JP2013120405A - Driving assistance device - Google Patents

Abstract

A driving support device capable of sufficiently supporting safe driving with an inexpensive configuration is provided.
A driving support device calculates a radius of curvature of a traveling locus at a current position of the vehicle based on a traveling speed and lateral acceleration of the vehicle, and the curvature radius is equal to or less than a predetermined warning curvature radius determination value. When the direction indicator is in the stop state, the current position of the vehicle is stored in the storage medium Q as the alarm curve position, the curvature radius is equal to or less than the alarm curvature radius judgment value, and the direction indicator is in the operating state. Is stored in the storage medium Q as the warning intersection position. The driving support device issues a predetermined approach notification alarm when the distance from the current position of the vehicle to the alarm curve position or the alarm intersection position stored in the storage medium Q approaches a predetermined alarm approach distance determination value or less. .
[Selection] Figure 1

Description

  The present invention relates to a driving support device that supports safe driving of a vehicle.

  Car navigation devices that have become popular in recent years have a route guidance function that displays a route to a destination on a road map. In addition, there is a device equipped with an alarm function for giving an alarm to pay attention to driving when it reaches the vicinity of the travel attention point.

  However, in a car navigation device having such a warning function, the above-mentioned driving attention point is usually set based on the curvature of the curve obtained from road information on a map. For example, the entire curve is gentle. However, a curve including a portion having a locally large curvature is not set as the above-mentioned traveling attention portion, and therefore, it is not necessarily adapted to the actual situation of traveling of the vehicle.

  Therefore, in the car navigation device disclosed in Patent Document 1, the lateral acceleration of the vehicle applied while the vehicle is running is detected, the curvature of the curve is calculated from the lateral acceleration, and the curvature is a predetermined value. If it is larger than the set value, it is memorized as a curve warning point, and an alarm is issued based on this curve warning point. By setting the curve warning point based on the actual driving of the vehicle, the vehicle travels. It was possible to give a warning adapted to the actual situation.

JP 2002-260191 A

  However, since the car navigation device of Patent Document 1 uses road map data in determining whether the road shape of a curve warning point is a curve or an intersection, a hard disk device or a large-sized device for handling large-capacity road map data. Expensive hardware resources such as a capacity memory and a high-speed microcomputer are required. For this reason, an attempt was made to realize such a driving support function (alarm function) with a drive recorder, a digital tachograph, or an independent driving support device. In such a case, it is necessary to configure the device with an expensive hardware resource equivalent to that of the car navigation device, which causes a problem that the device becomes expensive. In addition, the car navigation device of Patent Document 1 warns only at a curve, and therefore does not warn at an intersection. Therefore, as with a curve, it cannot alert an intersection that requires attention, and is safe. There was a problem that driving could not be supported enough.

  The present invention aims to solve this problem. That is, an object of the present invention is to provide a driving support device that can sufficiently support safe driving with an inexpensive configuration.

  In order to achieve the above object, according to the first aspect of the present invention, as shown in the basic configuration diagram of FIG. 1, the speed detection means P1 for detecting the traveling speed of the vehicle and the lateral acceleration of the vehicle are obtained. Acceleration detecting means P2 for detecting, direction indicator state detecting means P3 for detecting the state of the direction indicator of the vehicle, current position acquiring means P4 for acquiring the current position of the vehicle, the travel speed and the acceleration A radius-of-curvature calculating means P5 for calculating a radius of curvature of a travel locus of the vehicle based on the current position when the radius of curvature is equal to or less than a predetermined warning curvature radius determination value and the direction indicator is in a stop state; Is stored in the storage medium Q as an alarm curve position, and when the radius of curvature is equal to or less than the alarm curvature radius determination value and the direction indicator is in an operating state, the current position is set as an alarm intersection position. The alarm position storage means P6 stored in the storage medium Q, and the distance from the current position to the alarm curve position or the alarm intersection position stored in the storage medium Q approaches a predetermined alarm approach distance determination value or less. And an approach warning means P7 for issuing a predetermined approach notification alarm.

  According to a second aspect of the present invention, in the first aspect of the present invention, the traveling direction detection means P8 detects the traveling direction of the vehicle based on the current position acquired by the current position acquisition means P4. The warning position storage means P6 is configured to store the traveling direction together with the warning intersection position in the storage medium Q as the approach direction to the warning intersection position, and the approach warning means P7 The approach direction stored in the storage medium Q when the distance from the current position to the warning intersection position stored in the storage medium Q approaches the warning approach distance determination value or less and the current traveling direction of the vehicle When they match, a predetermined approach caution warning is issued.

  According to a third aspect of the present invention, in the first aspect of the present invention, the traveling direction detection means P8 detects the traveling direction of the vehicle based on the current position acquired by the current position acquisition means P4. The warning position storage means P6 is configured to store the traveling direction together with the warning intersection position in the storage medium Q as the approach direction to the warning intersection position, and the approach warning means P7 The approach direction stored in the storage medium Q when the distance from the current position to the warning intersection position stored in the storage medium Q approaches the warning approach distance determination value or less and the current traveling direction of the vehicle Are matched, and when the direction indicator is in an operating state, the approach caution warning is issued.

  The invention described in claim 4 is the invention described in any one of claims 1 to 3, wherein the approach warning means P7 is different from each other according to the traveling speed. It is comprised so that an approach warning warning may be issued.

  According to the first aspect of the present invention, the curvature radius of the traveling locus at the current position of the vehicle is calculated based on the traveling speed and lateral acceleration of the vehicle, and the curvature radius is a predetermined warning curvature radius. When the value is less than the determination value and the state of the direction indicator is the stop state, the current position of the vehicle is stored in the storage medium Q as an alarm curve position, and the curvature radius is equal to or less than the alarm curvature radius determination value and the direction indicator When the state is the operation state, the current position of the vehicle is stored in the storage medium Q as the warning intersection position, so that the road shape can be determined without using road map data. The device can be configured with. Also, when the distance from the current position of the vehicle to the alarm curve position or alarm intersection position stored in the storage medium Q approaches a predetermined alarm approach distance determination value, a predetermined approach notification alarm is issued. It is possible to alert the driver about the intersection without fail, so that safe driving can be fully supported.

  According to the invention described in claim 2, the traveling direction is detected based on the current position of the vehicle, and the traveling direction detected together with the warning intersection position is stored in the storage medium Q as the approach direction to the warning intersection position. Then, the distance from the current position of the vehicle to the warning intersection position stored in the storage medium Q approaches the warning approach distance determination value and the approach direction stored in the storage medium Q matches the current traveling direction of the vehicle. Since a predetermined approach warning is issued, for example, in the regular delivery route of cargo, for example, the vehicle often enters and turns from a preset direction at an intersection on the route. When the stored approach direction matches the current traveling direction of the vehicle, there is a high probability that the vehicle will turn at the warning intersection. In such a case, the volume is set higher than the approach notification warning. By issuing a close attention alarm that was so careful to evoke more strongly by, for example, it is possible to arouse more reliably attention to the driver.

  According to the third aspect of the invention, the traveling direction is detected based on the current position of the vehicle, and the traveling direction detected together with the warning intersection position is stored in the storage medium Q as the approach direction to the warning intersection position. Then, the distance from the current position of the vehicle to the warning intersection position stored in the storage medium Q approaches the warning approach distance determination value and the approach direction stored in the storage medium Q and the current traveling direction of the vehicle are the same. In addition, when the direction indicator is in an operating state, a predetermined approach caution warning is issued. For example, in the regular delivery route of cargo, from one direction set in advance with respect to the intersection on the route There are many cases where the vehicle enters and bends. Therefore, when the approach direction stored in the storage medium Q coincides with the current traveling direction of the vehicle, there is a higher probability that the vehicle will turn at the warning intersection. When such, for example, by issuing a close attention alarms so as to alert stronger, such as by increasing the volume from approaching notification alarm can arouse more reliably attention to the driver.

  According to the invention described in claim 4, since a plurality of approach notification alerts or approach attention alerts that are different from each other are issued according to the traveling speed of the vehicle, for example, when the vehicle approaches the alarm curve position or the alarm intersection position, When the driving speed of the vehicle is low, an approach notification alarm with a low volume can be issued, and when the vehicle is traveling at a high speed, an approach notification alarm with a high volume can be issued. When the traveling direction of the vehicle matches, a low-volume approach caution warning can be issued when the vehicle traveling speed is low, and a high-volume approach caution alert can be issued when the vehicle traveling speed is high. It is possible to call attention appropriately according to the running state of the vehicle.

It is a basic lineblock diagram of the driving support device of the present invention. 1 is a system configuration diagram showing an example of a configuration of a drive recorder system having a drive recorder that is an embodiment of a driving support apparatus of the present invention. It is a block diagram which shows an example of schematic structure of the drive recorder of FIG. (A) is a figure which shows an example of a structure of the memory with which the drive recorder of FIG. 2 is equipped, (b) is an example of a structure of the alarm position data table memorize | stored in the alarm position data storage area of (a). FIG. It is a flowchart which shows an example of the process (alarm position learning process) which concerns on this invention in CPU with which the drive recorder of FIG. 2 is provided. It is a flowchart which shows an example of the process (alarm process) which concerns on this invention in CPU with which the drive recorder of FIG. 2 is provided.

  Hereinafter, an embodiment of a drive recorder system including a drive recorder that is a driving support apparatus according to the present invention will be described with reference to the drawings of FIGS.

  As shown in FIG. 2, the drive recorder system 1 is provided in a drive recorder 2 mounted on a vehicle such as a freight truck, a taxi, or a passenger car, and in the company, sales office, etc. that owns the vehicle. And a drive recorder analysis unit 5 that supports analysis of various data stored in a card-like recording medium C (hereinafter referred to as a card C) by the recorder 2.

  The card C uses, for example, a well-known memory card that incorporates a flash memory chip, a small hard disk drive, etc., and is responsible for non-volatile storage means that does not lose its stored contents even when it is not energized, and for external input / output And a controller circuit. For the card C, various types of memory cards can be used depending on the system configuration.

  The drive recorder analysis unit 5 includes a personal computer (PC) 50, an input device 51 such as a keyboard and a mouse, a display device 52, a reader / writer 53, a printer 54, and the like. The personal computer 50 executes various application data such as image data and vehicle speed data from the card C inserted into the slot 53a of the reader / writer 53 by executing a drive recorder analysis application program stored in the hard disk device. The vehicle status data including the image data is taken in, and the video shown in the image data is displayed on the display device 52, or the analysis of the vehicle status data is supported.

  The drive recorder 2 which is the driving support apparatus of one embodiment of the present invention is attached so as not to obstruct the driver's field of view, for example, at the same position as the rearview mirror with respect to the inner surface of the vehicle windshield. The drive recorder 2 includes a housing 20A formed in a substantially rectangular parallelepiped box shape, and a holding member 20B fixed to the vehicle in a plurality of attachment states in which the housing 20A is held at a desired angle. ing. Moreover, the drive recorder 2 has a cable 20H for connecting to a camera and a sensor included in the drive recorder 2, a power source, a direction indicator, and the like.

  As shown in FIG. 3, the drive recorder 2 includes a central processing unit (CPU) 21, ROM 22, RAM 23, memory 24, front camera 25a, rear camera 25b, front acceleration sensor 27a, rear acceleration sensor 27b, GPS module 28, A card insertion unit 29, an interface unit 30, an audio output unit 35, and the like are included.

  The CPU 21 performs overall control of the drive recorder 2 and performs various processes and controls according to a predetermined control program.

  The ROM 22 is a read-only memory that stores a control program for the CPU 21 and the like. The ROM 22 converts the CPU 21 into a speed detection means P1, an acceleration detection means P2, a direction indicator state detection means P3, a current position acquisition means P4, a curvature radius calculation means P5, an alarm position storage means P6, an approach warning means P7, and a traveling direction detection. A control program for functioning as various means such as means P8 is stored. The CPU 21 functions as the above means by executing this control program. The ROM 22 also stores various parameters such as an alarm curvature radius determination value used for determining a radius of curvature in an alarm position learning process described later, and an alarm approach distance determination value used for determining an approach distance in an alarm process described later. ing.

  The RAM 23 is a readable / writable memory that stores various data and has an area necessary for the processing work of the CPU 21.

  The memory 24 is an electrically erasable / rewritable read-only memory that can retain stored contents even when the drive recorder 2 is in a power-off state, and is connected to the CPU 21. The memory 24 is composed of a nonvolatile memory such as an EEPROM, for example.

  As shown in FIG. 4A, the memory 24 has a vehicle status data storage area 24a and an alarm position data storage area 24b.

  In the vehicle situation data storage area 24a, image data taken by the front camera 25a and the rear camera 25b and vehicle speed data indicating the vehicle speed detected by the speed sensor 31 are time-sequentially used as vehicle situation data. A front camera image data area D1, a rear camera image data area D2, and a vehicle speed data area D3 are provided for storage. Each time vehicle status data (that is, each image data and vehicle speed data) is detected, the vehicle status data storage area 24a is sequentially written from the start address of each data area and written to the end address of the data area. Then, the vehicle status data is overwritten again from the top address. By using the overwrite function in this way, the limited storage area is effectively used.

  In the alarm position data storage area 24b, for example, as shown in FIG. 4 (b), the alarm position (coordinates), the type of alarm position (curve or intersection), the radius of curvature of the traveling locus of the vehicle at the alarm position, In this case, an alarm position data table D4 including information on the approach direction (east, west, south, north,...) Is stored. The memory 24 corresponds to a storage medium in the claims.

  As the front camera 25a, for example, various camera modules can be used as an imaging unit including a lens, an imaging element, a control unit, and the like, such as a CCD camera, a CMOS camera, or an infrared camera. The front camera 25a is connected to the CPU 21 via a camera interface circuit (I / F) 25i. And the front camera 25a always images the surrounding image of the vehicle, and outputs an image signal in accordance with this imaging. This image signal is converted and compressed by the camera interface circuit 25i and input to the CPU 21 as image data. The rear camera 25b is the same as the front camera 25a.

  Image data input to the CPU 21 from the front camera 25a and the rear camera 25b is stored in the vehicle status data storage area 24a of the memory 24 in time series. This image data is arbitrarily determined according to the configuration and specifications of the drive recorder 2 such as a moving image and a still image.

  In the present embodiment, the front camera 25a is provided on the front part of the housing 20A (that is, the windshield of the vehicle) so as to capture the foreground from the vehicle, and the rear camera 25b is provided from the vehicle. It is provided at a location away from the housing 20A (for example, the rear glass of the vehicle) so as to capture the background, and is connected to the housing 20A with a cable 20H. The front camera 25a is installed facing the front direction (front direction) of the vehicle, and the rear camera 25b is installed facing the rear direction (rear front direction) of the vehicle. By arranging the front camera 25a and the rear camera 25b in this way, it is possible to collect image data that can contribute to cause analysis of the occurrence of an accident or the like.

  The front acceleration sensor 27a uses a triaxial acceleration sensor that detects acceleration, tilt, impact, etc. in the triaxial (X, Y, Z) directions. As is well known, the triaxial acceleration sensor supports a weight by a thin silicon beam (beam), the weight is moved by acceleration, the beam is distorted, and this distortion is applied to a piezoresistive element or the like formed on the beam. The acceleration is detected by resistance change. The front acceleration sensor 27a is connected to the CPU 21 via a sensor interface circuit (I / F) 27i. The front acceleration sensor 27a outputs triaxial acceleration signals indicating the detected acceleration, and these acceleration signals are input to the CPU 21 via the sensor interface circuit 27i. The rear acceleration sensor 27b is the same as the front acceleration sensor 27a.

  In the present embodiment, the front acceleration sensor 27a is provided inside the housing 20A in correspondence with the above-described front camera 25a, and the rear acceleration sensor 27b is provided in correspondence with the above-described rear camera 25b. It is provided in the vicinity. By installing the front acceleration sensor 27a and the rear acceleration sensor 27b in this way, it is possible to collect image data according to the impact generated at the location where the front camera 25a and the rear camera 25b are installed. It can further contribute to cause analysis.

  The GPS module 28 receives radio waves emitted by a plurality of artificial satellites constituting a GPS (Global Positioning System) through a GPS antenna (not shown), and based on the received radio waves, the current position and current date and time are received. It is a functional module that detects etc. The GPS module 28 is connected to the CPU 21 via a GPS interface circuit (I / F) 28i. The GPS module 28 generates position information indicating the current position in accordance with a request from the CPU 21 or autonomously and periodically and outputs the position information to the CPU 21.

  The card insertion unit 29 writes and reads various data designated by the CPU 21 with respect to the loaded card C. The card C is manually inserted into the card insertion unit 29, and the card C is discharged. A discharge mechanism (not shown) in the card insertion portion 29 is automatically performed according to the operation of the discharge key.

  The interface unit 30 is connected to the CPU 21. A vehicle speed sensor 31 and a direction indicator 34 are connected to the interface unit 30.

  The speed sensor 31 outputs a vehicle speed signal corresponding to the speed of the vehicle. The vehicle speed signal is input to the CPU 21 as vehicle speed data via the interface unit 30. The CPU 21 stores the input vehicle speed data in the vehicle status data storage area 24a of the memory 24 in time series.

  The direction indicator 34 is a well-known blinker device provided at the four corners of the vehicle to indicate the traveling direction of the vehicle by blinking. The direction indicator 34 outputs a state signal indicating its operating state (ie, blinking state) or stopped state (ie, extinguished state), and this state signal is input to the CPU 21 via the interface unit 30.

  The sound output unit 35 includes a well-known audio IC (not shown) for generating various sounds and sound effects, and a speaker (not shown) that outputs various sounds and sound effects generated by the sound IC. The audio output unit 35 is connected to the CPU 21, and based on an output request from the CPU 21, an approach notification alarm (for example, “the intersection is approaching” that notifies that an intersection that requires attention for traveling is approaching. , Etc.), an approach notification alert (eg, a voice message such as “Curve is approaching”) that notifies you that a curve that requires attention is approaching, and a stronger alert Output various voices and sound effects including warning warnings (such as “Beep, intersection. Be careful.”, “Peepy, intersection. Decrease speed.”) .

  The card C is an information storage area in which vehicle status data stored in the memory 24 is stored in correspondence with a predetermined time range immediately before and immediately after detecting a recording condition (for example, an impact of a predetermined value or more) in the vehicle. have. The information storage area is also overwritten and stored with the vehicle situation data, similarly to the vehicle situation data storage area 24a of the memory 24.

  The drive recorder 2 described above always records the image data of the front video and the rear video obtained by imaging the surroundings of the vehicle in the vehicle status data storage area 24a of the memory 24 by the front camera 25a and the rear camera 25b. When the front acceleration sensor 27a and the rear acceleration sensor 27b detect an impact (that is, a recording condition) equal to or greater than a predetermined impact threshold (for example, 0.4G), a predetermined time range before and after the detection (12 seconds immediately before detection) The vehicle situation data including the image data of the front camera 25a and the rear camera 25b, detected for 6 seconds immediately after the detection and 18 seconds in total) is copied from the vehicle situation data storage area 24a of the memory 24 to the information storage area of the card C. (That is, record).

  Next, an example of processing (alarm position learning processing, alarm processing) according to the present invention executed by the CPU 21 of the drive recorder 2 will be described with reference to the flowcharts of FIGS.

  When power is supplied to the drive recorder 2 via the cable 20H, the CPU 21 is activated to execute a predetermined initial process. Thereafter, the CPU 21 obtains image data from the front camera 25a and the rear camera 25b, obtains vehicle speed data from the speed sensor 31, and time-series the vehicle situation data storage area 24a provided in the memory 24 as vehicle situation data. Write sequentially. In parallel with this, the process proceeds to each of step S110 of the flowchart of FIG. 5 and step T110 of the flowchart of FIG. 6, and the processes shown in these flowcharts are periodically executed.

  A flowchart of the alarm position learning process in FIG. 5 will be described.

  In step S <b> 110, the CPU 21 detects the travel speed of the vehicle based on the vehicle speed signal output from the speed sensor 31. Then, the process proceeds to step S120.

  In step S120, the CPU 21 detects the lateral acceleration of the vehicle based on the acceleration signal output from the front acceleration sensor 27a. Then, the process proceeds to step S130.

  In step S <b> 130, the CPU 21 obtains the current position of the vehicle based on the position information output from the GPS module 28. Then, the process proceeds to step S140.

  In step S140, the CPU 21 detects the traveling direction of the vehicle based on the current position of the vehicle acquired in step S130 and the current position of the vehicle acquired immediately before. Then, the process proceeds to step S150.

In step S150, the CPU 21 calculates the radius of curvature of the travel locus at the current position of the vehicle based on the travel speed detected in step S110 and the lateral acceleration detected in step S120. When the traveling speed is v [m / s] and the lateral acceleration is a [m / s ² ], the radius of curvature r is
r = v ² / a [m] (1)
It is represented by Then, the process proceeds to step S160.

  In step S160, the CPU 21 determines whether or not the curvature radius calculated in step S150 is equal to or less than the warning curvature radius determination value stored in the ROM 22, and if the curvature radius is equal to or less than the warning curvature radius determination value, an alarm is issued. The process proceeds to step S170 as a required curve or intersection (Y in S160), and if the radius of curvature is larger than the warning curvature radius determination value, the process of this flowchart is terminated as a curve or intersection that does not require an alarm (N in S160).

  In step S <b> 170, the CPU 21 detects the operation state of the direction indicator 34 based on the state signal output from the direction indicator 34. Then, the process proceeds to step S180.

  In step S180, the CPU 21 determines whether or not the direction indicator 34 is in an operating state. If the direction indicator 34 is in an operating state, that is, if it is blinking, the CPU 21 proceeds to step S190 assuming that the current position is an intersection (S180). If it is not in the operating state, that is, if the light is off, the current position is assumed to be a curve and the process proceeds to step S200 (N in S180).

  In step S190, the CPU 21 stores the current position of the vehicle detected in step S130 as the alarm position (that is, the alarm intersection position) in the empty area of the alarm position data table D4 in the memory 24, “intersection” as the alarm position type, curvature, The radius of curvature of the travel locus of the vehicle calculated in step S150 is stored as the radius, and the traveling direction of the vehicle detected in step S140 is stored as the approach direction. And the process of this flowchart is complete | finished.

  In step S200, the CPU 21 stores the current position of the vehicle detected in step S130 as the alarm position (that is, the alarm curve position) in the empty area of the alarm position data table D4 in the memory 24, “curve” as the alarm position type, and Then, the curvature radius of the traveling locus of the vehicle calculated in step S150 is stored as the curvature radius. And the process of this flowchart is complete | finished.

  Next, the flowchart of the alarm process in FIG. 6 will be described.

  In step T110, the CPU 21 detects the traveling speed of the vehicle based on the vehicle speed signal output from the speed sensor 31. Then, the process proceeds to Step T120.

  In step T120, the CPU 21 acquires the current position of the vehicle based on the position information output from the GPS module 28. Then, the process proceeds to Step T130.

  In step T130, the CPU 21 detects the traveling direction of the vehicle based on the current position of the vehicle acquired in step T120 and the current position of the vehicle acquired immediately before. Then, the process proceeds to Step T140.

  In step T140, the CPU 21 is the alarm position stored in the alarm position data table D4 of the memory 24 and is closest to the current position among the alarm positions approaching from the current position of the vehicle acquired in step T120 (hereinafter referred to as the following). , “Closest alarm position”) and a distance from the current position to the closest alarm position (hereinafter referred to as “approach distance”) is calculated. Then, the process proceeds to Step T150.

  In step T150, the CPU 21 determines whether or not the approach distance calculated in step T140 is less than or equal to the alarm approach distance determination value stored in the ROM 22, and if this approach distance is less than or equal to the alarm approach distance determination value, an alarm is issued. The process proceeds to step T160 (Y in T150), and if this approach distance is larger than the alarm approach distance determination value, the process of this flowchart is terminated as an alarm is unnecessary (N in T150).

  In step T160, the CPU 21 determines whether or not the type stored in the alarm position data table D4 corresponding to the closest alarm position is “intersection”, and if it is “intersection”, the intersection approaches. If it is not “intersection”, the process proceeds to step T180 (N in T160).

  In step T170, the CPU 21 requests the voice output unit 35 to output a voice message that warns that there is an intersection ahead of the vehicle as an approach notification warning. The voice output unit 35 outputs a voice message corresponding to this request (for example, “the intersection is approaching”). Then, the process proceeds to Step T190.

  In step T180, the CPU 21 requests the voice output unit 35 to output a voice message notifying that there is a curve ahead of the vehicle as an approach notification alarm. The voice output unit 35 outputs a voice message corresponding to this request (for example, “the curve is approaching”). And the process of this flowchart is complete | finished.

  In step T190, the CPU 21 determines whether or not the approach direction stored in the alarm position data table D4 corresponding to the closest alarm position matches the traveling direction detected in step T130. If they match, it is assumed that there is a possibility of turning at the alarm position (intersection), and the process proceeds to step T200 (Y in T190). If these do not match, the alarm position (intersection) is assumed to go straight. The process ends.

  In step T200, the CPU 21 detects the operation state of the direction indicator 34 based on the state signal output from the direction indicator 34. Then, the process proceeds to Step T210.

  In step T210, the CPU 21 determines whether or not the direction indicator 34 is in an operating state. If the direction indicator 34 is in an operating state, that is, if it is blinking, the CPU 21 proceeds to step T220 as if turning at an alarm position (intersection). (Y in T210) If it is not in the operating state, that is, if it is in the extinguished state, it is assumed that the alarm position (intersection) goes straight, and the processing of this flowchart is ended (N in T210).

In step T220, the CPU 21 responds to the radius of curvature of the traveling locus of the alarm position stored in the alarm position data table D4 corresponding to the closest alarm position and the vehicle traveling speed detected in step T110. Perform an alarm. Specifically, the lateral acceleration applied to the vehicle is estimated when the alarm position is traveled with the radius of curvature and the travel speed, and the output of the voice message corresponding to the magnitude of the acceleration is performed by the voice output unit 35. To request. The voice output unit 35 outputs a voice message corresponding to this request. As this voice message, for example, when the lateral acceleration is 0.3 [m / s ² ] or less, “beep and crossing. Please be careful.” Is output and 0.3 [m / s ² ] Is output, “Peepy, an intersection. Please reduce the speed.” Is output. In addition to the gravitational acceleration in the lateral direction, an alarm such as a voice message according to the magnitude of the radius of curvature or the level of travel speed may be output. In addition to voice messages, only sound effects may be output, and a display unit such as an LCD or a light emitting unit such as an LED is provided to issue an alarm by displaying a message on the LCD or emitting an LED. You may do it.

  Steps S110 and T110 described above correspond to the speed detection means in the claims, step S120 corresponds to the acceleration detection means in the claims, and steps S130 and T120 correspond to the current position acquisition means in the claims. Steps S140 and T130 correspond to the traveling direction detection means in the claims, Steps S170 and T200 correspond to the direction indicator state detection means in the claims, and Step S150 corresponds to the radius of curvature in the claims. It corresponds to calculation means, and steps S190 and S200 correspond to alarm position storage means in the claims. Further, the above-described steps T170, T180, and T220 correspond to the approach warning means in the claims.

  The present embodiment is not limited to the alarm position learning process and the alarm process shown in the flowcharts of FIGS. 5 and 6 described above. For example, in the alarm process, steps T190 to T220 are omitted and only the approach notification alarm is issued. It is good also as a structure which does not issue an approach warning alarm.

  Or after omitting steps T200 and T210 and issuing an approach notification warning, if the approach direction to the warning intersection position matches the traveling direction of the vehicle, without determining the operating state of the direction indicator, It is good also as a structure which issues an approach warning alarm.

  Or in step T220, it is good also as a structure which issues a fixed approach attention warning irrespective of the curvature radius of a warning intersection position, or the running speed of a vehicle.

Alternatively, after issuing an approach notification alarm notifying that there is a curve ahead of the vehicle in step T180, the lateral acceleration estimated from, for example, the radius of curvature and the traveling speed is 0 as in step T220. When it is less than 3 [m / s ² ], “beep and curve. Please be careful.” Is output, and when it is greater than 0.3 [m / s ² ], it is “beep and curve. For example, a plurality of approach warnings that are different from each other in accordance with the radius of curvature and the traveling speed may be issued even in a curve.

  Alternatively, in steps T170 and T180, similar to step T220, a plurality of approach notification alarms different from each other according to the radius of curvature and the traveling speed may be issued.

  Next, an example of the operation (action) according to the present invention in the drive recorder 2 described above will be described.

(Alarm position learning operation)
The drive recorder 2 detects the traveling speed and lateral acceleration, and calculates the curvature radius of the traveling locus of the vehicle (S110, S120, S150). Further, the current position and traveling direction of the vehicle are acquired (S130, S140).

  And when the said curvature radius is below a predetermined warning curvature radius judgment value (for example, 50 [m]) and the direction indicator is in an operation state (flashing state), The current position as the alarm position and the “intersection” as the type are stored in the alarm position data table D4 of the memory 24. Further, the curvature radius and the traveling direction are stored in the alarm position data table D4 in association with the alarm position (Y in S160, Y in S170, Y in S180, S190).

  Alternatively, when the radius of curvature is equal to or less than the warning curvature radius determination value and the direction indicator is in a stopped state (light-off state), the current position as the alarm position and the type of the alarm are assumed to be a curve that requires attention to travel. The “curve” is stored in the alarm position data table D4 of the memory 24. Further, the curvature radius and the traveling direction are stored in the alarm position data table D4 in association with the alarm position (Y in S160, N in S170, N in S180, S200). This operation is repeated periodically.

(Alarm action)
The drive recorder 2 detects the traveling speed (T110). Further, the current position and traveling direction of the vehicle are acquired (T120, T130). Then, the closest alarm position closest to the current position is searched from the alarm positions stored in the alarm position data table D4 of the memory 24, and the distance from the current position to the closest alarm position is set as the approach distance. Calculate (T140).

When the approach distance is less than a predetermined alarm approach distance judgment value (for example, 100 [m]) and the closest alarm position type is “intersection”, the voice message “intersection is approaching” If the approach direction of the closest alarm position is coincident with the traveling direction, the vehicle is added to the vehicle when traveling at the alarm position based on the radius of curvature of the alarm position and the traveling speed. When the acceleration in the lateral direction is estimated, and the estimated acceleration is 0.1 [m / s ² ] or less, the voice message “Beep, intersection. Be careful.” Is output. If it is greater than 1 [m / s ² ], “Peepy, intersection. Reduce speed” is output (Y at T150, Y at T160, T170, Y at T190, T200).

  Further, when the approach distance is equal to or less than a predetermined alarm approach distance determination value (for example, 100 [m]) and the type of the alarm position closest to the current position is “curve”, the voice message “Curve Is approaching "(Y at T150, N at T160, T180).

  In the present embodiment, the drive recorder 2 includes a CPU 21 (speed detection means P1) that detects the traveling speed of the vehicle, a CPU 21 (acceleration detection means P2) that detects lateral acceleration of the vehicle, and a direction indicator 34 of the vehicle. CPU 21 (direction indicator state detection means P3) for detecting the state of the vehicle, CPU 21 (current position acquisition means P4) for acquiring the current position of the vehicle, and the vehicle based on the traveling speed of the vehicle and the lateral acceleration of the vehicle. CPU 21 (curvature radius calculation means P5) for calculating the radius of curvature of the traveling locus of the vehicle, and when the radius of curvature is equal to or less than a predetermined warning curvature radius determination value and the direction indicator 34 is in the stop state, the current position of the vehicle is determined. The alarm curve position is stored in the memory 24. When the curvature radius is equal to or less than the alarm curvature radius determination value and the state of the direction indicator 34 is the operating state, the current position of the vehicle is determined. The CPU 21 (alarm position storage means P6) that memorizes in the memory 24 as the report intersection position, and the distance from the current position of the vehicle to the alarm curve position or alarm intersection position stored in the memory 24 is below a predetermined alarm approach distance determination value CPU21 (approach alarm means P7) which issues a predetermined approach notification alarm when approaching.

  The drive recorder 2 further includes a CPU 21 (traveling direction detecting means P8) for detecting the traveling direction of the vehicle based on the current position of the vehicle acquired by the CPU 21 (current position acquiring means P4). The storage means P6) is configured to store the traveling direction of the vehicle together with the warning intersection position in the memory 24 as the approach direction to the warning intersection position, and the CPU 21 (access warning means P7) stores the memory 24 from the current position of the vehicle. And the approach direction stored in the memory 24 matches the current traveling direction of the vehicle, and the state of the direction indicator 34 is the operating state. Is configured to issue an approach warning.

  Further, the CPU 21 (approach alarm means P7) is configured to issue a plurality of approach alert alarms that are different from each other according to the traveling speed of the vehicle.

  The CPU 21 (alarm position storage means P6) is further configured to store the curvature radius corresponding to the alarm curve position and the curvature radius corresponding to the alarm intersection position in the memory 24, and the CPU 21 (approach alarm means P7) The vehicle is configured to issue a plurality of different approach caution alerts according to the radius of curvature stored in the memory 24 corresponding to the alert intersection position where the vehicle is approaching the alert approach distance determination value or less.

  As described above, according to the present embodiment, the curvature radius of the traveling locus at the current position of the vehicle is calculated based on the traveling speed and the lateral acceleration of the vehicle, and the curvature radius is a predetermined warning curvature radius determination value. When the direction indicator 34 is in the stop state, the current position of the vehicle is stored in the memory 24 as an alarm curve position, the radius of curvature is equal to or less than the alarm curvature radius determination value, and the state of the direction indicator 34 is When in the operating state, the current position of the vehicle is stored in the memory 24 as a warning intersection position, so that the road shape can be determined without using road map data. Therefore, the apparatus is configured with inexpensive hardware resources. can do. In addition, when the distance from the current position of the vehicle to the alarm curve position or the alarm intersection position stored in the memory 24 approaches a predetermined alarm approach distance determination value, a predetermined approach notification alarm is issued. At the intersection, the driver can be alerted, so that safe driving can be fully supported.

  Further, the traveling direction is detected based on the current position of the vehicle, the traveling direction detected together with the warning intersection position is stored in the memory 24 as the approach direction to the warning intersection position, and the current position of the vehicle is stored in the memory 24. The stored distance to the warning intersection position approaches the warning approach distance determination value or less, the approach direction stored in the memory 24 matches the current traveling direction of the vehicle, and the direction indicator 34 is in the operating state. At a certain time, a predetermined approach warning is issued. For example, in the regular delivery route of cargo, for example, the vehicle often enters and bends from a preset direction at an intersection on the route, and is therefore stored in the memory 24. When the entered approach direction matches the current traveling direction of the vehicle, there is a higher probability that the vehicle will bend at the warning intersection. By issuing a close attention alarm that was so careful to evoke more strongly, such as by increasing the more volume, it is possible to arouse more reliably attention to the driver.

  In addition, since a plurality of different approach warnings are issued according to the traveling speed of the vehicle, it is possible to appropriately call attention according to the traveling state of the vehicle.

  Further, the radius of curvature of the travel locus corresponding to the alarm curve position and the radius of curvature of the travel locus corresponding to the alarm intersection position are further stored in the memory 24, so that the vehicle is approaching the alarm approach distance determination value or less. Correspondingly, since a plurality of different approach warnings are issued according to the radius of curvature stored in the memory 24, it is possible to appropriately call attention according to the traveling state of the vehicle.

  In the present embodiment, the memory 24 is a storage medium in which the alarm curve position and the alarm intersection position are stored. However, the present invention is not limited to this. For example, the memory 24 is a non-volatile memory. Instead, a new hard disk device may be incorporated as a recording medium. Alternatively, the alarm position data table D4 may be stored using the card C inserted into the card insertion unit 29 as a recording medium, and in this way, the alarm curve position and alarm intersection position recorded in each vehicle are driven. The data can be aggregated by the recorder analysis unit 5 and shared among the vehicles, and safe driving can be further supported.

  Further, in this embodiment, a plurality of approach warning warnings of different voice messages are issued according to the lateral acceleration of the vehicle estimated from the radius of curvature and the traveling speed, but the present invention is not limited to this. Absent. For example, (a) When a vehicle approaches an alarm curve position or an alarm intersection position, a low-volume approach notification alarm is issued when the vehicle traveling speed is low, and a high-volume approach notification is issued when the vehicle traveling speed is high. An alarm may be issued, or (b) when approaching the alarm intersection and the direction of approach to the vehicle coincides with the direction of travel of the vehicle, and the vehicle travels at a low speed, a low-volume approach is required. An alarm may be issued and an approach warning alarm with a loud volume may be issued when the vehicle speed is high, or (c) when the radius of curvature is large when approaching an alarm curve position or an alarm intersection position An approach notification alarm with a low volume may be issued, and an approach notification alarm with a high volume may be issued when the radius of curvature is small, or (d) If the direction of approach to the vehicle and the direction of travel of the vehicle coincide with each other, if the radius of curvature is large, an approach warning warning with a low volume is issued, and if the radius of curvature is small, an approach warning with a loud volume is issued. As long as the object of the present invention is not violated, the approach notification warning and the approach warning warning are arbitrary.

  Further, in the present embodiment, the drive recorder as the driving support device has been described. However, the present invention is not limited to this, and for example, other types of in-vehicle devices such as a digital tachograph, independent driving support, etc. An apparatus to which the present invention is applied is arbitrary as long as it does not contradict the object of the present invention.

  In addition, embodiment mentioned above only showed the typical form of this invention, and this invention is not limited to embodiment. That is, various modifications can be made without departing from the scope of the present invention.

1 Drive recorder system 2 Drive recorder (driving support device)
5 Drive recorder analysis unit 21 CPU (speed detection means, acceleration detection means, direction indicator state detection means, current position acquisition means, curvature radius calculation means, alarm position storage means, approach warning means, travel direction detection means)
22 ROM
23 RAM
24 Memory (storage medium)
25a Front camera 25b Rear camera 27a Front acceleration sensor 27b Back acceleration sensor 28 GPS module 29 Card insertion part 30 Interface part 31 Speed sensor 34 Direction indicator 35 Audio output part C Card-like recording medium

Claims (4)

Speed detecting means for detecting the traveling speed of the vehicle;
Acceleration detecting means for detecting lateral acceleration of the vehicle;
Direction indicator state detecting means for detecting the state of the direction indicator of the vehicle;
Current position acquisition means for acquiring the current position of the vehicle;
A radius of curvature calculating means for calculating a radius of curvature of a traveling locus of the vehicle based on the traveling speed and the acceleration;
When the curvature radius is equal to or less than a predetermined warning curvature radius determination value and the direction indicator is in a stopped state, the current position is stored as a warning curve position in a storage medium, and the curvature radius is determined as the warning curvature radius determination. A warning position storage means for storing the current position as a warning intersection position in the storage medium when the value indicator is equal to or less than a value and the state of the direction indicator is an operation state;
An approach alarm means for issuing a predetermined approach notification alarm when a distance from the current position to the alarm curve position or the alarm intersection position stored in the storage medium approaches a predetermined alarm approach distance determination value;
A driving support apparatus characterized by comprising: A traveling direction detecting means for detecting a traveling direction of the vehicle based on the current position acquired by the current position acquiring means;
The warning position storage means is configured to store the traveling direction together with the warning intersection position in the storage medium as an approach direction to the warning intersection position,
The approach warning means is configured so that a distance from the current position to the warning intersection position stored in the storage medium approaches the warning approach distance determination value or less and the approach direction stored in the storage medium and the current vehicle position The driving support device according to claim 1, wherein a predetermined approach caution warning is issued when the traveling direction of the vehicle matches. A traveling direction detecting means for detecting a traveling direction of the vehicle based on the current position acquired by the current position acquiring means;
The warning position storage means is configured to store the traveling direction together with the warning intersection position in the storage medium as an approach direction to the warning intersection position,
The approach warning means is configured so that a distance from the current position to the warning intersection position stored in the storage medium approaches the warning approach distance determination value or less and the approach direction stored in the storage medium and the current vehicle position 2. The driving support device according to claim 1, wherein the approach warning is issued when the traveling direction of the vehicle coincides with the direction of travel and when the direction indicator is in an operating state.   The said approach warning means is comprised so that the several said approach notification warning or said approach attention warning which is mutually different according to the said travel speed may be comprised, The structure of any one of Claims 1-3 characterized by the above-mentioned. Driving assistance device.

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