speed, steering angle, accelerator depression amount, brake depression amount, and direction instruction operation of the vehicle VC1 as the driving operation.

  The operation determination unit 105 includes a driving operation performed by the driver of the vehicle VC1 detected by the driving operation detection unit 104, and the type information, position information, and position information acquired by the installation information acquisition unit 103 on the map of the vehicle VC1. This is a functional unit that determines whether one of a plurality of preset evaluation target operations has been performed based on the position information. Here, the operation determination unit 105 corresponds to an operation determination unit.

  Further, the “evaluation target operation” is an operation to be evaluated by the operation evaluation unit 110, and here, the vehicle VC1 turns right, turns left, passes, lane change operation, pause operation, and Includes intersection passing operation.

  The first bird's-eye view generation unit 106 includes the type and position of the laying object laid near the road on which the vehicle VC1 is traveling, the position of the moving body existing around the vehicle VC1, and the position of the vehicle VC1. A first bird's-eye view BM1 (see FIG. 4), which is a bird's-eye view of a preset first predetermined range (for example, near the intersection where the vehicle VC1 turns to the right) every set first predetermined time ΔT1 (for example, 0.5 sec). It is a function part to generate. Here, the first bird's-eye view generation unit 106 corresponds to first bird's-eye view generation means.

  Further, the first bird's eye view generation unit 106, specifically, the type information and position information of the laying object acquired by the laying object information acquisition unit 103, the vehicle VC1 of the moving object detected by the moving object detection unit 101, The first bird's-eye view BM1 is generated based on the distance, the relative speed, the type of the moving body estimated by the moving body determination unit 102, and the driving operation by the driver of the vehicle VC1 detected by the driving operation detection unit 104. Furthermore, the first bird's-eye view BM1 generated by the first bird's-eye view generation unit 106 is used by the operation evaluation unit 110 to evaluate the driving operation by the driver of the vehicle VC1, and is displayed on the display 31 by the evaluation result output unit 113. Is done.

  FIG. 4 is a screen diagram illustrating an example of a first bird's eye view display screen displayed on the display 31 by the evaluation result output unit 113. Here, the first bird's eye view display screen is a screen for displaying the first bird's eye view BM1. Here, as shown in FIG. 4, the first bird's-eye view display screen displays the lanes indicated by the solid line, the center division line indicated by the broken line, and the pedestrian crossing as the laying object acquired by the laying object information acquisition unit 103. Yes. In addition, the first bird's eye view display screen displays the type of the moving object (here, the vehicle VC2 and the pedestrian WP) detected by the moving object detection unit 101 estimated by the moving object determination unit 102 ( Here, it is displayed in association with an image showing the type).

  Further, the first bird's-eye view display screen displays a vehicle every first predetermined time ΔT1 (for example, 0.5 sec) set in advance based on the driving operation by the driver of the vehicle VC1 detected by the driving operation detection unit 104. Marks (here, black circles) P10 to P17 indicating the position of VC1 are displayed. In addition, on the first bird's eye view display screen, marks (here, white circles) P20 to P27 indicating the position of the pedestrian WP detected by the moving body detection unit 101 are displayed. Here, the marks P10 to P17 and the marks P20 to P27 are marks respectively indicating the positions of the vehicle VC1 and the pedestrian WP at the time points T0 to T7 (see FIG. 6). In addition, the time points T0 to T7 are the time points of the first predetermined time ΔT1 (for example, 0.5 sec).

  Returning to FIG. 3 again, the functional configuration of the driving operation evaluation ECU 1 will be described. The excellent operation storage unit 107 is a functional unit that stores various data for estimating a driving operation of a virtual excellent driver in a situation around the vehicle VC1. Here, the good operation storage unit 107 corresponds to a part of the good operation estimation means. Further, the excellent operation storage unit 107 stores driving operation information of a virtual excellent driver, specifically, in association with the situation around the vehicle VC1. Here, the situation around the vehicle VC1 is classified for each evaluation target operation including a right turn operation, a left turn operation, an overtaking operation, a lane change operation, a pause operation, and an intersection passing operation.

  Further, the excellent operation storage unit 107 stores information indicating various situations around the vehicle VC1 for each evaluation target operation. For example, when the evaluation target operation is a right turn operation, typical ambient conditions are stored in relation to oncoming vehicles, pedestrians, bicycles, motorcycles, and the like. For example, a situation in which a motorcycle may be hidden behind an oncoming vehicle at the intersection of two lanes on one side and a driver may delay the confirmation of the motorcycle (for convenience in the following description). Information indicating “situation A”) is stored. In addition, for example, when attention is paid to the crossing of a pedestrian who is crossing, a situation in which an accident may occur due to a delay in noticing the approach of the bicycle from the right side (in the following description, “situation B” for convenience) Is stored.

  In addition, the excellent operation storage unit 107 stores driving operation information of a virtual excellent driver in association with information indicating each surrounding situation for each evaluation target operation. For example, in association with the information indicating the situation A, as a driving operation of a virtual excellent driver, the oncoming vehicle on the near side passes by and immediately starts a right turn. After confirming that the motorcycle has passed, driving operation information indicating that a right turn is to be started is stored. In addition, for example, as a driving operation of a virtual excellent driver in association with information indicating the situation B, it is not necessary to confirm the safety of pedestrian crossing and immediately start an acceleration operation, Is stored again, and driving operation information indicating that the acceleration operation is gently performed after the bicycle passes is stored.

  The excellent operation estimation unit 108 is a functional unit that estimates a driving operation of a virtual excellent driver in a situation around the vehicle VC1. Here, the good operation storage unit 107 corresponds to a part of the good operation estimation means. Further, the excellent operation estimation unit 108 specifically includes the type information and position information of the laying object acquired by the laying object information acquisition unit 103, and the distance from the vehicle VC1 of the moving object detected by the moving object detection unit 101. Based on the relative speed and the type of the moving object estimated by the moving object discriminating unit 102, an approximate surrounding condition is searched from the surrounding conditions stored in the excellent operation storage unit 107. Then, the excellent operation estimating unit 108 reads out the driving operation information of the virtual excellent driver stored in the excellent operation storage unit 107 in association with the surrounding situation to be approximated, and thereby the virtual excellent driver's driving operation information is read out. Estimate driving operations.

  The second bird's-eye view generation unit 109 is operated by the type and position of the laying object laid near the road on which the vehicle VC1 is traveling, the position of the moving body existing around the vehicle VC1, and a virtual excellent driver. A predetermined second predetermined range (for example, near the intersection where the vehicle VC1 makes a right turn) every second predetermined time ΔT2 (for example, 0.5 sec) including the position of the virtual vehicle VC10 to be operated. This is a functional unit that generates a second bird's-eye view BM2 (see FIG. 5), which is a bird's-eye view. Here, the second bird's-eye view generation unit 109 corresponds to second bird's-eye view generation means.

  The second predetermined time ΔT2 is set to the same value (here, 0.5 sec) as the first predetermined time ΔT1, and the second predetermined range is the same as the first predetermined range (here, the vehicle VC1). Is set near the intersection that makes a right turn).

  Thus, the second predetermined time ΔT2 is set to the same value as the first predetermined time ΔT1, and the second predetermined range is the same as the first predetermined range (here, in the vicinity of the intersection where the vehicle VC1 turns right). Therefore, the marks P10 to P17 indicating the position of the vehicle VC1 on the first bird's eye view BM1 and the marks Q10 to Q17 indicating the position of the virtual vehicle VC10 on the second bird's eye view BM2 are directly Since the comparison is possible, the driving operation by the driver of the vehicle VC1 can be more appropriately evaluated according to the situation around the vehicle.

  In addition, the second bird's eye view generation unit 109, specifically, the type information and position information of the laying object acquired by the laying object information acquisition unit 103, and the moving object detected by the moving object detection unit 101 from the vehicle VC1. Based on the distance, the relative speed, the type of the moving body estimated by the moving body determination unit 102, and the driving operation by the virtual driver of the virtual vehicle VC10 estimated by the driving operation detection unit 108, the second A bird's eye view BM2 is generated. Further, the second bird's-eye view BM2 generated by the second bird's-eye view generation unit 109 is used by the operation evaluation unit 110 to evaluate the driving operation by the driver of the vehicle VC1, and is displayed on the display 31 by the evaluation result output unit 113. Is done.

  FIG. 5 is a screen diagram illustrating an example of a second bird's eye view display screen displayed on the display 31 by the evaluation result output unit 113. Here, the second bird's eye view display screen is a screen that displays the second bird's eye view BM2. Here, as shown in FIG. 5, the second bird's-eye view display screen displays the lanes indicated by the solid line, the center division line indicated by the broken line, and the pedestrian crossing as the laying object acquired by the laying object information acquisition unit 103. Yes. In addition, the second bird's eye view display screen displays the type of the moving object (here, the vehicle VC2 and the pedestrian WP) detected by the moving object detection unit 101 estimated by the moving object determination unit 102 ( Here, it is displayed in association with an image showing the type).

  Further, the second bird's-eye view display screen displays a second predetermined time ΔT2 (for example, preset) based on the driving operation by the virtual excellent driver of the virtual vehicle VC10 estimated by the excellent operation estimating unit 108. Marks (here, black circles) Q10 to Q17 indicating the position of the vehicle VC10 every 0.5 sec) are displayed. In addition, on the second bird's eye view display screen, marks (here, white circles) P20 to P27 indicating the position of the pedestrian WP detected by the moving body detection unit 101 are displayed. Here, the marks Q10 to Q17 and the marks P20 to P27 are marks respectively indicating the positions of the vehicle VC10 and the pedestrian WP at the time points T0 to T7 (see FIG. 6). In addition, time points T0 to T7 are time points at intervals of the second predetermined time ΔT1 (for example, 0.5 sec).

  Returning to FIG. 3 again, the functional configuration of the driving operation evaluation ECU 1 will be described. The operation evaluating unit 110 is a functional unit that evaluates the suitability of the driving operation detected by the driving operation detecting unit 104 based on the driving operation of the virtual excellent driver estimated by the excellent operation estimating unit 108. Here, the operation evaluation unit 110 corresponds to an operation evaluation unit. Specifically, the operation evaluation unit 110 determines whether the driving operation detected by the driving operation detection unit 104 is appropriate when the operation determination unit 105 determines that any of the plurality of evaluation target operations has been performed. To evaluate. That is, here, when the operation determination unit 105 determines that any of the right turn operation, left turn operation, overtaking operation, lane change operation, temporary stop operation, and intersection passing operation of the vehicle has been performed, The evaluation unit 110 evaluates the suitability of the driving operation detected by the driving operation detection unit 104.

  In addition, the operation evaluation unit 110 applies the first bird's-eye view BM1 (see FIG. 4) generated by the first bird's-eye view generation unit 106 and the second bird's-eye view BM2 (see FIG. 5) generated by the second bird's-eye view generation unit 109. Based on this, the suitability of the driving operation detected by the driving operation detection unit 104 is evaluated. Further, the operation evaluation unit 110 uses a temporal change in the position of the vehicle VC1 in the first bird's-eye view BM1 (marks P10 to P17 shown in FIG. 4) and a temporal change in the position of the virtual vehicle VC10 in the second bird's-eye view BM2 ( Compared with the marks Q10 to Q17) shown in FIG. 5, the suitability of the driving operation by the driver of the vehicle VC1 is evaluated.

  Thus, the temporal change in the position of the vehicle VC1 in the first bird's-eye view BM1 (mark P10 to mark P17: see FIG. 4) and the temporal change in the position of the virtual vehicle VC10 in the second bird's-eye view BM2 (mark Q10). To the mark Q17 (see FIG. 5), it is possible to visually compare the movements of the two and visually evaluate the driving operation by the driver of the vehicle VC1.

  In addition, the operation evaluation unit 110 is a virtual excellent driving in which the excellent operation estimation unit 108 estimates the distance L1 between the mobile body (for example, the pedestrian WP) detected by the mobile body detection unit 101 and the vehicle VC1. By comparing the distance L10 from the virtual vehicle VC10 due to the driver's driving operation to the moving body (for example, the pedestrian WP) detected by the moving body detection unit 101, the propriety of the driving operation by the driver of the vehicle is determined. evaluate.

  FIG. 6 is a graph showing an example of a change in the distance L between the vehicle VC1 (vehicle VC10) and the pedestrian WP. The horizontal axis in the figure is time, and the vertical axis is the distance L1 between the vehicle VC1 and the pedestrian WP (or the distance L10 between the vehicle VC10 and the pedestrian WP). Here, for the sake of convenience, the distance L1 and the distance L10 are expressed as a distance L. The graph G1 is a graph showing a temporal change in the distance L1 between the vehicle VC1 and the pedestrian WP, and the graph G2 is a graph showing a temporal change in the distance L10 between the vehicle VC10 and the pedestrian WP.

  As shown in the graph G2 in the figure, the distance L10 between the vehicle VC10 and the pedestrian WP does not become equal to or less than a preset distance threshold Lsh (for example, 5 m). On the other hand, as shown in the graph G1 in the figure, the distance L1 between the vehicle VC1 and the pedestrian WP is equal to or less than the distance threshold Lsh at time T5. Therefore, the operation evaluation unit 110 evaluates that the driving operation by the driver of the vehicle VC1 is not an appropriate driving operation.

  In this way, for example, when the vehicle VC1 makes a right turn and the pedestrian WP crosses the pedestrian crossing in the traveling direction of the vehicle VC1 (see FIG. 5), the excellent driver is in danger of the pedestrian WP. A distance threshold Lsh (5 m in this case) is secured so as not to feel the distance, and the driving operation is performed to secure this distance. On the other hand, when the distance between the vehicle VC1 and the pedestrian WP is equal to or less than the distance threshold Lsh (see FIGS. 4 and 6), it is evaluated that the driving operation by the driver of the vehicle VC1 is not appropriate. In this way, the driving operation by the driver of the vehicle VC1 can be more appropriately evaluated according to the situation around the vehicle.

  In the present embodiment, the operation evaluation unit 110 compares the distance L1 between the vehicle VC1 and the pedestrian WP with the distance L10 between the virtual vehicle VC10 and the pedestrian WP, thereby driving the driver of the vehicle VC1. However, the operation evaluation unit 110 determines the distance and relative speed between the vehicle VC1 and a moving object such as the pedestrian WP of the vehicle VC1 and the moving object such as the pedestrian WP of the virtual vehicle VC10. A mode of evaluating the suitability of the driving operation by the driver of the vehicle VC1 by comparing with the distance and the relative speed may be employed. In this case, the suitability of the driving operation by the driver of the vehicle VC1 can be further appropriately evaluated.

  Returning to FIG. 3 again, the functional configuration of the driving operation evaluation ECU 1 will be described. The situation determination unit 111 is a functional unit that determines whether or not the vehicle VC1 is in a safe situation. Here, the situation determination unit 111 corresponds to a situation determination unit. In addition, the situation determination unit 111 specifically includes the type and position of the laying object acquired by the laying object information acquisition unit 103, the position on the map of the vehicle VC1, and the moving object detected by the moving object detection unit 101. Based on the distance from the vehicle VC1, the relative speed, the type of the moving body estimated by the moving body discrimination unit 102, and the driving operation by the driver of the vehicle VC1 detected by the driving operation detection unit 104, the vehicle VC1 is safe. It is determined whether or not the situation is correct.

  The output time determination unit 112 is a functional unit that determines an output timing that is a timing at which an evaluation result by the operation evaluation unit 110 is output to the driver of the vehicle VC1. Here, the output time point determination unit 112 corresponds to an output time point determination unit. Further, the output time determination unit 112 specifically determines the timing when the situation determination unit 111 determines that the vehicle VC1 is in a safe situation as the output timing.

  FIG. 7 is a plan view showing an example of the output timing of the evaluation result by the operation evaluation unit 110. As shown in FIG. 7, the vehicle VC1 goes straight on a one-lane road on one side upward. At time T20, there is a parked vehicle VC3 in front of the vehicle VC1, and there is a vehicle VC4 traveling in the oncoming lane. The vehicle VC3 and the vehicle VC4 are detected by the moving body detection unit 101. Moreover, as shown in FIG. 7, there is an intersection in the traveling direction of the vehicle VC1. This intersection is acquired by the laying object information acquisition unit 103.

  At time T20, as described above, the situation determination unit 111 determines that the vehicle VC1 is not in a safe situation based on the parked vehicle VC3, the vehicle VC4 traveling in the opposite lane, and the presence of an intersection. The Then, when the vehicle VC1 travels away from the vehicle VC3, separates from the vehicle VC4, and further passes through the intersection, the situation determination unit 111 determines that the vehicle VC1 is in a safe situation. Then, the output time point determination unit 112 determines the time point T21 as an output timing that is a timing for outputting the evaluation result by the operation evaluation unit 110 to the driver of the vehicle VC1.

  In this way, the situation determination unit 111 causes the type and position of the laying object, the position of the vehicle VC1 on the map, the distance of the moving body from the vehicle VC1, the relative speed, the type of moving body, and the driver of the vehicle VC1. Since it is determined whether or not the vehicle VC1 is in a safe situation based on the driving operation according to the above, it is possible to appropriately determine whether or not the vehicle is in a safe situation.

  In addition, the timing at which the output time determination unit 112 determines that the vehicle VC1 is in a safe situation is determined as the output timing that is the timing at which the evaluation result by the operation evaluation unit 110 is output to the driver of the vehicle VC1. The proper output timing can be determined.

  In the present embodiment, the case where the output time determination unit 112 determines the timing at which the situation determination unit 111 determines that the vehicle VC1 is in a safe situation as the output timing will be described. Other timing may be determined as the output timing. For example, the output time determination unit 112 may determine, as the output timing, the timing at which the vehicle VC1 stops due to a signal waiting after the evaluation result is output by the operation evaluation unit 110. In this case, the process is simplified.

  Returning to FIG. 3 again, the functional configuration of the driving operation evaluation ECU 1 will be described. The evaluation result output unit 113 is a functional unit that outputs the evaluation result by the operation evaluation unit 110 to the driver of the vehicle VC1 so as to be visible. Here, the evaluation result output unit 113 corresponds to an evaluation result output unit. In addition, the evaluation result output unit 113 specifically enables the driver of the vehicle VC1 to visually recognize the first bird's-eye view BM1 (see FIG. 4) and the second bird's-eye view MP2 (see FIG. 5) via the display 31. indicate. Furthermore, the evaluation result output unit 113 generates audio information that explains the evaluation result by the operation evaluation unit 110 and outputs the generated audio via the speaker 32. The evaluation result output unit 113 outputs the evaluation result by the operation evaluation unit 110 at the output timing determined by the output time determination unit 112 (for example, time T21 shown in FIG. 7).

  Thus, since the first bird's-eye view BM1 and the second bird's-eye view BM2 are displayed via the display 31 so as to be visible to the driver of the vehicle VC1, the evaluation result output unit 113 allows the driver of the vehicle VC1 to drive. The operation evaluation result can be easily grasped.

  Further, since the evaluation result output unit 113 generates voice information that explains the evaluation result of the driving operation by the driver of the vehicle VC1, and the generated voice is output via the speaker 32, the driver of the vehicle VC1 Thus, the evaluation result of the driving operation can be grasped more easily.

  In this embodiment, the case where the evaluation result output unit 113 displays the first bird's-eye view BM1 and the second bird's-eye view BM2 will be described. However, the evaluation result output unit 113 displays at least one of the first bird's-eye view BM1 and the second bird's-eye view BM2. The form to display may be sufficient. In this case, the process is simplified.

  Further, in the present embodiment, a case where the evaluation result output unit 113 outputs a sound explaining the evaluation result of the driving operation by the driver of the vehicle VC1 will be described. However, the evaluation result output unit 113 is a driver of the vehicle VC1. The character information explaining the evaluation result of the driving operation may be generated, and the generated character information may be displayed through the display 31 together with the first bird's-eye view BM1 and the second bird's-eye view BM2.

  8 and 9 are flowcharts showing an example of the operation of the driving operation evaluation ECU 1 shown in FIG. As shown in FIG. 8, first, the distance and relative speed with respect to the moving body existing around the vehicle VC1 is detected by the moving body detecting unit 101 (S101). Then, the moving object discriminating unit 102 estimates the type of moving object detected in step S101 (S103). Next, the laying object information acquisition unit 103 lays the road near the road on which the vehicle VC1 is traveling, and acquires the type and position of the laying objects existing around the vehicle VC1 and the position of the vehicle VC1 on the map. (S105). Next, the driving operation by the driver of the vehicle VC1 is detected by the driving operation detection unit 104 (S107).

  Then, the operation determination unit 105 determines whether or not an evaluation target operation has been performed (S109). If it is determined that the evaluation target operation has not been performed (NO in S109), the process returns to step S101, and the processes after step S101 are repeatedly executed. If it is determined that the evaluation target operation has been performed (YES in S109), the first bird's-eye view BM1 based on the driving operation or the like by the driver of the vehicle VC1 detected in step S107 by the first bird's-eye view generation unit 106. Is generated (S111). Then, the excellent operation estimation unit 108 estimates the driving operation of the virtual excellent driver in the situation around the vehicle VC1 (S113). Next, the second bird's-eye view generation unit 109 generates the second bird's-eye view BM2 based on the driving operation or the like by the virtual excellent driver of the vehicle VC10 estimated in step S113 (S115).

  Next, as shown in FIG. 9, the operation evaluation unit 110 performs the steps in FIG. 8 based on the first bird's-eye view BM1 generated in step S111 in FIG. 8 and the second bird's-eye view BM2 generated in step S115 in FIG. The suitability of the driving operation detected in S107 is evaluated (S117). Then, the evaluation result output unit 113 outputs evaluation result output information including first bird's-eye view display screen information including the first bird's-eye view BM1, second bird's-eye view display screen information including the second bird's-eye view BM2, and voice information explaining the evaluation result. It is generated (S119).

  Next, the distance and relative speed with the moving body existing around the vehicle VC1 is detected by the moving body detecting unit 101 (S121). Then, the moving object discriminating unit 102 estimates the type of moving object detected in step S121 (S123). Next, the laying object information acquisition unit 103 lays the road near the road on which the vehicle VC1 is traveling, and acquires the type and position of the laying objects existing around the vehicle VC1 and the position of the vehicle VC1 on the map. (S125). Next, the driving operation by the driver of the vehicle VC1 is detected by the driving operation detection unit 104 (S127).

Then, the situation determination unit 111 determines whether or not the vehicle VC1 is in a safe situation (S129). If it is determined that vehicle VC1 is not in a safe situation (NO in S129), the process returns to step S121, and the processes after step S121 are repeatedly executed. When it is determined that the vehicle VC1 is in a safe situation (YES in S129), the timing at which the output time determination unit 112 determines that the vehicle VC1 is in a safe situation in step S129 is output as an evaluation result. The timing is determined (S131). Then, the evaluation result output unit 113 outputs the evaluation result output information generated in step S119 via the display 31 and the speaker 32 (S133), and the process is terminated.

  In this way, the driving operation of the virtual excellent driver is estimated in the situation around the vehicle VC1, and the suitability of the detected driving operation is evaluated based on the estimated driving operation of the virtual excellent driver. Therefore, by comparing the driving operation by the driver with the driving operation of the virtual excellent driver in a specific situation around the vehicle, the driving operation by the driver is made according to the situation around the vehicle VC1. Appropriate evaluation is possible.

In addition, the driving operation evaluation apparatus according to the present invention is not limited to the driving operation evaluation ECU 1 according to the above embodiment, and may be in the following form.
(A) In the present embodiment, the moving object detection unit 101 detects a moving object existing around the vehicle VC1 via the radar device 21 (radar devices 211 to 216: see FIG. 2) and the camera 22. However, any configuration may be used as long as the moving object detection unit 101 detects a moving object existing at least in front of the vehicle VC1. In this case, the configuration and processing are simplified.

  (B) In the present embodiment, the driving operation detection unit 104 detects a driving operation via the vehicle speed sensor 24, the steering angle sensor 25, the acceleration operation sensor 26, the deceleration operation sensor 27, and the direction instruction operation sensor 28. However, the driving operation detection unit 104 may be configured to detect the driving operation through at least the vehicle speed sensor 24 and the steering angle sensor 25. In this case, the configuration and processing are simplified.

  (C) In the present embodiment, the evaluation result output unit 113 outputs the evaluation result via the display 31 and the speaker 32. However, the evaluation result output unit 113 passes the display 31 or the speaker 32. The evaluation result may be output. In this case, the configuration and processing are simplified.

  (D) In the present embodiment, the driving operation evaluation ECU 1 functionally includes a moving object detection unit 101, a moving object determination unit 102, a laying object information acquisition unit 103, a driving operation detection unit 104, an operation determination unit 105, When a 1 bird's eye view generation unit 106, a superior operation storage unit 107, a superior operation estimation unit 108, a second bird's eye view generation unit 109, an operation evaluation unit 110, a situation determination unit 111, an output time point determination unit 112, an evaluation result output unit 113, and the like are provided. The moving object detection unit 101, the moving object determination unit 102, the laying object information acquisition unit 103, the driving operation detection unit 104, the operation determination unit 105, the first bird's eye view generation unit 106, the excellent operation storage unit 107, and the excellent operation are described. Among the estimation unit 108, the second bird's eye view generation unit 109, the operation evaluation unit 110, the situation determination unit 111, the output time point determination unit 112, and the evaluation result output unit 113, at least Function part of, or in the form as it is constituted by hardware such as an electric circuit.

  (E) In the present embodiment, an evaluation target operation that is a target driving operation evaluated by the operation evaluation unit 110 is a right turn operation, a left turn operation, an overtaking operation, a lane change operation, a pause operation, and an intersection passing operation. However, the evaluation target operation only needs to include at least one of a right turn operation, a left turn operation, an overtaking operation, a lane change operation, a pause operation, and an intersection passing operation. The smaller the number of operations to be evaluated, the more simplified the process.

  (F) In the present embodiment, a case has been described in which the operation evaluation unit 110 evaluates the suitability of the driving operation when the operation determination unit 105 determines that any of the plurality of evaluation target operations has been performed. However, when the operation evaluation part 110 satisfy | fills the preset conditions, the form which evaluates the suitability of driving operation may be sufficient. For example, when the destination is set in the navigation system 23, the operation evaluation unit 110 may evaluate the suitability of the driving operation when the condition that the vehicle passes a preset accident occurrence point is satisfied.

  (G) In this embodiment, the case where the excellent operation estimation unit 108 estimates the driving operation of a virtual excellent driver by reading the driving operation information stored in advance in the excellent operation storage unit 107 will be described. However, the configuration in which the excellent operation estimation unit 108 estimates the driving operation of the virtual excellent driver by other methods may be employed. For example, the excellent operation estimation unit 108 performs virtual excellent driving based on surrounding conditions such as the type information and position information of the laying object, the distance of the moving body from the vehicle VC1, the relative speed, and the type of the moving body. The form which estimates a person's driving operation may be sufficient. That is, a plurality of rules that prescribe the driving operation of the virtual excellent driver may be set in advance, and the driving operation of the virtual excellent driver may be estimated according to the rule. In this case, the driving operation of the virtual excellent driver can be accurately estimated by appropriately setting the plurality of rules.

  The present invention can be applied to, for example, a driving operation evaluation apparatus that is mounted on a vehicle and evaluates the suitability of a driving operation by a driver.

1 Driving operation evaluation ECU (Driving operation evaluation device)
101 Moving body detection unit (moving body detection means)
102 Moving object discriminating unit (moving object discriminating means)
103 Installation information acquisition unit (Installation information acquisition means)
104 Driving operation detection unit (driving operation detection means)
105 Operation determination unit (operation determination means)
106 1st bird's-eye view production | generation part (1st bird's-eye view production | generation means)
107 Excellent operation storage unit (part of excellent operation estimation means)
108 Excellent operation estimation unit (part of excellent operation estimation means)
109 Second bird's-eye view generation unit (second bird's-eye view generation means)
110 Operation Evaluation Unit (Operation Evaluation Unit)
111 Situation determination unit (situation determination means)
112 Output time determination unit (output time determination means)
113 Evaluation result output unit (Evaluation result output means)
2 Input device 21 (211 to 216) Radar device 22 Camera 23 Navigation system 24 Vehicle speed sensor 25 Steering angle sensor 26 Acceleration operation sensor 27 Deceleration operation sensor 28 Direction indication operation sensor 3 Output device 31 Display 32 Speaker

Claims (21)

A driving operation evaluation device that is mounted on a vehicle and evaluates the suitability of a driving operation by a driver,
Moving body detection means for detecting the distance and relative speed of the moving body including other vehicles and pedestrians existing around the vehicle;
Excellent operation estimating means for estimating a driving operation of a virtual excellent driver based on a distance from the vehicle of the moving object detected by the moving object detecting means and a relative speed;
Driving operation detecting means for detecting a driving operation by a driver of the vehicle;
A driving operation evaluation apparatus comprising: an operation evaluation unit that evaluates the suitability of the driving operation detected by the driving operation detection unit based on the driving operation of the virtual excellent driver estimated by the excellent operation estimation unit. Via the navigation system, the type information, the position information, and the information on the laying object including the traffic lights, signs, and pedestrian crossings that are laid near the road on which the vehicle is traveling. Laying object information acquisition means for acquiring the position information of,
The excellent operation estimating means estimates the driving operation of a virtual excellent driver based on the type information, position information, and position information on the map of the vehicle acquired by the installation information acquisition means. The driving operation evaluation device according to claim 1.   2. The driving operation according to claim 1, wherein the moving body detection unit detects a distance from the vehicle and other vehicles existing in front and side of the vehicle, a moving body including a pedestrian, and a relative speed. Evaluation device.   The driving operation evaluation apparatus according to claim 3, wherein the moving body detection unit detects other vehicles existing behind the vehicle, a distance of the moving body including a pedestrian from the vehicle, and a relative speed.   The moving body detecting means includes a camera that generates image information, and a radar apparatus, and other vehicles existing around the vehicle, a distance of the moving body including a pedestrian from the vehicle, and a relative speed. The driving operation evaluation device according to claim 1, wherein At least the driving operation by the driver of the vehicle detected by the driving operation detecting means, the type information of the laying object acquired by the laying object information acquiring means, the position information, and the position information on the map of the vehicle Based on one of the plurality of preset evaluation target operations, including at least one of the right turn operation, left turn operation, overtaking operation, lane change operation, pause operation, and intersection passing operation of the vehicle, Comprising an operation determining means for determining whether or not any of them has been performed;
The operation evaluation unit evaluates the suitability of the driving operation detected by the driving operation detection unit when it is determined by the operation determination unit that any of the plurality of evaluation target operations has been performed. The driving operation evaluation apparatus according to 1.   2. The driving operation evaluation according to claim 1, wherein the operation evaluating unit evaluates whether or not the driving operation by the driver of the vehicle is appropriate based on a distance between the moving body and the vehicle detected by the moving body detecting unit. apparatus.   The driving operation evaluation apparatus according to claim 7, wherein the operation evaluation unit evaluates whether or not the driving operation by the driver of the vehicle is appropriate based on a relative speed with the moving body detected by the moving body detection unit.   The operation evaluation unit is configured to determine a distance between the vehicle detected by the mobile object detection unit and the vehicle from a virtual vehicle by a driving operation of a virtual excellent driver estimated by the excellent operation estimation unit. The driving operation evaluation device according to claim 7, wherein the propriety of the driving operation by the driver of the vehicle is evaluated by comparing with a distance to the moving body detected by the moving body detection means. A moving object determining means for estimating the type of moving object detected by the moving object detecting means;
The driving operation evaluation device according to claim 7, wherein the operation evaluation unit evaluates whether the driving operation by the driver of the vehicle is appropriate based on the type of the moving body estimated by the moving body determination unit. The type information and position information of the laying object acquired by the laying object information acquiring means, the distance from the vehicle of the moving object detected by the moving object detecting means, the relative speed, and the driving operation detecting means. In addition, based on the driving operation by the driver of the vehicle, the type of the laying object, the position, the position of the moving body, and the position of the vehicle are set in advance at every first predetermined time set in advance. Comprising a first bird's-eye view generation means for generating a first bird's-eye view that is a bird's-eye view of a first predetermined range;
The driving operation evaluation device according to claim 2, wherein the operation evaluation unit evaluates whether the driving operation by the driver of the vehicle is appropriate based on the first bird's-eye view. The type information and position information of the laying object acquired by the laying object information acquiring unit, the distance from the vehicle of the moving body detected by the moving body detecting unit, the relative speed, and estimated by the excellent operation estimating unit. Based on the driving operation of the virtual excellent driver, the type of the laying object, the position, the position of the moving body, and the position of the virtual vehicle that the virtual excellent driver operates, A second bird's-eye view generating means for generating a second bird's-eye view that is a bird's-eye view of a preset second predetermined range every second predetermined time set in advance;
The driving operation evaluation device according to claim 11, wherein the operation evaluation unit evaluates whether the driving operation by the driver of the vehicle is appropriate based on the first bird's-eye view and the second bird's-eye view.   The driving operation according to claim 12, wherein the second predetermined time is set to be substantially the same value as the first predetermined time, and the second predetermined range is set to be substantially the same range as the first predetermined range. Evaluation device.   The operation evaluation means compares the temporal change in the position of the vehicle in the first bird's-eye view with the temporal change in the position of the virtual vehicle in the second bird's-eye view, and performs a driving operation by the driver of the vehicle. The driving operation evaluation apparatus according to claim 12, wherein the propriety of the driving is evaluated.   The driving operation evaluation apparatus according to claim 12, further comprising an evaluation result output unit that outputs an evaluation result by the operation evaluation unit so as to be visible to a driver of the vehicle.   The driving operation evaluation device according to claim 15, wherein the evaluation result output means displays at least one of the first bird's-eye view and the second bird's-eye view so as to be visible to a driver of the vehicle.   16. The driving operation evaluation apparatus according to claim 15, wherein the evaluation result output unit generates voice information that explains an evaluation result by the operation evaluation unit, and outputs the generated voice.   The driving operation evaluation apparatus according to claim 1, further comprising an evaluation result output unit that outputs an evaluation result obtained by the operation evaluation unit so as to be visible to a driver of the vehicle. An output time point determining means for determining an output timing which is a timing for outputting an evaluation result by the operation evaluating means to a driver of the vehicle;
19. The driving operation evaluation device according to claim 18, wherein the evaluation result output means outputs an evaluation result by the operation evaluation means at an output timing determined by the output time point determination means.   The driving operation evaluation device according to claim 19, wherein the output time point determination means determines, as the output timing, a timing when the vehicle is in a safe state after the evaluation by the operation evaluation means is completed. The type and position of the laying object acquired by the laying object information acquiring means, the position of the vehicle on the map, the distance from the vehicle of the moving object detected by the moving object detecting means, the relative speed, and the driving Based on the driving operation by the driver of the vehicle detected by the operation detecting means, comprising a situation determining means for determining whether or not the vehicle is in a safe situation;
21. The driving operation evaluation apparatus according to claim 20, wherein the output time determination means determines, as the output timing, a timing when the situation determination means determines that the vehicle is in a safe situation.

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