JP2019105941A - Travel support method and travel support device - Google Patents

Abstract

To provide a driving support method capable of reducing a sense of incongruity which a driving behavior of a host vehicle gives to an occupant of another vehicle.
SOLUTION: A sense of incongruity of an occupant of another vehicle with respect to the driving behavior of the own vehicle is detected, information of the detected sense of incongruity is transmitted from the other vehicle, and the information of incompatibility transmitted is received by the own vehicle (S21, S24). And controls the own vehicle based on the received information on discomfort (S22, S23, S25, S26).
[Selected figure] Figure 8

Description

  The present invention relates to a driving support method and a driving support apparatus.

  DESCRIPTION OF RELATED ART Conventionally, the travel assistance apparatus which sets the target speed of the own vehicle based on the traveling state of the other vehicle acquired by communication between vehicles is known (refer patent document 1). In the travel support device described in Patent Document 1, a large acceleration is set according to the increase in the number of other vehicles for which the travel state can be acquired by inter-vehicle communication.

JP, 2011-48456, A

  However, in the driving support device described in Patent Document 1, the behavior (driving behavior) of the own vehicle is controlled based on the traveling state of the other vehicle acquired by inter-vehicle communication, but there are individual differences in the driving skill and the driving model. In some cases, the controlled driving behavior of the host vehicle may cause the occupants of other vehicles to feel uncomfortable.

  In view of the above problems, the present invention has an object to provide a driving support method and a driving support apparatus capable of reducing a sense of incongruity which a driver's driving action gives to a passenger of another vehicle.

  According to an aspect of the present invention, there is provided a driving assistance method, which detects a sense of discomfort of an occupant of another vehicle with respect to the driving behavior of the own vehicle, and controls the vehicle based on information of the discomfort of the occupant of the other vehicle. A support device is provided.

  According to the present invention, it is possible to provide a driving support method and a driving support apparatus capable of reducing the discomfort that the driving behavior of the host vehicle gives to the occupants of other vehicles.

It is a block diagram showing an example of the run support device concerning a 1st embodiment of the present invention. It is a schematic diagram showing an example of a scene which applies a run supporting method concerning a 1st embodiment of the present invention. It is the schematic of an example of the electrode arrangement | positioning of an electroencephalogram sensor. It is a graph which shows an example of the waveform of an electroencephalogram. It is a graph for demonstrating an example of the discomfort presence determination process which concerns on 1st Embodiment of this invention. It is a flowchart for demonstrating an example of the discomfort presence determination process which concerns on 1st Embodiment of this invention. It is a flowchart by the side of the other vehicle for demonstrating the process by the side of the other vehicle of the driving assistance method which concerns on 1st Embodiment of this invention. It is a flowchart for demonstrating the process by the side of the own vehicle of the driving assistance method which concerns on 1st Embodiment of this invention. It is a schematic diagram showing an example of a scene which applies a run supporting method concerning a 2nd embodiment of the present invention. It is a block diagram showing an example of the run supporting device concerning a 2nd embodiment of the present invention. It is a flowchart by the side of the other vehicle for demonstrating the process by the side of the front of the driving assistance method which concerns on 2nd Embodiment of this invention. It is a flowchart for demonstrating the process by the side of the back car of the driving assistance method which concerns on 2nd Embodiment of this invention. It is a flowchart for demonstrating the process by the side of the own vehicle of the driving assistance method which concerns on 2nd Embodiment of this invention. It is the schematic which shows an example of the scene which applies the driving assistance method which concerns on 3rd Embodiment of this invention. It is a graph which shows the relationship between the inter-vehicle distance with the preceding vehicle of the driving assistance method concerning a 3rd embodiment of the present invention, and the intensity of discomfort. It is a graph which shows the relationship between the relative velocity with the preceding vehicle of the traveling support method concerning a 3rd embodiment of the present invention, and the intensity of discomfort. It is a graph which shows the relationship between the distance between vehicles with the back vehicle of the driving assistance method concerning a 3rd embodiment of the present invention, and the intensity of discomfort. It is a graph which shows the relationship between relative velocity with the back vehicle of the run supporting method concerning a 3rd embodiment of the present invention, and intensity of discomfort. It is a flowchart for demonstrating the process by the side of the own vehicle of the driving assistance method which concerns on 3rd Embodiment of this invention. It is a flowchart for demonstrating the process by the side of the other vehicle of the driving assistance method which concerns on 3rd Embodiment of this invention. It is a flowchart for demonstrating the process by the side of the own vehicle of the driving assistance method which concerns on 3rd Embodiment of this invention. It is a block diagram showing an example of the run supporting device concerning other embodiments of the present invention.

  Hereinafter, first to third embodiments of the present invention will be described with reference to the drawings. In the following description of the drawings, the same or similar reference numerals are attached to the same or similar parts. However, it should be noted that the drawings are schematic, and the relationship between the thickness and the planar dimension, the ratio of the thickness, and the like are different from actual ones. Moreover, it is a matter of course that portions having different dimensional relationships and ratios among the drawings are included. In addition, the first to third embodiments of the present invention shown below exemplify apparatuses and methods for embodying the technical idea of the present invention, and the technical idea of the present invention is a component The material, shape, structure, arrangement, etc. of the above are not specified in the following. The technical idea of the present invention can be variously modified within the technical scope defined by the claims described in the claims.

  In the present specification, “automatic driving” means a driving state in which at least one of steering, braking and driving of the host vehicle is automatically controlled by the travel support device. That is, the automatic driving in the present specification is at least one of steering, braking and driving of the own vehicle in addition to fully automatic driving in which all of steering, braking and driving of the own vehicle are automatically controlled without involving the occupant. One includes driving assistance that is automatically controlled. The automatic driving may be preceding vehicle follow-up control, inter-vehicle distance control, lane deviation prevention control or the like. On the other hand, "manual operation" in the present specification means an operation state in which all of steering, braking and driving are operated by the driver's operation.

First Embodiment
The driving support apparatus according to the first embodiment of the present invention, as shown in FIG. 1, is based on the information of the sense of incongruity that the driving action of the own vehicle (first vehicle) 100 gives to the occupant of the other vehicle (second vehicle) 101. The own vehicle 100 can be controlled so as to reduce the discomfort of the occupant of the other vehicle 101. Here, in the control of the host vehicle 100, the running control of the host vehicle 100 is performed so as to reduce the discomfort of the occupant of the other vehicle 101, and the information based on the discomfort of the occupant of the other vehicle 101 is the occupant of the host vehicle 100. Presentation (information provision).

  The travel support device according to the first embodiment of the present invention is mounted on the other vehicle 101 and the host vehicle 100. Each of the other vehicle 101 and the host vehicle 100 may perform travel control by manual driving or may perform travel control by automatic driving. For example, as shown in FIG. 2, consider a scene in which the other vehicle 101 precedes and the own vehicle 100 follows and travels. The host vehicle 100 may be traveling control by automatic driving such as following vehicle control, or may be traveling control by manual driving of an occupant.

  As shown in FIG. 1, the driving support apparatus according to the embodiment of the present invention includes a processing circuit (first processing circuit) 1a, a communication device (first communication device) 2a, and a surrounding sensor (first communication device) on the other vehicle 101 side. Ambient sensor) 3a, biometric information sensor (electroencephalogram sensor) 4, and camera 10 inside the vehicle. The first processing circuit 1a, the first communication device 2a, the first surrounding sensor 3a, the brain wave sensor 4 and the in-vehicle camera 10 can transmit and receive data and signals by wire or wireless such as a controller area network (CAN) bus is there.

  The first surrounding sensor 3 a is a sensor that detects the surrounding environment (surrounding situation) of the other vehicle 101 including the front situation and the rear situation of the other vehicle 101. The first surrounding sensor 3a includes the first camera 31a and the first radar 32a, but the type and the number of the first surrounding sensors 3a are not limited thereto. As the first camera 31a, a CCD camera or the like can be used. The first camera 31a may be a monocular camera or a stereo camera. The first camera 31a captures the surrounding environment of the other vehicle 101, detects from the captured image data of the surrounding environment such as the relative position to the object such as the vehicle, the distance to the object, etc. It outputs to the first processing circuit 1a. For example, a millimeter wave radar, a laser radar, a laser range finder (LRF) or the like can be used as the first radar 32a. The first radar 32a detects data of the surrounding environment including the relative position with the object, the distance with the object, and the relative velocity with the object, and outputs the detected data of the surrounding environment to the first processing circuit 1a.

  The electroencephalogram sensor 4 has a plurality of electrodes, and the plurality of electrodes are attached to the head of a passenger (for example, a driver or a passenger other than the driver). For example, as shown in FIG. 3, the plurality of electrodes of the electroencephalogram sensor 4 are disposed on the tops Fz, Fcz, Cz, and CPz of the occupant involved in the cognitive function in accordance with the international 10-20 method. Although the attachment method to the head of several electrodes which the brain wave sensor 4 has is not specifically limited, For example, you may be comprised by the mounting | wearing type | formula electrode cap, band, net | network etc. which provided several electrodes. The electroencephalogram sensor 4 detects data of the electroencephalogram (brain activity) of the occupant, and outputs the data of the detected electroencephalogram to the first processing circuit 1a.

  The first processing circuit 1a is a controller such as an electronic control unit (ECU) that performs arithmetic logic operation of processing necessary for the operation performed by the travel support device according to the first embodiment of the present invention. And an input / output interface. The processor may correspond to a microprocessor equivalent to a central processing unit (CPU) including an arithmetic logic unit (ALU), a control circuit (control unit), various registers, etc., an image processing unit (GPU), etc. it can. A storage device built in or externally attached to the first processing circuit 1a may be a semiconductor memory, a disk medium, etc., and may include a storage medium such as a register, a cache memory, and a ROM and RAM used as a main storage device. . For example, the processor may execute a program stored in advance in the storage device and indicating a series of processes necessary for the operation of the driving assistance apparatus according to the first embodiment of the present invention.

  The first processing circuit 1 a includes logical blocks such as the approach recognition unit 11 and the discomfort determination unit (discomfort detection unit) 12 as functional or physical hardware resources. These logic blocks may be physically configured by programmable logic devices (PLDs) such as field programmable gate arrays (FPGAs), and are equivalently processed by software in a general-purpose semiconductor integrated circuit. It may be a functional logic circuit or the like set to. Further, the proximity recognition unit 11 and the discomfort determination unit 12 and the like that configure the first processing circuit 1a may be configured by a single piece of hardware, or may be configured by separate pieces of hardware. For example, the first processing circuit 1a can be configured by a car navigation system such as an in-vehicle infotainment (IVI) system and a driving support system such as an advanced driving support system (ADAS).

  The approach recognition unit 11 detects a vehicle approaching the other vehicle 101 based on the surrounding situation of the other vehicle 101 detected by the first surrounding sensor 3a. For example, in the approach recognition unit 11, the distance between the other vehicle 101 and the vehicle 100 detected by the first surrounding sensor 3a is within a predetermined distance range, and the relative speed of the vehicle 100 relative to the other vehicle 101 is predetermined. If it is equal to or higher than the threshold value, it is recognized that the host vehicle 100 is approaching.

  Here, the discomfort determination unit 12 illustrated in FIG. 1 detects the discomfort of the occupant of the other vehicle 101 with respect to the driving action (travel control) of the own vehicle 100 approaching the other vehicle 101. Due to a gap between the driving behavior of the own vehicle 100 and the driving behavior assumed by the occupant of the other vehicle 101 due to the individual differences in the driving skill of the occupant and the driving model, the occupant of the other vehicle 101 is When looking at the driving behavior of the vehicle 100, a sense of discomfort may be felt. For example, when the relative speed of the own vehicle 100 approaching the other vehicle 101 is higher than the relative speed assumed (sense of safety) by the occupant of the other vehicle 101, the occupant of the other vehicle 101 is considered to feel discomfort. When the inter-vehicle distance between the other vehicle 101 and the host vehicle 100 is smaller than the inter-vehicle distance assumed by the occupant of the other vehicle 101 (which is considered to be safe), the occupant of the other vehicle 101 is considered to feel uncomfortable.

  For example, in the scene shown in FIG. 2, the relative speed s1 of the own vehicle 100 approaching the other vehicle 101 is high, and the inter-vehicle distance D1 between the other vehicle 101 and the own vehicle 100 is decreasing. At this time, when the occupant of the other vehicle 101 looks at the other vehicle 101 with a room mirror, a side mirror, etc., and the relative speed s1 between the other vehicle 101 and the vehicle 100 is higher than assumed by the occupant of the other vehicle 101, When the inter-vehicle distance D1 between the vehicle 101 and the host vehicle 100 becomes smaller, the driving behavior of the host vehicle 100 may give a sense of discomfort to the occupant of the other vehicle 101.

  The discomfort determination unit 12 detects the discomfort of the occupant of the other vehicle 101 from the data of the brain waves of the occupant of the other vehicle 101 detected by the brain wave sensor 4. The discomfort determination unit 12 performs frequency analysis on the brain wave data of the occupant detected by the brain wave sensor 4 and detects an event related potential (ERP) indicating a reaction of the brain appearing as a result of thinking or cognition. To detect the occurrence of discomfort. For example, the memory device of the first processing circuit 1a stores in advance the brain wave pattern when the occupant feels discomfort, and the brain wave pattern stored in the memory device of the first processing circuit 1a and the brain wave sensor 4 The discomfort of the occupant may be detected from the degree of coincidence with the detected electroencephalogram pattern.

  For example, as shown in FIG. 4, the discomfort determination unit 12 extracts N feature quantities p1, p2,..., PN from an electroencephalogram signal for a predetermined time T (for example, 500 milliseconds), and an electroencephalogram feature vector P = ( Generate p1, p2, ..., pN). For example, values sampled at constant intervals can be used as the feature quantities. Further, as shown in FIG. 5, the discomfort determination unit 12 determines the feature amount region D when the feature amount of the electroencephalogram when feeling discomfort is arranged in the feature space. For example, if there are a plurality of samples, the feature amount region D is determined as a feature amount region D. A circle centered on the center of gravity of the vector set {P} and including the set {P}. The discomfort determination unit 12 compares the feature vector P of the occupant's brain wave measured in real time by the brain wave sensor 4 with the feature amount region D of the discomfort, and if the feature vector P of the brain wave belongs to the feature region D, the occupant's It is determined that there is a sense of discomfort. On the other hand, when the feature vector P of the electroencephalogram does not belong to the feature amount region D, the discomfort determination unit 12 determines that the occupant does not feel discomfort.

  Further, if there is data on the brain wave when the occupant feels discomfort with the normal brain wave, the discomfort judging unit 12 sets the plane P0 shown in FIG. 5 by the linear discrimination method, and uses the plane P0. The presence or absence of an occupant's discomfort may be determined. In addition, the discomfort determination unit 12 may determine the presence or absence of the occupant discomfort by machine learning such as a support vector machine (SVM) or a neural network method.

  Furthermore, from the data of the brain waves of the occupant of the other vehicle 101 detected by the brain wave sensor 4, the discomfort determination unit 12 can also calculate the strength of the discomfort of the occupant of the other vehicle 101. For example, based on the relative position of the arrangement position of the feature vector P of the electroencephalogram in the feature space shown in FIG. 5 and the center of the feature amount region D, the degree of discomfort of the occupant of the vehicle 101 can be calculated. For example, as the arrangement position of the feature vector P of the electroencephalogram in the feature space shown in FIG. 5 approaches the center of the feature amount region D, the occupant's uncomfortable feeling of the vehicle 101 is calculated stronger and the arrangement position of the feature vector P features As the distance from the center of the amount region D increases, the degree of discomfort is calculated to be weaker.

  Next, an example of the method for determining the presence or absence of discomfort will be described with reference to the flowchart of FIG. In step S1, the electroencephalogram sensor 4 measures an occupant's electroencephalogram signal in real time. In step S2, the brain wave signal measured for a predetermined time T (for example, 500 milliseconds) is stored in the storage device 7. In step S3, the discomfort determination unit 12 extracts N feature quantities from the electroencephalogram signal for a predetermined time T, and generates feature vectors P = (p1, p2,..., PN) of the electroencephalogram. In step S4, the feature amount region D when placed in the feature space from the storage device of the first processing circuit 1a is read out, and the feature vector P of the electroencephalogram measured in real time from the occupant and the feature amount region D of discomfort are compared. If the feature vector P of the electroencephalogram belongs to the feature amount region D, the process proceeds to step S5, and it is determined that the occupant has a sense of discomfort. On the other hand, if the feature vector P of the electroencephalogram does not belong to the feature amount region D in step S4, the process proceeds to step S6, and it is determined that the occupant does not feel discomfort.

  When it is determined by the approach recognition unit 11 that there is a sense of discomfort with the occupant of the other vehicle 101 at the timing when the own vehicle 100 approaching the other vehicle 101 is recognized by the approach recognition unit 11, the discomfort determination unit 12 illustrated in FIG. It is estimated that the driver's discomfort of the other vehicle 101 is felt with respect to the driving behavior of 100. And the discomfort determination part 12 transmits the information of discomfort of the passenger | crew of the other vehicle 101 to the own vehicle 100 from the other vehicle 101 via the 1st communication apparatus 2a. The information on the discomfort of the occupant of the other vehicle 101 includes identification information of the other vehicle 101. Furthermore, the information on the discomfort of the occupant of the other vehicle 101 may include the strength of the discomfort of the occupant of the other vehicle 101.

  When it is determined that the occupant of the other vehicle 101 has a sense of discomfort, the occupant of the other vehicle 101 may feel discomfort due to reasons other than the driving behavior of the host vehicle 100 approaching the other vehicle 101. Therefore, when the discomfort determination unit 12 determines that there is a sense of discomfort of the occupant of the other vehicle 101, whether the discomfort of the occupant of the other vehicle 101 is caused by the driving behavior of the own vehicle 100 approaching the other vehicle 101 or not. It may be determined. Then, when it is determined that the discomfort of the occupant of the other vehicle 101 is caused by the driving action of the own vehicle 100, the discomfort determination unit 12 transmits the information of the discomfort of the occupant of the other vehicle 101, and the discomfort of the occupant of the other vehicle 101. When it is determined that the vehicle is not caused by the driving action of the own vehicle 100, the process of not transmitting the information on the discomfort of the occupant of the other vehicle 101 may be performed.

  For example, the in-vehicle camera 10 detects the gaze direction of the occupant of the other vehicle 101. When the visual line direction of the occupant of the other vehicle 101 detected by the in-vehicle camera 10 corresponds to the position (orientation) of the own vehicle 100 approaching from the front of the other vehicle 101, the discomfort determination unit 12 determines the other vehicle 101. It may be determined that the driver's sense of incongruity is caused by the driving behavior of the vehicle 100. On the other hand, when the own vehicle 100 is traveling behind the other vehicle 101, the line of sight direction of the occupant of the other vehicle 101 detected by the in-vehicle camera 10 corresponds to the position (azimuth) of the rearview mirror or side mirror, etc. Alternatively, it may be determined that the discomfort of the occupant of the other vehicle 101 is caused by the driving action of the host vehicle 100.

  The first communication device 2a can perform inter-vehicle communication with a vehicle such as the host vehicle 100, and communication between a roadside device and a road. The first communication device 2a transmits, from the other vehicle 101, the information on the discomfort of the occupant of the other vehicle 101, which is output from the discomfort determination unit 12, to the vehicle such as the host vehicle 100 traveling around the other vehicle 101.

  The driving support apparatus according to the first embodiment of the present invention includes a processing circuit (second processing circuit) 1b, a communicator (second communicator) 2b, and an ambient sensor (second ambient sensor) 3b on the host vehicle 100 side. A vehicle sensor 6, a storage device 7, an output interface (I / F) 8 and an actuator 9 are provided. The second processing circuit 1b, the second communication device 2b, the second surrounding sensor 3b, the vehicle sensor 6, the storage device 7, the output I / F 8 and the actuator 9 transmit and receive data and signals by wire or wireless such as a CAN bus. It is possible.

  The configuration of the second communication device 2b is the same as that of the first communication device 2a. The second communication device 2 b receives, by the vehicle 100, the information on the discomfort of the occupant of the other vehicle 101 transmitted by the first communication device 2 a. The first communication device 2a outputs the received information on the discomfort of the occupant of the other vehicle 101 to the second processing circuit 1b. The second communication device 2b may directly receive the information on the discomfort of the occupant of the other vehicle 101 transmitted by the first communication device 2a, and may receive it via a relay device such as a roadside device or a communication network such as the Internet. You may

  The second surrounding sensor 3 b is a sensor that detects the surrounding environment (surrounding situation) of the own vehicle 100 including the front situation and the rear situation of the own vehicle 100. The second surrounding sensor 3 b includes a second camera 31 b and a second radar 32 b. The configurations of the second camera 31b and the second radar 32b are the same as those of the first camera 31a and the second radar 32a. The second camera 31 b and the second radar 32 b detect data of the surrounding environment of the vehicle 100, and output the detected data of the surrounding environment to the second processing circuit 1 b.

  The vehicle sensor 6 is a sensor that detects the current position of the vehicle 100 and the traveling state of the vehicle 100. The vehicle sensor 6 includes a global positioning system (GNSS) receiver 61, a vehicle speed sensor 62, an acceleration sensor 63, and an angular velocity sensor 64. In addition, the kind and number of objects of the vehicle sensor 6 are not limited to this.

  The GNSS receiver 61 is a global positioning system (GPS) receiver or the like, receives radio waves from a plurality of navigation satellites, acquires the current position of the vehicle 100, and performs the second process on the acquired current position of the vehicle 100. It outputs to the circuit 1b. The second processing circuit 1 b checks the current position of the vehicle 100 acquired by the GNSS receiver 61 against the map data MD stored in the storage device 7, and the vehicle on the map data MD stored in the storage device 7. Set the current position of 100. The first processing circuit 1a sets a planned travel route from the current position of the vehicle 100 on the set map data MD to a destination set by an occupant or the like, and the vehicle 100 along the set planned travel route. It is possible to control the traveling of the vehicle or to present the guidance information of the planned traveling route to the occupant.

  The vehicle speed sensor 62 detects the wheel speed of the host vehicle 100, detects the vehicle speed from the detected wheel speed, and outputs the detected vehicle speed to the second processing circuit 1b. The acceleration sensor 63 detects the acceleration in the front-rear direction and the vehicle width direction of the host vehicle 100, and outputs the detected acceleration to the second processing circuit 1b. The angular velocity sensor 64 detects the angular velocity of the host vehicle 100, and outputs the detected angular velocity to the second processing circuit 1b.

  As the storage device 7, a semiconductor storage device, a magnetic storage device, an optical storage device or the like can be used. The storage device 7 may be built in the second processing circuit 1 b.

  The second processing circuit 1b is a controller such as an ECU that performs arithmetic logic operation of processing necessary for the operation performed by the travel support device according to the first embodiment of the present invention, and for example, a processor, a storage device, and an input / output interface You may have. The processor may correspond to an ALU, a control circuit (control device), a CPU including various registers, a microprocessor equivalent to a GPU, or the like. The storage device incorporated in or externally attached to the second processing circuit 1b may be a semiconductor memory, a disk medium, or the like, and may include storage media such as a register, a cache memory, and a ROM and RAM used as a main storage device. . For example, the processor may execute a program stored in advance in the storage device and indicating a series of processes necessary for the operation of the driving assistance apparatus according to the first embodiment of the present invention.

  The second processing circuit 1b includes logical blocks, such as a sense of incongruity recognition unit 51, a relationship calculation unit 52, a presentation control unit 53, and a travel control unit 54, as functional or physical hardware resources. These logic blocks may be physically configured by PLDs such as FPGAs, or may be functional logic circuits etc. equivalently set in a general-purpose semiconductor integrated circuit by software processing. In addition, the sense of incongruity recognition unit 51, the relationship calculation unit 52, the presentation control unit 53, the travel control unit 54, and the like, which constitute the second processing circuit 1b, may be configured by a single piece of hardware, and It may be configured. For example, the second processing circuit 1b can be configured by a car navigation system such as an IVI system and a driving support system such as an ADAS.

  The sense of incongruity recognition unit 51 recognizes that the occupant of the other vehicle 101 has given an uncomfortable feeling based on the information on the discomfort of the occupant of the other vehicle 101 received by the first communication device 2a, and the occupant who feels discomfort feels riding. The other vehicle 101 is recognized. For example, based on the identification information of the other vehicle 101 included in the information on the discomfort of the occupant of the other vehicle 101, the occupant giving the discomfort identifies the other vehicle 101 on board.

  The relationship calculating unit 52 calculates the relative relationship between the other vehicle 101 and the host vehicle 100 recognized by the discomfort recognition unit 51. For example, the relationship calculating unit 52 calculates an inter-vehicle distance D1 between the other vehicle 101 and the own vehicle 100 and a relative speed s1 of the other vehicle 101 and the own vehicle 100. The relationship calculation unit 52 divides the inter-vehicle distance D1 between the other vehicle 101 and the host vehicle 100 by the relative speed s1 between the other vehicle 101 and the host vehicle 100 to obtain the collision margin time (TTC) of the other vehicle 101 and the host vehicle 100. calculate. The TTC increases as the inter-vehicle distance D1 between the other vehicle 101 and the host vehicle 100 increases, and decreases as the relative speed s1 during the approach between the other vehicle 101 and the host vehicle 100 increases.

  The traveling control unit 54 outputs the control signal for controlling the actuator 9 based on the data of the surrounding environment detected by the second surrounding sensor 3b, the set planned traveling route, etc. Take control. The traveling control unit 54 may perform automatic driving in which all of drive control, braking control, and steering control are performed without the involvement of the occupant. Alternatively, the traveling control unit 54 may perform automatic driving in which at least a portion of drive control, braking control, and steering control is performed, and the occupant may execute a part of the driving operation.

  When the discomfort recognition unit 51 recognizes the discomfort of the occupant of the other vehicle 101, the traveling control unit 54 performs traveling control of the host vehicle 100 so as to reduce the discomfort of the occupant of the other vehicle 101. For example, the traveling control unit 54 performs traveling control of the own vehicle 100 so as to increase the TTC of the other vehicle 101 and the own vehicle 100 calculated by the relationship calculating unit 52.

  For example, in the scene shown in FIG. 2, the traveling control unit 54 decelerates the own vehicle 100 when the strangeness recognizing unit 51 recognizes the strangeness of the occupant of the other vehicle 101, thereby approaching the other vehicle 101. Adjust the relative speed s1 of 100 to 0. Furthermore, the traveling control unit 54 may adjust the inter-vehicle distance D1 between the other vehicle 101 and the host vehicle 100 by a predetermined distance. The predetermined distance can be set as appropriate. Alternatively, the travel control unit 54 sequentially adjusts the inter-vehicle distance D1 while the discomfort recognition unit 51 sequentially recognizes the discomfort of the occupant of the other vehicle 101, and the inter-vehicle distance when the discomfort of the occupant of the other vehicle 101 is not recognized You may maintain D1.

  The presentation control unit 53 reduces the sense of discomfort of the occupant of the other vehicle 101 or the sense of discomfort of the occupant of the other vehicle 101 when the sense of discomfort of the occupant of the other vehicle 101 is recognized by the discomfort recognition unit 51. The output I / F 8 is controlled such that information based on the information on the discomfort of the occupant of the other vehicle 101, such as the driving operation, is presented to the occupant of the host vehicle 100 (information provision). The presentation control unit 53 may present to which of the vehicles around the host vehicle 100 the occupant of the vehicle has a sense of discomfort (that is, the source of the sense of incongruity). Thus, the occupant of the host vehicle 100 can be made to pay attention to the other vehicle 101, and a driving operation for reducing the discomfort of the occupant of the other vehicle 101 can be urged.

  The actuator 9 controls the traveling of the vehicle 100 in accordance with the control signal from the traveling control unit 54. The actuator 9 includes an accelerator actuator 91, a brake actuator 92, and a steering actuator 93. The accelerator actuator 91 is, for example, a throttle valve, and controls the accelerator opening degree of the host vehicle 100. The brake actuator 92 includes, for example, a hydraulic circuit, and controls the braking operation of the brake of the host vehicle 100. The steering actuator 93 is, for example, a motor capable of transmitting torque to the steering shaft, and controls the steering amount of the steering shaft.

  The output I / F 8 presents information to the occupant in response to the control signal from the presentation control unit 53. The output I / F 8 includes a display device 81, a speaker 82, and a vibration device 83. As the display device 81, for example, a display such as a liquid crystal display (LCD) or a head-up display (HUD) can be adopted. The display device 81 displays or projects character information, an icon, etc., to the effect that the occupant of the other vehicle 101 felt discomfort, information for identifying the other vehicle 101 on which the occupant feels uncomfortable, and the other vehicle The positional relationship between the vehicle 101 and the vehicle 100 is visually presented.

  The speaker 82 produces a sound or a notification sound, or forms a sound field that causes the occupant to perceive a specific direction, thereby providing an indication that the occupant of the other vehicle 101 has felt discomfort or an occupant who felt discomfort. Information aurally presents the occupant with information for identifying the other vehicle 101 while riding, the positional relationship between the other vehicle 101 and the host vehicle 100, and the like.

  As the vibration device 83, for example, a vibrator driven by an electric motor built in a seat on which an occupant sits can be used. The vibration device 83 tactilely presents, to the passenger, the positional relationship between the other vehicle 101 and the host vehicle 100 to the effect that the occupant of the other vehicle 101 has a sense of discomfort by the vibration. For example, the vibrating device 83 may have a plurality of vibrators, and the relative position of the other vehicle 101 may be presented by selectively vibrating the vibrator according to the relative position of the other vehicle 101. Alternatively, the relative position of the other vehicle 101 may be presented by vibrating in a vibration pattern according to the relative position of the vehicle.

  The output I / F 8 may change the method of presenting information based on the degree of incongruity included in the information on the incongruity of the occupant of the other vehicle 101 received by the first communication device 2a. For example, the output I / F 8 presents information such that the greater the degree of incongruity is, the more likely the driver of the vehicle 100 gets the attention, and the lesser the level of incompatibility is, the more easily the information of the occupant of the vehicle 100 gets more attention. To present. For example, the display device 81 may change the degree of emphasis by flickering, brightness, or the like based on the degree of incongruity included in the information on the incongruity of the occupant of the other vehicle 101. The speaker 82 may change the volume of the voice or the notification sound based on the level of the sense of incongruity included in the information on the sense of incongruity of the occupant of the other vehicle 101. The vibration device 83 may change the vibration intensity (amplitude or vibration cycle) in accordance with the intensity of the sense of incongruity included in the information on the sense of incongruity of the occupant of the other vehicle 101.

<Driving support method>
Next, an example of the driving support method according to the first embodiment of the present invention will be described with reference to the flowcharts of FIGS. 7 and 8. FIG. 7 shows a flowchart of processing on the other vehicle 101 side, and FIG. 8 shows a flowchart of processing on the host vehicle 100 side.

  In step S11 of FIG. 7, the first surrounding sensor 3a of the other vehicle 101 detects data of the surrounding environment of the other vehicle 101. The data of the surrounding environment includes the relative position of the own vehicle 100 with respect to the other vehicle 101, the distance between the other vehicle 101 and the own vehicle 100, and the relative speed between the other vehicle 101 and the own vehicle 100. The approach recognition unit 11 recognizes the own vehicle 100 approaching to the other vehicle 101 within a predetermined distance range from the other vehicle 101 based on the data of the surrounding environment detected by the first surrounding sensor 3a.

  In step S12, the electroencephalogram sensor 4 detects data of the electroencephalogram of the occupant of the other vehicle 101. In step S13, based on the data of the electroencephalogram detected by the electroencephalogram sensor 4, the discomfort determination unit 12 recognizes that the own vehicle 100 is approaching the other vehicle 101 by the approach recognition unit 11, the other vehicle 101 Determine the presence or absence of discomfort for the occupants of If it is determined that the occupant of the other vehicle 101 is not uncomfortable, the process is completed.

  On the other hand, when it is determined in step S13 that the occupant of the other vehicle 101 has a sense of discomfort, the driving skill and driving model that the occupant of the other vehicle 101 assumes (believe safety) with respect to the behavior (driving behavior) of the own vehicle 100. Since it does not correspond with, it is estimated that the passenger | crew of the other vehicle 101 felt discomfort. In this case, the process proceeds to step S14, and the discomfort determination unit 12 transmits information on the discomfort of the occupant of the other vehicle 101 to the vehicle 100 via the first communication device 2a.

  When it is determined in step S13 that there is a sense of discomfort of the occupant of the other vehicle 101, the discomfort determination unit 12 further determines the other vehicle 101 based on the gaze direction of the occupant of the other vehicle 101 detected by the in-vehicle camera 10. It may be determined whether or not the driver's discomfort is caused by the behavior (driving behavior) of the vehicle 100. Then, when it is determined that the discomfort of the occupant of the other vehicle 101 is caused by the behavior of the own vehicle 100, the information of the discomfort of the occupant of the other vehicle 101 is transmitted, and the discomfort of the occupant of the other vehicle 101 is the behavior of the own vehicle 100. When it is determined that the cause is not caused, processing may be performed in which information on the discomfort of the occupant of the other vehicle 101 is not transmitted.

  On the other hand, in step S21 of FIG. 8, the second communication device 2b of the host vehicle 100 receives the information on the discomfort of the occupant of the other vehicle 101 transmitted by the first communication device 2a. In step S22, the discomfort recognition unit 51 recognizes the other vehicle 101 in which the occupant feels discomfort based on the information on the discomfort of the occupant in the other vehicle 101 received by the first communication device 2a. Furthermore, the relationship calculating unit 52 calculates the relative relationship between the other vehicle 101 and the host vehicle 100 recognized by the discomfort recognition unit 51. For example, the relationship calculation unit 52 calculates the inter-vehicle distance D1 between the other vehicle 101 and the host vehicle 100, the relative speed of the other vehicle 101 and the host vehicle 100, and the TTC of the other vehicle 101 and the host vehicle 100.

  In step S23, the traveling control unit 54 performs traveling control of the vehicle 100 so as to reduce the discomfort of the occupant of the other vehicle 101. For example, the traveling control unit 54 controls the speed of the own vehicle 100 based on the relative speed of the other vehicle 101 and the own vehicle 100 calculated by the relationship calculating unit 52, so that the relative speed of the other vehicle 101 and the own vehicle 100 is Is adjusted to 0 (in other words, the TTCs of the other vehicle 101 and the host vehicle 100 are increased). The presentation control unit 53 presents the occupant of the vehicle 100 with information prompting deceleration so that the relative position of the other vehicle 101 with respect to the vehicle 100 and the relative speed between the other vehicle 101 and the vehicle 100 are adjusted to zero. You may

  In step S24, after adjusting the relative speed of the other vehicle 101 and the host vehicle 100 to 0, the discomfort recognition unit 51 receives again the discomfort of the occupant of the other vehicle 101 by the second communication device 2b of the host vehicle 100 Determine if When not receiving the information on the discomfort of the occupant of the other vehicle 101 again, the process proceeds to step S25, and the traveling control unit 54 maintains the current inter-vehicle distance D1 between the other vehicle 101 and the own vehicle 100 calculated by the relationship calculating unit 52. Run control to do the same. Alternatively, the presentation control unit 53 presents, to the occupant of the vehicle 100, information that promotes the maintenance of the current inter-vehicle distance D1 between the other vehicle 101 and the vehicle 100, to the effect that the discomfort of the occupant of the other vehicle 101 has been eliminated. You may

  On the other hand, when the second communication device 2b of the own vehicle 100 receives the discomfort of the occupant of the other vehicle 101 again in step S24, and the discomfort recognition unit 51 recognizes the discomfort of the occupant of the other vehicle 101 again, Since the current inter-vehicle distance D1 of the own vehicle 100 is small, it is assumed that the discomfort of the occupant of the other vehicle 101 is not eliminated, and the process proceeds to step S26. In step S26, the traveling control unit 54 increases the current inter-vehicle distance D1 between the other vehicle 101 and the vehicle 100 calculated by the relationship calculating unit 52 (in other words, the TTC of the other vehicle 101 and the vehicle 100 is made larger). Do the driving control as you do. Alternatively, the presentation control unit 53 may present, to the occupant of the host vehicle 100, information prompting to increase the current inter-vehicle distance D1 between the other vehicle 101 and the host vehicle 100. Thereafter, the process returns to step S24, and the inter-vehicle distance D1 is increased until the discomfort of the occupant of the other vehicle 101 is eliminated.

  As described above, according to the first embodiment of the present invention, the discomfort of the occupant of the other vehicle 101 with respect to the driving behavior (behavior) of the own vehicle 100 is detected, and the information of the discomfort of the occupant of the other vehicle 101 is detected. It transmits from the other vehicle 101. Information on the discomfort of the occupant of the other vehicle 101 is received by the one vehicle 100, and the discomfort of the occupant of the other vehicle 101 is reduced by controlling the vehicle 100 based on the received information on the discomfort of the occupant of the other vehicle 101. can do. For example, by performing travel control of the own vehicle 100 based on the information of the discomfort of the occupant of the other vehicle 101, the travel control conforms to the driving skill and the driving model of the occupant of the other vehicle 101, and the discomfort of the occupant of the other vehicle 101 It can be reduced.

  Furthermore, information is provided to the occupant of the host vehicle 100 based on the information on the discomfort of the occupant of the other vehicle 101. As a result, when the driver's vehicle 100 is in manual operation, the driver of the driver's vehicle 100 can easily recognize the discomfort of the passenger of the other vehicle 101, and after recognizing the driver's discomfort of the driver of the other vehicle 101, the driver's vehicle 100 driving operations can be performed. Further, when the host vehicle 100 is in automatic driving, it is possible for the occupant of the host vehicle 100 to easily understand that the traveling control of the host vehicle 100 is performed to reduce the discomfort of the occupant of the other vehicle 101. A sense of security can be given to the occupants of the own vehicle 100 with respect to the travel control of the own vehicle 100.

  Furthermore, information for specifying the other vehicle 101 that is the source of the discomfort may be presented to the occupant. As a result, the occupant of the host vehicle 100 pays attention to the other vehicle 101, which is a source of discomfort, and performs a driving operation, or performs a driving operation so as to avoid the other vehicle 101. The discomfort of the occupant can be reduced.

  Furthermore, when presenting information on the occupant's discomfort of the occupant of the other vehicle 101 to the occupant of the vehicle 100, by defining which occupant of the vehicle has the discomfort in the sound field by the speaker 82, The occupant of the vehicle can intuitively recognize the positional relationship between the vehicle that is the source of discomfort and the vehicle 100. Further, by generating a vibration that indicates a specific direction by the vibration device 83 built in the seat, it is possible to intuitively recognize the positional relationship between the vehicle that is the source of discomfort and the host vehicle 100. Further, by visually presenting the occupant of which vehicle has a sense of discomfort with the display device 81, it is possible to intuitively recognize the positional relationship between the vehicle that is the source of the sense of discomfort and the host vehicle 100.

  Furthermore, based on the electroencephalogram detected by the electroencephalogram sensor 4, the discomfort determination unit 12 can calculate the intensity of the discomfort of the occupant of the other vehicle 101. The discomfort determination unit 12 may transmit the information on the discomfort of the occupant of the other vehicle 101 including the calculated intensity of the discomfort of the occupant of the other vehicle 101. The presentation control unit 53 of the own vehicle 100 adjusts the presentation method to the occupant of the own vehicle 100 according to the sense of discomfort of the occupant of the other vehicle 101, so that the sense of discomfort of the occupant of the other vehicle 101 is weak. In the case of less than the threshold value, by reducing the degree of presentation to the occupant of the host vehicle 100, the annoyance felt by the occupant of the host vehicle 100 can be reduced. On the other hand, when the intensity of the sense of incongruity of the occupant of the other vehicle 101 is strong and equal to or greater than the predetermined threshold, the occupant of the own vehicle 100 can be alerted by increasing the degree of presentation to the occupant of the own vehicle 100. Furthermore, the occupant of the host vehicle 100 can easily grasp the level of discomfort of the occupant of the other vehicle 101.

  Furthermore, by performing travel control of the own vehicle 100 based on the information of the discomfort of the occupant of the other vehicle 101, the driving skill and the driving model of the occupant of the other vehicle 101 are matched to reduce the discomfort of the occupant of the other vehicle 101. Running control can be performed.

  Furthermore, when the other vehicle 101 precedes and the inter-vehicle distance control between the other vehicle 101 and the own vehicle 100 is performed while the own vehicle 100 follows and travels, the sense of discomfort of the occupant of the other vehicle 101 which is the forward vehicle is detected In this case, the distance between the other vehicle 101 and the host vehicle 100 is increased, and the host vehicle 100 is controlled to make the relative speed between the other vehicle 101 and the host vehicle 100 close to zero. The discomfort of the occupant of the vehicle 101 can be reduced.

  Further, in the first embodiment of the present invention, the scene in which the own vehicle 100 approaches from the rear to the other vehicle 101 which is the forward vehicle is illustrated, but the scene in which the own vehicle 100 approaches from the front to the other vehicle 101 which is the backward vehicle. Is also conceivable. In this case, when the discomfort of the occupant of the other vehicle 101 that is the rear vehicle is received, the relative speed of the own vehicle 100 approaching the other vehicle 101 is high in the approaching direction, and thus the occupant of the other vehicle 101 that is the rear vehicle It can be estimated that I felt something strange. Therefore, the speed of the host vehicle 100 may be controlled (accelerated) so that the relative speed between the other vehicle 101 and the host vehicle 100 is zero.

Second Embodiment
<Travel support device>
The driving support apparatus according to the second embodiment of the present invention is, as shown in FIG. 9, the other vehicle (forward vehicle) 101 and the other vehicle (rear vehicle) 102 with respect to the driving behavior of the host vehicle (first vehicle) 100. The own vehicle 100 can be controlled so as to reduce the discomfort of the occupants of the other vehicles 101 and 102 based on the information of the discomfort of the occupants of each of the above. The own vehicle 100 performs inter-vehicle distance control with the other vehicles 101 and 102 so as to follow the other vehicle 101 and precede the other vehicle 102. Under the present circumstances, each crew member of other vehicles 101 and 102 may feel discomfort with respect to the driving action of the driving action of the own vehicle 100, when seeing the own vehicle 100 through a front window or with a rearview mirror etc. .

  The travel support device according to the second embodiment of the present invention is mounted on the other vehicles 101 and 102 and the host vehicle 100. The configuration of the driving support apparatus according to the second embodiment of the present invention mounted on the vehicle 100 and the other vehicle 101 is the same as the configuration mounted on the vehicle 100 and the other vehicle 101 shown in FIG. I omit explanation.

  The driving support apparatus according to the embodiment of the present invention, as shown in FIG. 10, includes a processing circuit (third processing circuit) 1c, a communicator (third communicator) 2c, and a surrounding sensor (third communicator) on the other vehicle 102 side. Ambient sensor) 3c, biometric information sensor (brain wave sensor) 4x, and vehicle interior camera 10x. The third processing circuit 1c, the third communication device 2c, the third surrounding sensor 3c, the brain wave sensor 4x, and the in-vehicle camera 10x can transmit and receive data and signals by wire or wireless such as a CAN bus.

  The third surrounding sensor 3 c is a sensor that detects the surrounding environment (surrounding situation) of the other vehicle 102 including the front situation and the rear situation of the other vehicle 102. The third surrounding sensor 3c includes the third camera 31c and the third radar 32c, but the type and number of third surrounding sensors 3c are not limited thereto. The electroencephalogram sensor 4x has the same configuration as the electroencephalogram sensor 4 shown in FIG.

  Similar to the first processing circuit 1a shown in FIG. 1, the third processing circuit 1c includes logical blocks such as the approach recognition unit 11x and the discomfort determination unit 12x as functional or physical hardware resources. The approach recognition unit 11x recognizes the own vehicle 100 approaching to the other vehicle 102 from the front based on the surrounding situation of the other vehicle 102 detected by the third surrounding sensor 3a. The discomfort determination unit 12x determines whether or not the occupant of the other vehicle 102 has a sense of discomfort caused by the driving action (travel control) of the own vehicle 100 approaching the other vehicle 102 from the front. When the sense of incongruity of the occupant of the other vehicle 102 is detected at the timing when the approach recognition unit 11 recognizes the host vehicle 100 approaching the other vehicle 102, the sense of incongruity determination unit 12x detects information on the discomfort of the occupant of the other vehicle 102. Are transmitted to the vehicle 100 via the first communication device 2a. The discomfort of the occupant of the other vehicle 102 includes identification information of the other vehicle 102.

  The third communication device 2c can perform inter-vehicle communication with a vehicle such as the host vehicle 100, and communication between a roadside device and a road. The third communication device 2c transmits the information on the discomfort of the occupant of the other vehicle 102, which is output from the discomfort determination unit 12x, to the vehicle such as the own vehicle 100 traveling around the other vehicle 102.

  The sense of incongruity recognition unit 51 of the processing circuit 1b of the own vehicle 100 shown in FIG. 1 gives a sense of discomfort to the occupant of the other vehicle 102 based on the information of the discomfort of the occupant of the other vehicle 102 received by the third communication device 2c. To recognize the other vehicle 102 in which the occupant feels uncomfortable. The relationship calculating unit 52 illustrated in FIG. 1 calculates the relative relationship between the other vehicle 102 recognized by the discomfort recognition unit 51 and the host vehicle 100. For example, the relationship calculating unit 52 calculates the inter-vehicle distance D2 between the other vehicle 102 and the host vehicle 100, the relative speed s2 of the other vehicle 102 and the host vehicle 100, and the TTC of the other vehicle 102 and the host vehicle 100.

  The traveling control unit 54 illustrated in FIG. 1 performs traveling control of the vehicle 100 so as to reduce the discomfort of the occupant of the other vehicle 102 when the discomfort recognition unit 51 recognizes the discomfort of the occupant of the other vehicle 102. For example, the traveling control unit 54 performs traveling control of the own vehicle 100 so as to increase the TTC of the other vehicle 102 and the own vehicle 100 calculated by the relationship calculating unit 52. The presentation control unit 53 reduces the sense of discomfort of the occupant of the other vehicle 102 or the sense of discomfort of the occupant of the other vehicle 102 when the sense of discomfort of the occupant of the other vehicle 102 is recognized by the discomfort recognition unit 51. The output I / F 8 is controlled to provide the driver of the host vehicle 100 with information about the driving operation. The other configuration is the same as the configuration of the first embodiment of the present invention, and thus redundant description will be omitted.

<Driving support method>
Next, an example of the driving support method according to the second embodiment of the present invention will be described with reference to the flowcharts of FIGS. 11 shows a flowchart of processing on the other vehicle 101 side, FIG. 12 shows a flowchart of processing on the other vehicle 102 side, and FIG. 13 shows a flowchart of processing on the host vehicle 100 side.

  In step S31 of FIG. 11, the first surrounding sensor 3a of the other vehicle 101 detects data of the surrounding environment of the other vehicle 101. The approach recognition unit 11 recognizes the rear own vehicle 100 approaching the other vehicle 101 based on the data of the surrounding environment detected by the first surrounding sensor 3a.

  In step S32, the electroencephalogram sensor 4 detects data of the electroencephalogram of the occupant of the other vehicle 101. In step S33, based on the brain wave data detected by the brain wave sensor 4, the discomfort determination unit 12 determines that the own vehicle 100 is approaching the other vehicle 101 by the approach recognition unit 11, the other vehicle 101 Determine the presence or absence of discomfort for the occupants of If it is determined that the occupant of the other vehicle 101 is not uncomfortable, the process is completed.

  On the other hand, if it is determined in step S33 that there is a sense of discomfort of the occupant, the behavior (driving behavior) of the host vehicle 100 does not match the driving skill or driving model assumed by the occupant of the other vehicle 101 (feels safe). It is estimated that the occupants of the other vehicle 101 feel discomfort. In this case, the process proceeds to step S34, and the discomfort determination unit 12 transmits information on the discomfort of the occupant of the other vehicle 101 to the vehicle 100 via the first communication device 2a.

  In step S41 of FIG. 12, the third surrounding sensor 3c of the other vehicle 102 detects data of the surrounding environment of the other vehicle 102. The approach recognition unit 11x recognizes the own vehicle 100 ahead approaching another vehicle 102 based on the data of the surrounding environment detected by the third surrounding sensor 3c.

  In step S42, the brain wave sensor 4x of the other vehicle 102 detects data of the brain waves of the occupant of the other vehicle 102. In step S43, based on the brain wave data detected by the brain wave sensor 4x of the other vehicle 102, the discomfort determination unit 12x of the other vehicle 102 recognizes that the own vehicle 100 is approaching the other vehicle 102 by the approach recognition unit 11x. It is determined whether or not the occupants of the other vehicle 102 have a sense of discomfort. If it is determined that the occupant of the other vehicle 102 is not uncomfortable, the process is completed.

  On the other hand, when it is determined in step S43 that the occupant of the other vehicle 102 has a sense of discomfort, the driving skill and the driving model that the occupant of the other vehicle 102 assumes (believe safety) with respect to the behavior (driving behavior) of the own vehicle 100. Since it does not correspond with, it is estimated that the crew member of other vehicles 102 felt discomfort. In this case, the process proceeds to step S44, and the discomfort determination unit 12x transmits information on the discomfort of the occupant of the other vehicle 102 to the vehicle 100 via the third communication device 2c.

  In step S51 of FIG. 13, the second communication device 2b of the host vehicle 100 receives the information on the discomfort of the occupant of the other vehicle 101 transmitted by the first communication device 2a. In step S52, the discomfort recognition unit 51 recognizes the other vehicle 101 in which the occupant feels discomfort based on the information on the discomfort of the occupant in the other vehicle 101 received by the first communication device 2a. Furthermore, the relationship calculating unit 52 calculates the relative relationship between the other vehicle 101 and the host vehicle 100 recognized by the discomfort recognition unit 51. For example, the relationship calculating unit 52 calculates the inter-vehicle distance D1 between the other vehicle 101 and the host vehicle 100, the relative speed s1 of the other vehicle 101 and the host vehicle 100, and the TTC of the other vehicle 101 and the host vehicle 100.

  In step S53, the traveling control unit 54 performs traveling control of the vehicle 100 so as to reduce the discomfort of the occupant of the other vehicle 101. For example, the traveling control unit 54 controls the speed of the own vehicle 100 based on the relative speed of the other vehicle 101 and the own vehicle 100 calculated by the relationship calculating unit 52, so that the relative speed of the other vehicle 101 and the own vehicle 100 is Is adjusted to 0 (in other words, the TTCs of the other vehicle 101 and the host vehicle 100 are increased). The presentation control unit 53 is a driver's own vehicle for adjusting the relative position of the other vehicle 101 and the relative speed of the other vehicle 101 and the own vehicle 100 to 0, such as the feeling that the occupant of the other vehicle 101 feels uncomfortable. Information may be provided to 100 crew members.

  In step S54, after adjusting the relative speed of the other vehicle 101 and the host vehicle 100 to 0, the discomfort recognition unit 51 receives the information of the occupant's discomfort of the other vehicle 101 again by the second communication device 2b of the host vehicle 100. It is determined whether or not. If the sense of incongruity of the occupant of the other vehicle 101 is received again and the sense of incompatibility recognition unit 51 recognizes again the sense of incongruity of the occupant of the other vehicle 101, the current inter-vehicle distance D1 between the other vehicle 101 and the host vehicle 100 is small. It is inferred that the driver's sense of incongruity has not been eliminated, and the process proceeds to step S56. In step S56, the traveling control unit 54 performs traveling control so as to increase the current inter-vehicle distance D1 between the other vehicle 101 and the vehicle 100 calculated by the relationship calculating unit 52. Alternatively, the presentation control unit 53 may provide information to the occupant of the host vehicle 100 of a driving operation for increasing the current inter-vehicle distance D1 between the other vehicle 101 and the host vehicle 100. Thereafter, the process returns to step S54, and the inter-vehicle distance D1 is increased until the discomfort of the occupant of the other vehicle 101 is eliminated.

  On the other hand, when not receiving the information on the discomfort of the occupant of the other vehicle 101 again in step S54, the process proceeds to step S55, and the traveling control unit 54 calculates the current of the other vehicle 101 and the own vehicle 100 calculated by the relationship calculating unit 52. The travel control is performed to maintain the inter-vehicle distance D1. Alternatively, the presentation control unit 53 may provide information to the occupant of the host vehicle 100 to maintain the current inter-vehicle distance D1 between the other vehicle 101 and the host vehicle 100.

  In step S57, it is determined whether the second communication device 2b of the own vehicle 100 has received the information about the discomfort of the occupant of the other vehicle 102 who is the rear vehicle transmitted by the third communication device 2c. judge. If it is determined that the information on the discomfort of the occupant of the other vehicle 102 is received, the process proceeds to step S57, and the traveling control unit 54 reduces the inter-vehicle distance D2 between the other vehicle 101 and the host vehicle 100. Then, it returns to the procedure of step S54.

  On the other hand, when it is determined in step S57 that the information on the discomfort of the occupant of the other vehicle 102 is not received, the relationship calculation unit 52 calculates the relative speed s2 of the vehicle 102 and the own vehicle 100 in step S58, and travel control The traveling control may be performed so that the unit 54 adjusts the relative speed s2 of the other vehicle 102 and the host vehicle 100 to zero. Alternatively, when it is determined in step S57 that the information on the discomfort of the occupant of the other vehicle 102 is not received, the current relative speeds s1 and s2 and the inter-vehicle distances D1 and D2 may be maintained.

  As described above, according to the second embodiment of the present invention, the discomfort of the occupants of the other vehicles 101 and 102 with respect to the driving behavior (behavior) of the own vehicle 100 is detected, and the occupants of the other vehicles 101 and 102 detected. Send information on discomfort. Information on the discomfort of the occupants of the other vehicles 101 and 102 is received on the side of the one's own vehicle 100, and the information processing of the other vehicle 101 is controlled based on the received information on the discomfort of the occupants of the other vehicles 101 and 102. The discomfort of the occupant can be reduced.

  Furthermore, information is provided to the occupants of the own vehicle 100 based on the information on the discomfort of the occupants of the other vehicles 101 and 102. Thereby, when the own vehicle 100 is in manual operation, the occupant of the own vehicle 100 can easily recognize the discomfort of the occupants of the other vehicles 101 and 102, and the discomfort of the occupants of the other vehicles 101 and 102 is recognized In addition, driving operation of the host vehicle 100 can be performed. In addition, when the own vehicle 100 is in automatic driving, the occupant of the own vehicle 100 can easily grasp that the traveling control of the own vehicle 100 is performed to reduce the discomfort of the occupants of the other vehicles 101 and 102. Therefore, a sense of security can be given to the occupants of the own vehicle 100 with respect to the travel control of the own vehicle 100.

  Further, information for specifying the other vehicle 101 or 102 that is the source of discomfort may be presented to the occupant. As a result, the occupant of the host vehicle 100 pays attention to the other vehicle 101 or 102 that is the source of discomfort and performs the driving operation to avoid the other vehicle 101 or 102. The discomfort of the occupants of the other vehicles 101 and 102 can be reduced.

  Furthermore, by performing travel control of the own vehicle 100 based on the information on the discomfort of the occupants of the other vehicles 101 and 102, the driving of the occupants of the other vehicles 101 and 102 is performed to reduce the discomfort of the occupants of the other vehicles 101 and 102. It is possible to perform travel control that matches the skill and driving model.

  Furthermore, when performing inter-vehicle control on the other vehicles 101 and 102 before and after the own vehicle 100, the own vehicle 100 is controlled based on the discomfort of the occupants of the other vehicles 101 and 102. Thereby, the discomfort of each passenger | crew of the other vehicle 101,102 of the back and front of the own vehicle 100 can be reduced.

Third Embodiment
<Travel support device>
In the driving support apparatus according to the third embodiment of the present invention, a database (hereinafter referred to as "uncomfortable feeling database") indicating the relationship between the occupant's feeling of incongruence and the vehicle behavior is created, and the case of using the unnaturalness database is described. Do. The discomfort database is, for example, a collection of detection results of the discomfort of occupants of all (multiple) vehicles and stored as one database. The discomfort database is stored in the storage device 7 or the like of the host vehicle 100 shown in FIG.

  The discomfort database stores, for example, the relationship between the strength of the occupant's discomfort and the vehicle behavior shown in FIGS. FIG. 15 shows the relationship between the distance between vehicles to the vehicle ahead and the intensity of discomfort. It can be seen from FIG. 15 that the intensity of discomfort increases sharply as the inter-vehicle distance to the preceding vehicle decreases. As shown in FIG. 15, a section where the inter-vehicle distance from the vehicle ahead is less than a predetermined threshold value is referred to as a “uncomfortable detection section”. FIG. 16 shows the relationship between the relative speed with the vehicle in front and the intensity of discomfort. It can be seen from FIG. 16 that the intensity of discomfort increases sharply as the relative speed with the vehicle in front increases. As shown in FIG. 16, a section in which the relative speed to the vehicle ahead is equal to or higher than a predetermined threshold value is referred to as a “uncomfortable detection section”.

  FIG. 17 shows the relationship between the distance between the vehicle and the rear vehicle and the level of discomfort. It can be seen from FIG. 17 that as the distance between the vehicle and the rear vehicle decreases, the intensity of discomfort increases rapidly. As shown in FIG. 17, a section where the inter-vehicle distance from the rear vehicle is less than a predetermined threshold value is referred to as an “inconvenient detection section”. FIG. 18 shows the relationship between the distance between the vehicle and the rear vehicle and the level of discomfort. It can be seen from FIG. 18 that as the inter-vehicle distance to the rear vehicle decreases, the intensity of discomfort increases sharply. As shown in FIG. 18, a section in which the relative speed to the rear vehicle is equal to or more than a predetermined threshold value is set as the “inconvenient detection section”.

  The travel support apparatus according to the third embodiment of the present invention refers to the discomfort database stored in the storage device 7 and “for each parameter of the relationship between the occupant's discomfort intensity and the vehicle behavior stored in the discomfort database. A predetermined threshold value is set to exclude the discomfort detection section. Then, the host vehicle 100 is controlled within the range of a predetermined threshold that does not fall under the "incongruence detection zone".

  For example, as shown in FIG. 14, in a scene in which the host vehicle 100 travels in the left lane and the other vehicle 101 that is a forward vehicle and the other vehicle 102 that is a rear vehicle travels in the right lane, the host vehicle 100 is in the right lane Let's consider changing lanes and trying to get in between the front and rear cars. In this case, by referring to the sense of incongruity database stored in the storage device 7, the occurrence of the sense of incongruity of the occupants of the other vehicles 101 and 102 is prevented so as not to fall under the sense of incongruity detection section shown in FIGS. Adjust the relative speed s1 of the other vehicle 101 and the vehicle 100, the distance D1 between the other vehicle 101 and the vehicle 100, the relative speed s2 of the other vehicle 102 and the vehicle 100, and the distance D2 between the other vehicle 102 and the vehicle 100 Carries out driving control.

<Driving support method>
A travel support method according to a third embodiment of the present invention will be described with reference to the flowchart of FIG. In step S61, the relationship calculation unit 52 of the second processing circuit 1b of the vehicle 100 shown in FIG. 1 performs the relative speed s1 of the other vehicle 101 and the vehicle 100, the other vehicle 101 and the vehicle 101 in the scene shown in FIG. The inter-vehicle distance D1 of the vehicle 100, the relative speed s2 of the other vehicle 102 and the host vehicle 100, and the inter-vehicle distance D2 of the other vehicle 102 and the host vehicle 100 are calculated. In step S62, the relationship calculation unit 52 refers to the discomfort database stored in the storage device 7, and the relative speed s1 of the other vehicle 101 and the host vehicle 100, the distance D1 between the other vehicle 101 and the host vehicle 100, and the other vehicle 102. It is determined whether the relative speed s2 of the own vehicle 100 and the inter-vehicle distance D2 between the other vehicle 102 and the own vehicle 100 correspond to the discomfort detection section.

  In step S62, the relative speed s1 between the other vehicle 101 and the host vehicle 100, the distance D1 between the other vehicle 101 and the host vehicle 100, the relative speed s2 between the other vehicle 102 and the host vehicle 100, and the distance D2 between the other vehicle 102 and the host vehicle 100 If it is determined that none of the above applies, the process proceeds to step S63, and lane change is performed on the right lane. On the other hand, in S62, the relative speed s1 between the other vehicle 101 and the vehicle 100, the distance D1 between the other vehicle 101 and the vehicle 100, the relative speed s2 between the other vehicle 102 and the vehicle 100, and the distance between the other vehicle 102 and the vehicle 100 If it is determined that one of the distances D2 is applicable, the current lane change is canceled or waited. Note that instead of stopping or waiting for the current lane change, the lane change may be performed while performing vehicle control so as to reduce the discomfort of the occupants of the other vehicles 101 and 102.

  In addition, another example of the driving support method in the scene of the lane change shown in FIG. 14 will be described with reference to the flowcharts of FIGS. 20 and 21. FIG. 20 shows a flowchart of processing on the other vehicle 101, 102 side, and FIG. 21 shows a flowchart of processing on the own vehicle 100 side.

  In step S71, the approach recognition unit 11 of the first processing circuit 1a of the other vehicle 101 is that the own vehicle 100 is approaching from the left rear of the other vehicle 101 based on the surrounding situation detected by the first surrounding sensor 3a. While recognizing blinks of the turn signal of the host vehicle 100. At this time, the occupant of the other vehicle 101 visually recognizes the blink of the blinker of the own vehicle 100 and recognizes that the own vehicle 100 is going to change the lane, but the other vehicle 101 and the own vehicle 100 planning a lane change The occupant of the other vehicle 101 may feel discomfort with respect to the inter-vehicle distance D1 and the relative position s1.

  In step S73, the discomfort determination unit 11 of the other vehicle 101 determines the presence or absence of the discomfort of the occupant of the other vehicle 101 with respect to the lane change of the host vehicle 100. If it is determined that there is a sense of discomfort of the occupant of the other vehicle 101, the process proceeds to step S74, and information on the sense of discomfort of the occupant of the other vehicle 101 is transmitted. On the other hand, when it is determined in step S73 that there is no discomfort of the occupant of the other vehicle 101, the processing is completed. The procedure of steps S71 to S74 on the side of the other vehicle 102 is the same as that on the side of the other vehicle 101, and therefore redundant description will be omitted.

  On the other hand, in step S81 of FIG. 21, in the host vehicle 100, the traveling control unit 54 blinks the turn signal to change the lane to the right lane. Then, in step S82, the discomfort recognition unit 51 determines whether or not the information on the discomfort of the occupant of the other vehicle 101 is received via the second communication device 2b. When it is determined that the information on the discomfort of the occupant of the other vehicle 101 is not received, the travel control of the host vehicle 100 is performed to change the lane. On the other hand, when it is determined in step S82 that the information on the discomfort of the occupant of the other vehicle 101 is received, the host vehicle 100 completes the process without changing the lane at this point.

  As described above, according to the third embodiment of the present invention, the discomfort of the occupant of the other vehicle 101 with respect to the driving behavior (behavior) of the own vehicle 100 is detected, and the discomfort of the occupant of the other vehicle 101, 102 detected. Send information Information on the discomfort of the occupants of the other vehicles 101 and 102 is received on the side of the one's own vehicle 100, and the other vehicle 101 is controlled by controlling the own vehicle 100 based on the received information on the discomfort of the occupants of the other vehicles 101 and 102. It can reduce the discomfort of the 102 occupants

  Furthermore, information is provided to the occupants of the own vehicle 100 based on the information on the discomfort of the occupants of the other vehicles 101 and 102. Thereby, when the own vehicle 100 is in manual operation, the occupant of the own vehicle 100 can easily recognize the discomfort of the occupants of the other vehicles 101 and 102, and the discomfort of the occupants of the other vehicles 101 and 102 is recognized In addition, driving operation of the host vehicle 100 can be performed. In addition, when the own vehicle 100 is in automatic driving, the occupant of the own vehicle 100 can easily grasp that the traveling control of the own vehicle 100 is performed to reduce the discomfort of the occupants of the other vehicles 101 and 102. Therefore, a sense of security can be given to the occupants of the own vehicle 100 with respect to the travel control of the own vehicle 100.

  Further, information for specifying the other vehicle 101 or 102 that is the source of discomfort may be presented to the occupant. As a result, the occupant of the host vehicle 100 pays attention to the other vehicle 101 or 102 that is the source of discomfort and performs the driving operation to avoid the other vehicle 101 or 102. The discomfort of the occupants of the other vehicles 101 and 102 can be reduced.

  Furthermore, by performing travel control of the own vehicle 100 based on the information of the discomfort of the occupants of the other vehicles 101 and 102, the driving skills of the occupants of the other vehicles 101 and the like can be reduced to reduce the discomfort of the occupants of the other vehicles 101 and 102. It is possible to perform travel control that matches the driving model.

  Furthermore, by referring to the discomfort database, it is possible to perform travel control in which the occupant's discomfort is less likely to occur, so the discomfort of the occupants of the other vehicles 101 and 102 can be reduced. Furthermore, the discomfort database is shared between the own vehicle 100 and the other vehicles 101, 102 traveling around the own vehicle 100, and vehicle behavior is controlled so that the occupants of the own vehicle 100 and the other vehicles 101, 102 do not feel discomfort. Do. As a result, it is possible to reduce not only the discomfort of the occupants of the other vehicles 101 and 102 but also the discomfort of the occupants around the host vehicle 100 including the occupant of the host vehicle 100.

(Other embodiments)
As described above, although the present invention has been described by the first to third embodiments, it should not be understood that the statements and the drawings that form a part of this disclosure limit the present invention. Various alternative embodiments, examples and operation techniques will be apparent to those skilled in the art from this disclosure.

In the first to third embodiments of the present invention, the brain wave sensors 4, 4x detect brain wave data and determine the presence or absence of an occupant's discomfort from the detected brain wave data. , 4x may be used to detect the occupant's biometric information, and the presence or absence of the occupant's discomfort may be determined from the detected biometric information. For example, the presence or absence of an occupant's discomfort may be determined from the detected biological information using a biological information sensor that detects biological information such as cerebral blood flow, heart rate, respiratory rate or sweat rate. Alternatively, the presence or absence of an occupant's discomfort may be determined by imaging the occupant with the imaging device and analyzing the captured image.
Can.

  Further, as shown in FIG. 22, as with the other vehicles 101 and 102 shown in FIGS. 1 and 10, the host vehicle 100 may be provided with a biological information sensor (electroencephalogram sensor) 4y and an in-vehicle camera 10y. . In addition, even if the second processing circuit 1 b functionally includes the proximity recognition unit 55 and the discomfort determination unit 56 as in the first processing circuit 1 a and the third processing circuit 1 c shown in FIGS. 1 and 10. Good. Thereby, the discomfort of the occupant of the own vehicle 100 with respect to the driving behavior of the other vehicle 101, 102 may be detected, and the own vehicle 100 may be controlled in consideration of the discomfort of the occupant of the own vehicle 100.

  Furthermore, the other vehicles 101 and 102 shown in FIGS. 1 and 10 may have a configuration similar to that of the host vehicle 100 shown in FIG. Thus, information on the discomfort of the occupants of the own vehicle 100 and the other vehicles 101 and 102 is mutually transmitted and received with respect to the driving behavior of the own vehicle 100 and the other vehicles 101 and 102, and the own vehicle 100 and the other vehicles 101, The own vehicle 100 and the other vehicles 101 and 102 can be controlled so as to reduce discomfort of the respective occupants 102 in two ways or overall.

  Of course, the present invention includes various embodiments that are not described herein. Accordingly, the technical scope of the present invention is defined only by the invention-specifying matters according to the scope of claims appropriate from the above description.

1a, 1b, 1c ... Processing circuits 2a, 2b, 2c ... Communications units 3a, 3b, 3c ... Ambient sensors 4, 4x, 4y ... Electroencephalogram sensor 6 ... Vehicle sensor 7 ... Storage 8 ... Output I / F
9: Actuators 10, 10x, 10y: In-vehicle cameras 11, 11x, 55: Approach recognition units 12, 12x, 56: Incongruence judgment units 31a, 31b, 31c: Cameras 32a, 32b, 32c: Radar 51: Incongruity recognition unit 52 ... Relational calculation unit 53 ... Presentation control unit 54 ... Travel control unit 61 ... GNSS receiver 62 ... Vehicle speed sensor 63 ... Acceleration sensor 64 ... Angular velocity sensor 81 ... Display device 82 ... Speaker 83 ... Vibration device 91 ... Accelerator actuator 92 ... Brake actuator 93 ... steering actuator 100 ... own vehicle 101, 102 ... other vehicles

Claims (12)

Detect the discomfort of the occupants of other vehicles to the driving behavior of the own vehicle,
Information of the detected discomfort is transmitted from the other vehicle,
The said vehicle receives the transmitted information on the feeling of incongruity,
A driving support method, comprising: controlling the host vehicle based on the received information on discomfort.   The driving assistance method according to claim 1, wherein information is provided to an occupant of the host vehicle based on the information on the discomfort.   3. The driving support method according to claim 2, wherein information for specifying the other vehicle which is a transmission source of the information of the discomfort is presented to an occupant of the own vehicle.   4. The driving support method according to claim 3, wherein the position of the other vehicle with respect to the host vehicle is presented by a sound field.   The travel support method according to claim 3, wherein the position of the other vehicle with respect to the host vehicle is presented by vibration of a seat on which the occupant sits.   4. The driving support method according to claim 3, wherein the position of the other vehicle with respect to the host vehicle is displayed on a display device.   The travel support method according to any one of claims 2 to 6, wherein the method of providing the information to the occupant of the host vehicle is changed based on the degree of discomfort.   The travel support method according to any one of claims 1 to 7, wherein travel control of the host vehicle is performed based on the received information on discomfort.   9. The driving support method according to claim 8, wherein at least one of an inter-vehicle distance and a relative speed between the host vehicle and the front vehicle is changed based on information on discomfort of an occupant of the host vehicle ahead.   The inter-vehicle distance between the host vehicle and the rear vehicle, at least one of the inter-vehicle distance and the relative speed between the host vehicle and the front vehicle, based on the information on the discomfort of the occupants of the front vehicle and the rear vehicle of the host vehicle 9. The driving support method according to claim 8, wherein at least one of the speed and the relative speed is controlled.   The travel control of the own vehicle is performed to reduce the discomfort of the occupants of the own vehicle and the other vehicle based on a database indicating the relationship between the sense of incompatibility and the behavior of the vehicle. Driving support method. A first processing circuit for detecting a sense of discomfort of an occupant of another vehicle with respect to a driving action of the own vehicle;
A first communication device for transmitting the information of the detected discomfort from the other vehicle;
A second communication device for receiving the transmitted incongruent information by the vehicle;
A second processing circuit that controls the host vehicle based on the received information on the feeling of incompatibility;
A travel support apparatus comprising:

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